Search is not available for this dataset
action
sequence | observation.state
sequence | timestamp
float32 0
17.4
| frame_index
int64 0
522
| episode_index
int64 0
19
| index
int64 0
6.52k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
71.982421875,
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[
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[
71.982421875,
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[
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[
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[
70.927734375,
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[
71.982421875,
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[
71.982421875,
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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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[
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[
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103.798828125,
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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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50.625,
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[
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| 37
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| 38
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[
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[
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103.798828125,
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| 39
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[
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[
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103.798828125,
126.38671875,
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[
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[
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| 41
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[
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[
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126.38671875,
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| 42
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| 42
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[
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[
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[
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[
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103.88671875,
126.38671875,
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| 44
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[
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[
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104.150390625,
126.38671875,
51.15234375,
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| 45
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[
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53.173828125,
34.716796875,
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[
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104.677734375,
126.03515625,
51.416015625,
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| 46
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[
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120.849609375,
54.404296875,
34.8046875,
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[
71.982421875,
105.556640625,
124.98046875,
52.03125,
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| 47
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| 47
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[
72.0703125,
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56.07421875,
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[
71.982421875,
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123.57421875,
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| 48
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| 48
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[
72.0703125,
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58.447265625,
34.892578125,
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[
71.982421875,
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121.904296875,
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| 49
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| 49
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[
72.0703125,
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61.34765625,
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[
71.982421875,
108.193359375,
119.53125,
55.72265625,
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| 50
| 0
| 50
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[
72.0703125,
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[
71.982421875,
108.80859375,
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57.392578125,
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| 51
