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rzc2399
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koch_test

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Robotics
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1K - 10K
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LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
16.9
frame_index
int64
0
506
episode_index
int64
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6
index
int64
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3.43k
task_index
int64
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76
0
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[ -1.7578125, 105.8203125, 159.697265625, -35.244140625, -3.779296875, 32.607421875 ]
2.566667
77
0
77
0
[ -2.98828125, 102.3046875, 152.666015625, -37.001953125, -6.943359375, 32.16796875 ]
[ -1.93359375, 104.326171875, 157.67578125, -35.244140625, -4.306640625, 32.607421875 ]
2.6
78
0
78
0
[ -2.98828125, 100.8984375, 150.908203125, -37.001953125, -6.943359375, 32.16796875 ]
[ -1.93359375, 102.744140625, 155.56640625, -35.244140625, -4.5703125, 32.607421875 ]
2.633333
79
0
79
0
[ -2.98828125, 99.580078125, 149.4140625, -37.001953125, -6.943359375, 32.16796875 ]
[ -1.93359375, 100.810546875, 153.369140625, -35.244140625, -4.833984375, 32.607421875 ]
2.666667
80
0
80
0
[ -2.98828125, 98.7890625, 148.18359375, -37.001953125, -6.943359375, 32.16796875 ]
[ -1.93359375, 99.228515625, 151.787109375, -35.244140625, -4.833984375, 32.607421875 ]
2.7
81
0
81
0
[ -2.98828125, 97.822265625, 146.865234375, -37.001953125, -6.943359375, 32.16796875 ]
[ -1.93359375, 97.3828125, 150.29296875, -35.244140625, -4.833984375, 32.607421875 ]
2.733333
82
0
82
0
[ -3.251953125, 96.240234375, 144.66796875, -37.001953125, -6.943359375, 32.080078125 ]
[ -1.845703125, 96.6796875, 149.23828125, -35.244140625, -4.833984375, 32.607421875 ]
2.766667
83
0
83
0
[ -3.33984375, 95.09765625, 143.26171875, -37.001953125, -6.943359375, 32.080078125 ]
[ -2.373046875, 95.9765625, 147.919921875, -35.244140625, -4.833984375, 32.607421875 ]
2.8
84
0
84
0
[ -3.33984375, 94.04296875, 141.767578125, -37.001953125, -6.943359375, 32.080078125 ]
[ -2.63671875, 94.921875, 146.07421875, -35.244140625, -4.833984375, 32.607421875 ]
2.833333
85
0
85
0
[ -3.33984375, 92.8125, 139.921875, -37.001953125, -6.943359375, 32.080078125 ]
[ -2.724609375, 93.955078125, 144.66796875, -35.244140625, -4.833984375, 32.607421875 ]
2.866667
86
0
86
0
[ -3.33984375, 91.142578125, 137.724609375, -37.001953125, -6.943359375, 32.080078125 ]
[ -2.900390625, 92.4609375, 142.91015625, -35.244140625, -4.833984375, 32.607421875 ]
2.9
87
0
87
0
[ -3.33984375, 88.681640625, 134.6484375, -36.9140625, -6.943359375, 31.9921875 ]
[ -2.98828125, 90.703125, 140.361328125, -35.244140625, -4.833984375, 32.607421875 ]
2.933333
88
0
88
0
[ -3.33984375, 86.923828125, 132.275390625, -36.826171875, -6.943359375, 31.9921875 ]
[ -2.98828125, 89.12109375, 138.33984375, -35.244140625, -4.833984375, 31.904296875 ]
2.966667
89
0
89
0
[ -3.33984375, 85.166015625, 129.990234375, -36.650390625, -6.943359375, 31.904296875 ]
[ -2.900390625, 86.8359375, 135.615234375, -35.244140625, -4.833984375, 31.640625 ]
3
90
0
90
0
[ -3.33984375, 83.056640625, 127.265625, -36.5625, -6.943359375, 31.376953125 ]
[ -2.98828125, 84.638671875, 132.802734375, -35.15625, -4.833984375, 31.640625 ]
3.033333
91
0
91
0
[ -3.515625, 81.5625, 125.419921875, -36.38671875, -7.03125, 31.376953125 ]
[ -3.076171875, 83.408203125, 131.1328125, -35.244140625, -4.833984375, 31.640625 ]
3.066667
92
0
92
0
[ -3.8671875, 80.595703125, 123.92578125, -36.298828125, -7.03125, 31.376953125 ]
[ -2.98828125, 81.38671875, 128.671875, -35.15625, -4.921875, 31.640625 ]
3.1
93
0
93
0
[ -4.21875, 79.27734375, 122.431640625, -36.298828125, -7.119140625, 31.376953125 ]
[ -2.98828125, 79.8046875, 126.73828125, -35.15625, -5.361328125, 31.640625 ]
3.133333
94
0
94
0
[ -4.39453125, 77.958984375, 121.025390625, -36.298828125, -7.119140625, 31.376953125 ]
[ -3.33984375, 78.662109375, 125.5078125, -35.244140625, -5.712890625, 31.640625 ]
3.166667
95
0
95
0
[ -4.482421875, 76.728515625, 119.619140625, -36.298828125, -7.119140625, 31.376953125 ]
[ -3.603515625, 75.9375, 123.486328125, -35.15625, -5.888671875, 31.640625 ]
3.2
96
0
96
0
[ -4.74609375, 74.35546875, 116.982421875, -36.298828125, -7.119140625, 31.376953125 ]
[ -3.515625, 75.234375, 122.87109375, -35.15625, -5.9765625, 31.640625 ]
3.233333
97
0
97
0
[ -4.833984375, 72.685546875, 115.13671875, -36.298828125, -7.119140625, 31.376953125 ]
[ -3.515625, 74.091796875, 121.11328125, -35.244140625, -5.9765625, 31.640625 ]
3.266667
98
0
98
0
[ -4.833984375, 70.751953125, 112.939453125, -36.2109375, -7.20703125, 31.376953125 ]
[ -3.515625, 72.158203125, 118.30078125, -35.244140625, -5.9765625, 31.640625 ]
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": "v2.0",
    "robot_type": "koch",
    "total_episodes": 7,
    "total_frames": 3429,
    "total_tasks": 1,
    "total_videos": 21,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:7"
    },
    "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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            "shape": [
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            ],
            "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.side_view": {
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            "shape": [
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            "names": [
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                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.top_view": {
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            "shape": [
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                640,
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            ],
            "names": [
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        "observation.images.effector_view": {
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            "shape": [
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                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
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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