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observation.state
sequence
observation.ee_pos
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observation.d_pos
array 2D
timestamp
float32
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13.8
frame_index
int64
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414
episode_index
int64
0
24
index
int64
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9.75k
task_index
int64
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[ -23.541004180908203, 54.32815170288086, 33.41033172607422, 66.51087951660156, 27.78857421875, 43.2208251953125 ]
[ -23.642578125, 54.31640625, 36.474609375, 65.830078125, 24.697265625, 43.06640625 ]
[ 0.18344832956790924, -0.08030900359153748, 0.08426950871944427, 3.2504498958587646 ]
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2.7
81
0
81
0
[ -23.47161865234375, 54.46834182739258, 33.476837158203125, 66.59172058105469, 27.75766372680664, 43.23263931274414 ]
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[ 0.18357129395008087, -0.0800274983048439, 0.08426950871944427, 3.3383402824401855 ]
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2.733333
82
0
82
0
[ -23.59051513671875, 53.88093948364258, 33.17704772949219, 66.55850219726562, 28.014896392822266, 43.235694885253906 ]
[ -23.5546875, 53.96484375, 36.474609375, 65.830078125, 24.697265625, 43.06640625 ]
[ 0.18372516334056854, -0.08009457588195801, 0.08304023742675781, 3.272977113723755 ]
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2.766667
83
0
83
0
[ -23.623516082763672, 53.92145919799805, 33.133941650390625, 66.64773559570312, 28.00469970703125, 43.24176025390625 ]
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[ 0.1838478147983551, -0.07981265336275101, 0.08304023742675781, 3.360868453979492 ]
[ [ -0.08089999854564667, 0.19499999284744263, 8.829299926757812 ] ]
2.8
84
0
84
0
[ -23.66049575805664, 53.26127243041992, 32.860984802246094, 66.65430450439453, 28.171693801879883, 43.23909378051758 ]
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2.833333
85
0
85
0
[ -23.48778533935547, 53.16118621826172, 32.918800354003906, 66.55496978759766, 28.069290161132812, 43.247867584228516 ]
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[ 0.18388886749744415, -0.08050186187028885, 0.08057869970798492, 3.057826280593872 ]
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2.866667
86
0
86
0
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[ 0.18405403196811676, -0.080574169754982, 0.0790383517742157, 2.9806034564971924 ]
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2.9
87
0
87
0
[ -23.484207153320312, 52.6057243347168, 32.65428161621094, 66.62818908691406, 28.1711483001709, 43.256446838378906 ]
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2.933333
88
0
88
0
[ -23.42290496826172, 52.053306579589844, 32.485313415527344, 66.59069061279297, 28.183753967285156, 43.25132751464844 ]
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[ 0.1846998929977417, -0.08018255978822708, 0.07694856822490692, 3.0660343170166016 ]
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2.966667
89
0
89
0
[ -23.43191146850586, 51.809356689453125, 32.33702087402344, 66.68830871582031, 28.264713287353516, 43.257362365722656 ]
[ -23.466796875, 51.85546875, 35.859375, 66.005859375, 24.697265625, 43.06640625 ]
[ 0.18502742052078247, -0.08032474666833878, 0.076896071434021, 3.066035032272339 ]
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3
90
0
90
0
[ -23.464210510253906, 51.63815689086914, 32.24579620361328, 66.65388488769531, 28.360815048217773, 43.260162353515625 ]
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[ 0.18506428599357605, -0.08034075796604156, 0.07562383264303207, 2.9926490783691406 ]
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3.033333
91
0
91
0
[ -23.33028793334961, 51.21967315673828, 32.07878112792969, 66.71391296386719, 28.330135345458984, 43.25877380371094 ]
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[ 0.18506428599357605, -0.08034075796604156, 0.07562383264303207, 2.9926490783691406 ]
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3.066667
92
0
92
0
[ -23.364978790283203, 50.98155975341797, 31.935455322265625, 66.79822540283203, 28.39713478088379, 43.26063919067383 ]
[ -23.466796875, 51.416015625, 35.859375, 66.09375, 24.697265625, 43.06640625 ]
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3.1
93
0
93
0
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3.133333
94
0
94
0
[ -23.331581115722656, 49.964481353759766, 31.586639404296875, 66.7508773803711, 28.553110122680664, 43.248130798339844 ]
[ -23.37890625, 50.44921875, 35.859375, 66.09375, 25.13671875, 43.06640625 ]
[ 0.1854824274778366, -0.08018435537815094, 0.07190697640180588, 3.3708834648132324 ]
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3.166667
95
0
95
0
[ -23.23863983154297, 49.821067810058594, 31.483901977539062, 66.86433410644531, 28.506486892700195, 43.24943161010742 ]
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3.2
96
0
96
0
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3.233333
97
0
97
0
[ -23.25025177001953, 48.8775634765625, 31.278549194335938, 66.674560546875, 28.704755783081055, 43.2235221862793 ]
[ -23.203125, 49.130859375, 35.859375, 66.09375, 25.13671875, 43.06640625 ]
[ 0.18600843846797943, -0.07973532378673553, 0.06725364178419113, 3.346287488937378 ]
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3.266667
98
0
98
0
[ -23.198238372802734, 48.653446197509766, 30.972305297851562, 66.98277282714844, 28.69399642944336, 43.23814392089844 ]
[ -23.291015625, 49.04296875, 35.859375, 66.09375, 25.224609375, 43.06640625 ]
[ 0.18590112030506134, -0.08002711832523346, 0.06694318354129791, 3.3369107246398926 ]
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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": 25,
    "total_frames": 9748,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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": {
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                "main_shoulder_lift",
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                "main_wrist_flex",
                "main_wrist_roll",
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        "timestamp": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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