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| 51
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[
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[
71.982421875,
109.248046875,
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59.58984375,
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| 52
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| 52
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[
72.0703125,
111.4453125,
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[
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[
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[
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[
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[
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| 55
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[
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[
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| 56
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| 56
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[
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[
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[
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[
71.982421875,
109.599609375,
100.810546875,
77.431640625,
36.474609375,
34.1015625
] | 1.933333
| 58
| 0
| 58
| 0
|
[
72.24609375,
111.4453125,
96.240234375,
83.935546875,
37.880859375,
34.716796875
] |
[
71.982421875,
109.599609375,
99.66796875,
79.453125,
36.73828125,
34.1015625
] | 1.966667
| 59
| 0
| 59
| 0
|
[
72.509765625,
111.533203125,
95.625,
84.287109375,
38.232421875,
34.716796875
] |
[
71.982421875,
109.599609375,
98.96484375,
81.03515625,
36.73828125,
34.1015625
] | 2
| 60
| 0
| 60
| 0
|
[
73.4765625,
111.62109375,
95.2734375,
84.287109375,
38.759765625,
34.716796875
] |
[
71.982421875,
109.599609375,
98.26171875,
82.353515625,
37.001953125,
34.1015625
] | 2.033333
| 61
| 0
| 61
| 0
|
[
74.970703125,
111.708984375,
95.09765625,
84.287109375,
39.375,
34.716796875
] |
[
72.333984375,
109.599609375,
97.646484375,
82.96875,
37.353515625,
34.1015625
] | 2.066667
| 62
| 0
| 62
| 0
|
[
76.728515625,
111.796875,
94.833984375,
84.287109375,
39.814453125,
34.716796875
] |
[
73.212890625,
109.599609375,
97.55859375,
83.583984375,
38.056640625,
34.1015625
] | 2.1
| 63
| 0
| 63
| 0
|
[
78.75,
112.1484375,
94.74609375,
84.287109375,
40.25390625,
34.62890625
] |
[
74.267578125,
109.599609375,
97.470703125,
83.935546875,
38.49609375,
34.1015625
] | 2.133333
| 64
| 0
| 64
| 0
|
[
80.244140625,
112.1484375,
94.74609375,
84.287109375,
40.4296875,
34.62890625
] |
[
75.849609375,
109.951171875,
97.3828125,
83.759765625,
38.84765625,
34.1015625
] | 2.166667
| 65
| 0
| 65
| 0
|
[
81.826171875,
112.1484375,
94.658203125,
84.287109375,
40.60546875,
34.541015625
] |
[
77.51953125,
110.390625,
97.20703125,
83.935546875,
39.287109375,
34.1015625
] | 2.2
| 66
| 0
| 66
| 0
|
[
83.232421875,
112.1484375,
94.74609375,
84.19921875,
40.869140625,
34.541015625
] |
[
79.27734375,
110.654296875,
97.119140625,
83.935546875,
39.7265625,
34.1015625
] | 2.233333
| 67
| 0
| 67
| 0
|
[
84.638671875,
112.1484375,
94.658203125,
84.111328125,
41.044921875,
34.541015625
] |
[
80.859375,
110.830078125,
97.119140625,
83.935546875,
39.814453125,
34.1015625
] | 2.266667
| 68
| 0
| 68
| 0
|
[
86.1328125,
112.236328125,
94.658203125,
84.0234375,
41.044921875,
34.541015625
] |
[
82.44140625,
110.830078125,
97.119140625,
83.935546875,
40.078125,
34.1015625
] | 2.3
| 69
| 0
| 69
| 0
|
[
87.451171875,
112.236328125,
94.5703125,
84.0234375,
41.1328125,
34.541015625
] |
[
84.55078125,
110.830078125,
97.119140625,
83.84765625,
40.517578125,
34.1015625
] | 2.333333
| 70
| 0
| 70
| 0
|
[
89.208984375,
112.236328125,
94.39453125,
83.935546875,
41.1328125,
34.541015625
] |
[
85.60546875,
110.830078125,
97.119140625,
83.935546875,
40.78125,
34.1015625
] | 2.366667
| 71
| 0
| 71
| 0
|
[
90.791015625,
112.236328125,
94.21875,
83.935546875,
41.1328125,
34.541015625
] |
[
86.923828125,
110.830078125,
97.119140625,
83.759765625,
40.78125,
34.1015625
] | 2.4
| 72
| 0
| 72
| 0
|
[
92.548828125,
112.32421875,
93.955078125,
83.935546875,
41.1328125,
34.541015625
] |
[
88.330078125,
110.830078125,
97.119140625,
83.583984375,
40.78125,
34.1015625
] | 2.433333
| 73
| 0
| 73
| 0
|
[
94.482421875,
112.32421875,
93.69140625,
83.935546875,
41.1328125,
34.541015625
] |
[
89.912109375,
110.830078125,
96.943359375,
83.583984375,
40.78125,
34.1015625
] | 2.466667
| 74
| 0
| 74
| 0
|
[
96.591796875,
112.236328125,
93.515625,
83.935546875,
41.1328125,
34.541015625
] |
[
91.58203125,
110.830078125,
96.240234375,
83.408203125,
40.78125,
34.1015625
] | 2.5
| 75
| 0
| 75
| 0
|
[
98.525390625,
112.236328125,
93.1640625,
83.84765625,
41.1328125,
34.541015625
] |
[
94.21875,
110.91796875,
95.712890625,
83.3203125,
40.78125,
34.1015625
] | 2.533333
| 76
| 0
| 76
| 0
|
[
100.810546875,
112.236328125,
92.724609375,
83.84765625,
41.1328125,
