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action
list | observation.state
list | timestamp
float32 0
44.2
| frame_index
int64 0
1.33k
| episode_index
int64 0
9
| index
int64 0
6.82k
| task_index
int64 0
0
|
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[
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[
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[
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[
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[
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[
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[
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[
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| 36
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[
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[
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[
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[
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[
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[
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[
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| 40
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[
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19.072265625,
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[
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[
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[
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| 42
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[
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[
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| 43
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[
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[
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| 44
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[
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[
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124.62890625,
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18.28125,
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[
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[
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| 46
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[
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[
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119.267578125,
95.09765625,
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34.189453125
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[
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[
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116.3671875,
95.09765625,
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34.27734375
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| 48
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| 48
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[
76.640625,
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[
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114.169921875,
95.09765625,
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| 49
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| 49
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[
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[
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95.09765625,
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34.27734375
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| 50
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| 50
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[
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[
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111.97265625,
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| 51
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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-169.365234375,
34.27734375
] | 1.933333
| 58
| 0
| 58
| 0
|
[
76.552734375,
116.3671875,
88.59375,
29.70703125,
-176.30859375,
34.62890625
] |
[
77.431640625,
113.90625,
92.373046875,
25.6640625,
-171.03515625,
34.27734375
] | 1.966667
| 59
| 0
| 59
| 0
|
[
75.41015625,
116.455078125,
88.59375,
32.16796875,
-179.384765625,
34.62890625
] |
[
77.431640625,
114.169921875,
92.197265625,
28.388671875,
-172.6171875,
34.27734375
] | 2
| 60
| 0
| 60
| 0
|
[
73.740234375,
116.71875,
88.59375,
34.27734375,
-182.900390625,
34.62890625
] |
[
76.640625,
114.345703125,
92.197265625,
30.5859375,
-174.638671875,
34.27734375
] | 2.033333
| 61
| 0
| 61
| 0
|
[
72.59765625,
116.982421875,
88.59375,
34.98046875,
-186.416015625,
34.62890625
] |
[
75.76171875,
114.521484375,
92.197265625,
32.607421875,
-177.099609375,
34.27734375
] | 2.066667
| 62
| 0
| 62
| 0
|
[
72.158203125,
117.333984375,
88.41796875,
34.98046875,
-189.140625,
34.62890625
] |
[
74.091796875,
114.697265625,
92.197265625,
34.453125,
-179.912109375,
34.27734375
] | 2.1
| 63
| 0
| 63
| 0
|
[
71.3671875,
117.421875,
87.451171875,
35.244140625,
-192.041015625,
34.62890625
] |
[
72.94921875,
114.873046875,
92.197265625,
35.595703125,
-182.98828125,
34.27734375
] | 2.133333
| 64
| 0
| 64
| 0
|
[
69.9609375,
117.421875,
85.341796875,
36.73828125,
-195.556640625,
34.62890625
] |
[
72.333984375,
115.13671875,
92.197265625,
35.771484375,
-186.240234375,
34.27734375
] | 2.166667
| 65
| 0
| 65
| 0
|
[
69.169921875,
117.333984375,
82.6171875,
38.759765625,
-196.611328125,
34.716796875
] |
[
71.455078125,
115.224609375,
91.23046875,
36.298828125,
-189.228515625,
34.27734375
] | 2.2
| 66
| 0
| 66
| 0
|
[
69.521484375,
117.333984375,
80.068359375,
38.671875,
-193.7109375,
34.892578125
] |
[
70.48828125,
115.224609375,
88.681640625,
37.529296875,
-192.041015625,
34.27734375
] | 2.233333
| 67
| 0
| 67
| 0
|
[
70.83984375,
117.0703125,
76.46484375,
38.3203125,
-185.888671875,
34.98046875
] |
[
69.9609375,
115.224609375,
85.517578125,
39.0234375,
-193.53515625,
34.27734375
] | 2.266667
| 68
| 0
| 68
| 0
|
[
72.509765625,
116.54296875,
72.685546875,
37.6171875,
-179.12109375,
34.98046875
] |
[
69.78515625,
115.3125,
81.826171875,
39.462890625,
-192.744140625,
34.27734375
] | 2.3
| 69
| 0
| 69
| 0
|
[
74.70703125,
116.3671875,
71.19140625,
34.541015625,
-171.73828125,
34.892578125
] |
[
70.83984375,
115.400390625,
77.6953125,
39.462890625,
-189.404296875,
34.27734375
] | 2.333333
| 70
| 0
| 70
| 0
|
[
76.46484375,
116.3671875,
71.103515625,
27.59765625,
-163.388671875,
34.716796875
] |
[
72.24609375,
115.400390625,
74.091796875,
39.111328125,
-183.955078125,
34.27734375
] | 2.366667
| 71
| 0
| 71
| 0
|
[
76.9921875,
116.3671875,
71.103515625,
20.478515625,
-156.708984375,
34.541015625
] |
[
74.00390625,
115.576171875,
72.685546875,
37.705078125,
-177.5390625,
34.27734375
] | 2.4
| 72
| 0
| 72
| 0
|
[
77.080078125,
116.455078125,
71.103515625,
15.732421875,
-150.8203125,
34.453125
] |
[
75.673828125,
115.751953125,
72.59765625,
34.716796875,
-170.5078125,
34.27734375
] | 2.433333
| 73
| 0
| 73
| 0
|
[
77.080078125,
116.982421875,
71.103515625,
12.216796875,
-145.458984375,
34.1015625
] |
[
76.46484375,
115.751953125,
72.59765625,
30.234375,
-163.037109375,
34.27734375
] | 2.466667
| 74
| 0
| 74
| 0
|
[
77.080078125,
117.509765625,
71.19140625,
9.228515625,
-142.55859375,
33.3984375
] |
[
76.81640625,
115.751953125,
72.7734375,
25.3125,
-156.4453125,
34.27734375
] | 2.5
| 75
| 0
| 75
| 0
|
[
76.9921875,
118.30078125,
71.54296875,
9.404296875,
-142.470703125,
32.958984375
] |
[
76.728515625,
115.751953125,
72.861328125,
20.7421875,
-150.8203125,
34.1015625
] | 2.533333
| 76
| 0
| 76
| 0
|
[
76.552734375,
119.267578125,
72.24609375,
12.3046875,
-144.140625,
32.958984375
] |
[
76.728515625,
116.015625,
72.861328125,
17.05078125,
-146.6015625,
33.662109375
] | 2.566667
| 77
| 0
| 77
| 0
|
[
75.673828125,
120.234375,
72.685546875,
20.126953125,
-150.556640625,
33.046875
] |
[
76.640625,
116.54296875,
72.861328125,
15.205078125,
-144.31640625,
33.662109375
] | 2.6
| 78
| 0
| 78
| 0
|
[
75.498046875,
121.201171875,
73.30078125,
31.640625,
-159.873046875,
33.3984375
] |
[
76.376953125,
117.509765625,
72.94921875,
15.556640625,
-144.755859375,
33.662109375
] | 2.633333
| 79
| 0
| 79
| 0
|
[
75.05859375,
122.080078125,
74.267578125,
