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observation.state
sequence
timestamp
float32
0
38.1
frame_index
int64
0
1.14k
episode_index
int64
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index
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1.14k
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3.066667
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0
92
0
[ -2.472057342529297, 124.78793334960938, 119.16242980957031, 57.87435531616211 ]
[ -2.197265625, 123.134765625, 117.421875, 60.64453125 ]
3.1
93
0
93
0
[ -2.5739691257476807, 125.38671875, 119.67185974121094, 57.862735748291016 ]
[ -2.28515625, 123.57421875, 118.740234375, 59.94140625 ]
3.133333
94
0
94
0
[ -2.6078572273254395, 125.66414642333984, 120.5675048828125, 57.09516143798828 ]
[ -2.373046875, 123.92578125, 119.267578125, 59.326171875 ]
3.166667
95
0
95
0
[ -2.8464465141296387, 126.95527648925781, 121.2088623046875, 57.23828125 ]
[ -2.4609375, 124.365234375, 120.146484375, 58.623046875 ]
3.2
96
0
96
0
[ -2.9723899364471436, 127.10986328125, 121.517333984375, 57.14916229248047 ]
[ -2.63671875, 124.8046875, 120.498046875, 58.095703125 ]
3.233333
97
0
97
0
[ -3.09051513671875, 126.99060821533203, 121.50035095214844, 57.06337356567383 ]
[ -2.724609375, 125.5078125, 121.46484375, 57.744140625 ]
3.266667
98
0
98
0
[ -3.179288864135742, 126.628173828125, 121.38711547851562, 57.05750274658203 ]
[ -2.98828125, 126.123046875, 121.81640625, 57.48046875 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "koch",
    "total_episodes": 1,
    "total_frames": 1144,
    "total_tasks": 1,
    "total_videos": 1,
    "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": [
                4
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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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