34.541015625
] |
[
95.888671875,
110.91796875,
95.625,
83.408203125,
40.869140625,
34.1015625
] | 2.566667
| 77
| 0
| 77
| 0
|
[
102.744140625,
112.236328125,
92.28515625,
83.84765625,
41.1328125,
34.541015625
] |
[
97.734375,
110.830078125,
95.44921875,
83.408203125,
40.78125,
34.1015625
] | 2.6
| 78
| 0
| 78
| 0
|
[
104.4140625,
112.236328125,
91.845703125,
83.84765625,
41.220703125,
34.453125
] |
[
99.66796875,
110.830078125,
95.2734375,
83.408203125,
40.78125,
34.1015625
] | 2.633333
| 79
| 0
| 79
| 0
|
[
106.083984375,
112.236328125,
91.318359375,
83.759765625,
41.30859375,
34.453125
] |
[
101.689453125,
110.830078125,
94.74609375,
83.408203125,
40.869140625,
34.1015625
] | 2.666667
| 80
| 0
| 80
| 0
|
[
107.578125,
112.236328125,
90.87890625,
83.759765625,
41.572265625,
34.453125
] |
[
103.623046875,
110.830078125,
94.04296875,
83.408203125,
40.78125,
34.1015625
] | 2.7
| 81
| 0
| 81
| 0
|
[
108.896484375,
112.1484375,
90.439453125,
83.759765625,
42.01171875,
34.453125
] |
[
105.29296875,
110.830078125,
93.251953125,
83.49609375,
40.78125,
34.1015625
] | 2.733333
| 82
| 0
| 82
| 0
|
[
109.951171875,
112.1484375,
90,
83.671875,
42.626953125,
34.453125
] |
[
107.138671875,
110.91796875,
92.548828125,
83.408203125,
41.044921875,
34.1015625
] | 2.766667
| 83
| 0
| 83
| 0
|
[
111.005859375,
112.060546875,
89.47265625,
83.408203125,
43.59375,
34.365234375
] |
[
108.10546875,
110.91796875,
92.548828125,
83.408203125,
41.30859375,
34.1015625
] | 2.8
| 84
| 0
| 84
| 0
|
[
111.533203125,
111.97265625,
89.12109375,
83.232421875,
44.736328125,
34.365234375
] |
[
109.072265625,
110.830078125,
92.4609375,
83.408203125,
41.748046875,
34.1015625
] | 2.833333
| 85
| 0
| 85
| 0
|
[
111.708984375,
111.97265625,
88.9453125,
83.056640625,
45.87890625,
34.365234375
] |
[
109.951171875,
110.7421875,
92.4609375,
83.408203125,
42.36328125,
34.1015625
] | 2.866667
| 86
| 0
| 86
| 0
|
[
111.708984375,
111.97265625,
88.857421875,
82.96875,
46.318359375,
34.365234375
] |
[
110.56640625,
110.654296875,
92.021484375,
83.49609375,
43.2421875,
34.1015625
] | 2.9
| 87
| 0
| 87
| 0
|
[
111.181640625,
111.97265625,
88.9453125,
83.056640625,
46.142578125,
34.365234375
] |
[
110.7421875,
110.654296875,
91.142578125,
83.3203125,
44.12109375,
34.1015625
] | 2.933333
| 88
| 0
| 88
| 0
|
[
111.005859375,
112.1484375,
89.033203125,
83.232421875,
45.52734375,
34.365234375
] |
[
110.91796875,
110.7421875,
90.52734375,
83.232421875,
45.17578125,
34.1015625
] | 2.966667
| 89
| 0
| 89
| 0
|
[
110.91796875,
112.1484375,
89.033203125,
83.14453125,
43.9453125,
34.365234375
] |
[
110.91796875,
111.005859375,
90.615234375,
83.232421875,
45.263671875,
34.1015625
] | 3
| 90
| 0
| 90
| 0
|
[
110.654296875,
112.1484375,
89.208984375,
83.14453125,
41.044921875,
34.453125
] |
[
110.654296875,
111.005859375,
90.615234375,
83.232421875,
44.912109375,
34.1015625
] | 3.033333
| 91
| 0
| 91
| 0
|
[
110.0390625,
112.060546875,
89.384765625,
83.14453125,
37.265625,
34.365234375
] |
[
110.390625,
111.005859375,
90.615234375,
83.232421875,
43.9453125,
34.1015625
] | 3.066667
| 92
| 0
| 92
| 0
|
[
109.423828125,
112.060546875,
89.560546875,
83.14453125,
32.51953125,
34.365234375
] |
[
110.21484375,
111.005859375,
90.615234375,
83.232421875,
42.275390625,
34.1015625
] | 3.1
| 93
| 0
| 93
| 0
|
[
108.896484375,
112.1484375,
89.560546875,
83.056640625,
27.7734375,
34.365234375
] |
[
109.775390625,
111.005859375,
90.615234375,
83.232421875,
39.462890625,
34.1015625
] | 3.133333
| 94
| 0
| 94
| 0
|
[
108.80859375,
112.060546875,
89.47265625,
83.056640625,
22.587890625,
34.365234375
] |
[
108.720703125,
111.005859375,
90.615234375,
83.232421875,
33.662109375,
34.1015625
] | 3.166667
| 95
| 0
| 95
| 0
|
[
108.80859375,
111.97265625,
89.208984375,
83.056640625,
16.611328125,
34.365234375
] |
[
108.369140625,
111.005859375,
90.615234375,
83.232421875,
29.8828125,
34.1015625
] | 3.2
| 96
| 0
| 96
| 0
|
[
108.720703125,
111.97265625,
89.12109375,
83.056640625,
11.953125,
34.365234375
] |
[
108.28125,
110.7421875,
90.615234375,
83.232421875,
25.576171875,
34.1015625
] | 3.233333
| 97
| 0
| 97
| 0
|
[
108.6328125,
111.884765625,
89.033203125,
82.96875,
7.470703125,
34.365234375
] |
[
108.193359375,
110.7421875,
90.615234375,
83.232421875,
20.91796875,
34.1015625
] | 3.266667
| 98
| 0
| 98
| 0
|
[
108.6328125,
111.884765625,
89.12109375,
82.880859375,
3.515625,
34.365234375
] |
[
108.10546875,
110.654296875,
90.615234375,
83.14453125,
15.99609375,
34.1015625
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 20,
"total_frames": 6524,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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.front": {
"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": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"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": "h264",
"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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