42.01171875,
-169.189453125,
34.013671875
] |
[
76.025390625,
118.740234375,
73.564453125,
18.720703125,
-148.0078125,
33.662109375
] | 2.666667
| 80
| 0
| 80
| 0
|
[
73.65234375,
122.255859375,
76.025390625,
48.33984375,
-177.1875,
34.365234375
] |
[
75.849609375,
120.05859375,
74.35546875,
24.873046875,
-153.896484375,
33.662109375
] | 2.7
| 81
| 0
| 81
| 0
|
[
70.751953125,
123.310546875,
78.046875,
51.591796875,
-183.076171875,
34.892578125
] |
[
75.146484375,
121.025390625,
75.9375,
33.22265625,
-161.455078125,
33.75
] | 2.733333
| 82
| 0
| 82
| 0
|
[
67.412109375,
124.541015625,
80.15625,
52.734375,
-187.119140625,
35.068359375
] |
[
73.4765625,
121.728515625,
78.22265625,
41.396484375,
-169.62890625,
34.1015625
] | 2.766667
| 83
| 0
| 83
| 0
|
[
65.0390625,
125.419921875,
81.73828125,
52.822265625,
-189.31640625,
35.068359375
] |
[
71.279296875,
122.255859375,
80.947265625,
48.076171875,
-176.572265625,
34.27734375
] | 2.8
| 84
| 0
| 84
| 0
|
[
64.248046875,
125.947265625,
82.265625,
53.173828125,
-190.37109375,
35.068359375
] |
[
68.642578125,
122.6953125,
83.232421875,
52.03125,
-182.109375,
34.27734375
] | 2.833333
| 85
| 0
| 85
| 0
|
[
63.80859375,
126.03515625,
82.44140625,
53.349609375,
-190.634765625,
35.068359375
] |
[
66.357421875,
123.046875,
84.55078125,
54.228515625,
-185.9765625,
34.27734375
] | 2.866667
| 86
| 0
| 86
| 0
|
[
63.369140625,
126.03515625,
82.44140625,
52.91015625,
-190.546875,
35.068359375
] |
[
64.423828125,
123.3984375,
84.638671875,
54.66796875,
-188.4375,
34.27734375
] | 2.9
| 87
| 0
| 87
| 0
|
[
63.45703125,
126.03515625,
82.44140625,
50.9765625,
-188.173828125,
34.62890625
] |
[
63.896484375,
123.837890625,
84.462890625,
54.66796875,
-189.580078125,
34.27734375
] | 2.933333
| 88
| 0
| 88
| 0
|
[
64.86328125,
126.123046875,
83.232421875,
46.7578125,
-180.52734375,
34.365234375
] |
[
63.544921875,
124.365234375,
84.462890625,
54.4921875,
-189.66796875,
34.365234375
] | 2.966667
| 89
| 0
| 89
| 0
|
[
67.1484375,
126.123046875,
85.341796875,
39.19921875,
-170.68359375,
34.189453125
] |
[
63.80859375,
124.716796875,
84.462890625,
53.96484375,
-187.998046875,
34.365234375
] | 3
| 90
| 0
| 90
| 0
|
[
69.521484375,
126.03515625,
88.06640625,
29.70703125,
-164.70703125,
34.189453125
] |
[
65.126953125,
124.892578125,
85.4296875,
51.943359375,
-183.69140625,
34.365234375
] | 3.033333
| 91
| 0
| 91
| 0
|
[
71.71875,
125.68359375,
91.0546875,
18.28125,
-161.279296875,
34.189453125
] |
[
66.884765625,
124.892578125,
88.154296875,
47.8125,
-177.5390625,
34.365234375
] | 3.066667
| 92
| 0
| 92
| 0
|
[
74.00390625,
125.33203125,
92.900390625,
8.173828125,
-158.203125,
34.189453125
] |
[
68.90625,
124.892578125,
91.318359375,
41.220703125,
-171.474609375,
34.365234375
] | 3.1
| 93
| 0
| 93
| 0
|
[
75.41015625,
124.1015625,
92.900390625,
1.58203125,
-155.7421875,
34.189453125
] |
[
71.19140625,
124.892578125,
94.306640625,
32.255859375,
-165.9375,
34.365234375
] | 3.133333
| 94
| 0
| 94
| 0
|
[
76.376953125,
123.134765625,
92.197265625,
-1.318359375,
-153.896484375,
34.27734375
] |
[
73.30078125,
124.365234375,
95.537109375,
23.466796875,
-161.71875,
34.365234375
] | 3.166667
| 95
| 0
| 95
| 0
|
[
76.640625,
123.046875,
90.791015625,
0.615234375,
-152.490234375,
34.189453125
] |
[
74.794921875,
123.75,
95.44921875,
15.1171875,
-158.37890625,
34.365234375
] | 3.2
| 96
| 0
| 96
| 0
|
[
76.552734375,
123.22265625,
88.505859375,
8.26171875,
-152.05078125,
34.189453125
] |
[
75.76171875,
123.662109375,
94.921875,
9.052734375,
-155.830078125,
34.365234375
] | 3.233333
| 97
| 0
| 97
| 0
|
[
76.11328125,
123.837890625,
84.375,
20.91796875,
-152.841796875,
34.27734375
] |
[
76.025390625,
123.57421875,
92.8125,
6.767578125,
-154.072265625,
34.365234375
] | 3.266667
| 98
| 0
| 98
| 0
|
[
75.9375,
124.98046875,
78.046875,
35.859375,
-155.390625,
34.27734375
] |
[
76.2890625,
123.57421875,
89.12109375,
9.052734375,
-153.017578125,
34.365234375
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 1,
"total_frames": 1327,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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