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diffusion_test

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Robotics
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action
sequence
observation.state
sequence
timestamp
float32
0
10
frame_index
int64
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300
episode_index
int64
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index
int64
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task_index
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2.6
78
0
78
0
[ 7.119140625, 128.232421875, 104.765625, 66.884765625, -5.625, 32.607421875 ]
[ 6.416015625, 128.671875, 116.279296875, 59.4140625, -4.833984375, 32.958984375 ]
2.633333
79
0
79
0
[ 7.20703125, 126.474609375, 100.1953125, 69.697265625, -4.74609375, 32.51953125 ]
[ 6.6796875, 127.44140625, 108.544921875, 63.369140625, -4.482421875, 32.958984375 ]
2.666667
80
0
80
0
[ 7.119140625, 121.201171875, 90, 76.9921875, -3.251953125, 32.607421875 ]
[ 6.767578125, 126.5625, 104.326171875, 64.248046875, -4.21875, 32.958984375 ]
2.7
81
0
81
0
[ 7.119140625, 117.685546875, 83.583984375, 83.056640625, -2.63671875, 32.607421875 ]
[ 6.943359375, 125.068359375, 98.876953125, 67.412109375, -3.69140625, 32.958984375 ]
2.733333
82
0
82
0
[ 7.119140625, 114.78515625, 77.607421875, 86.923828125, -2.548828125, 32.783203125 ]
[ 7.03125, 121.728515625, 91.23046875, 72.24609375, -2.900390625, 32.958984375 ]
2.766667
83
0
83
0
[ 7.03125, 112.8515625, 73.828125, 88.505859375, -2.548828125, 32.783203125 ]
[ 6.85546875, 117.158203125, 81.38671875, 77.255859375, -2.109375, 32.958984375 ]
2.8
84
0
84
0
[ 7.03125, 112.587890625, 72.94921875, 88.505859375, -2.548828125, 32.783203125 ]
[ 6.943359375, 114.2578125, 75.849609375, 80.68359375, -1.7578125, 32.958984375 ]
2.833333
85
0
85
0
[ 7.03125, 112.5, 73.65234375, 88.505859375, -2.548828125, 32.87109375 ]
[ 7.03125, 112.763671875, 73.828125, 83.408203125, -1.7578125, 32.958984375 ]
2.866667
86
0
86
0
[ 7.03125, 112.5, 74.091796875, 88.681640625, -2.548828125, 32.87109375 ]
[ 6.85546875, 111.97265625, 74.1796875, 84.462890625, -1.7578125, 32.958984375 ]
2.9
87
0
87
0
[ 6.85546875, 112.5, 74.794921875, 88.76953125, -2.548828125, 33.046875 ]
[ 6.943359375, 111.26953125, 75.146484375, 84.90234375, -1.7578125, 32.958984375 ]
2.933333
88
0
88
0
[ 6.6796875, 112.5, 75.9375, 88.76953125, -2.724609375, 33.310546875 ]
[ 6.767578125, 111.26953125, 76.201171875, 85.078125, -1.7578125, 32.958984375 ]
2.966667
89
0
89
0
[ 6.85546875, 112.67578125, 76.81640625, 88.76953125, -2.98828125, 33.75 ]
[ 6.416015625, 111.26953125, 76.376953125, 85.078125, -1.7578125, 32.958984375 ]
3
90
0
90
0
[ 6.943359375, 112.67578125, 77.34375, 88.76953125, -3.251953125, 33.837890625 ]
[ 6.240234375, 111.62109375, 76.904296875, 85.166015625, -1.7578125, 32.958984375 ]
3.033333
91
0
91
0
[ 6.767578125, 112.5, 77.87109375, 88.76953125, -3.69140625, 34.013671875 ]
[ 5.9765625, 111.62109375, 78.134765625, 85.166015625, -1.845703125, 33.046875 ]
3.066667
92
0
92
0
[ 6.85546875, 111.97265625, 77.607421875, 88.76953125, -4.21875, 34.1015625 ]
[ 5.9765625, 111.357421875, 78.75, 85.166015625, -1.845703125, 33.046875 ]
3.1
93
0
93
0
[ 7.3828125, 110.478515625, 77.51953125, 88.76953125, -5.44921875, 34.189453125 ]
[ 5.9765625, 110.91796875, 78.837890625, 85.166015625, -2.021484375, 33.22265625 ]
3.133333
94
0
94
0
[ 8.26171875, 108.720703125, 77.783203125, 88.681640625, -7.03125, 34.189453125 ]
[ 6.416015625, 110.390625, 78.837890625, 85.166015625, -2.4609375, 33.22265625 ]
3.166667
95
0
95
0
[ 9.931640625, 106.611328125, 77.87109375, 88.59375, -8.876953125, 34.62890625 ]
[ 7.294921875, 108.984375, 78.75, 85.166015625, -3.603515625, 33.22265625 ]
3.2
96
0
96
0
[ 11.162109375, 104.765625, 77.87109375, 88.59375, -9.755859375, 34.892578125 ]
[ 8.26171875, 107.314453125, 78.75, 85.166015625, -4.658203125, 33.22265625 ]
3.233333
97
0
97
0
[ 12.65625, 102.744140625, 77.51953125, 88.505859375, -10.546875, 35.068359375 ]
[ 9.580078125, 105.1171875, 78.837890625, 85.166015625, -5.888671875, 33.22265625 ]
3.266667
98
0
98
0
[ 14.150390625, 101.689453125, 77.607421875, 88.330078125, -11.689453125, 35.15625 ]
[ 10.72265625, 103.271484375, 78.837890625, 85.166015625, -6.85546875, 33.662109375 ]
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": 1,
    "total_frames": 301,
    "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": [
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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.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "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": [
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            ],
            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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