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action
sequence
observation.state
sequence
timestamp
float32
0
24.2
frame_index
int64
0
242
episode_index
int64
0
0
index
int64
0
242
task_index
int64
0
0
[ -15.81386947631836, 113.74433898925781, 114.68441772460938, 54.75065612792969, 81.96293640136719, 29.11712074279785 ]
[ -8.26171875, 128.3203125, 176.220703125, -2.021484375, -2.63671875, 34.365234375 ]
0
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0.1
1
0
1
0
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0.2
2
0
2
0
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0.3
3
0
3
0
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0.4
4
0
4
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0.5
5
0
5
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0.6
6
0
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0.7
7
0
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0.8
8
0
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0.9
9
0
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1
10
0
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1.1
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1.2
12
0
12
0
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1.3
13
0
13
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1.4
14
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14
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1.5
15
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15
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1.6
16
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1.7
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1.8
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18
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1.9
19
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19
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2
20
0
20
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2.1
21
0
21
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2.2
22
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22
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2.3
23
0
23
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2.4
24
0
24
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2.5
25
0
25
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2.6
26
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2.7
27
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27
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2.8
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28
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2.9
29
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3
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0
30
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3.1
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3.2
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3.3
33
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3.4
34
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3.5
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3.6
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3.7
37
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3.8
38
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3.9
39
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4
40
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4.1
41
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4.2
42
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4.3
43
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4.4
44
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4.5
45
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4.6
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4.7
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4.8
48
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4.9
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5
50
0
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5.1
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5.2
52
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5.3
53
0
53
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5.4
54
0
54
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5.5
55
0
55
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5.6
56
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5.7
57
0
57
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5.8
58
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58
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5.9
59
0
59
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6
60
0
60
0
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6.1
61
0
61
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6.2
62
0
62
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6.3
63
0
63
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6.4
64
0
64
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6.5
65
0
65
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[ -24.9609375, 76.025390625, 63.10546875, 70.3125, 103.095703125, 31.201171875 ]
6.6
66
0
66
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6.7
67
0
67
0
[ -29.565471649169922, 77.8102798461914, 65.8609848022461, 59.29658889770508, 106.4541015625, 32.516197204589844 ]
[ -27.861328125, 75.9375, 63.45703125, 66.005859375, 105.380859375, 31.11328125 ]
6.8
68
0
68
0
[ -31.060089111328125, 78.04254913330078, 65.79031372070312, 55.48114013671875, 106.97840118408203, 31.6768798828125 ]
[ -29.091796875, 76.201171875, 67.412109375, 63.45703125, 105.732421875, 31.728515625 ]
6.9
69
0
69
0
[ -31.979690551757812, 77.74046325683594, 69.0592041015625, 54.23542785644531, 108.23432922363281, 32.059410095214844 ]
[ -30.234375, 76.11328125, 67.587890625, 60.380859375, 106.259765625, 31.640625 ]
7
70
0
70
0
[ -33.01333236694336, 80.47911071777344, 70.59481811523438, 53.768280029296875, 108.07205200195312, 33.3892822265625 ]
[ -31.2890625, 76.2890625, 70.48828125, 57.392578125, 107.314453125, 31.640625 ]
7.1
71
0
71
0
[ -33.357643127441406, 79.17652130126953, 68.92526245117188, 54.4342155456543, 108.33832550048828, 32.410972595214844 ]
[ -32.34375, 77.431640625, 72.421875, 57.216796875, 107.666015625, 32.34375 ]
7.2
72
0
72
0
[ -34.1043586730957, 79.80564880371094, 68.45269775390625, 55.22307586669922, 109.70680236816406, 31.763408660888672 ]
[ -32.958984375, 77.6953125, 71.982421875, 57.12890625, 107.666015625, 32.16796875 ]
7.3
73
0
73
0
[ -34.32794952392578, 81.12306213378906, 70.53156280517578, 51.06241226196289, 109.606689453125, 31.372220993041992 ]
[ -33.57421875, 77.87109375, 71.89453125, 57.12890625, 108.6328125, 32.080078125 ]
7.4
74
0
74
0
[ -35.09123229980469, 82.56344604492188, 73.02247619628906, 52.736175537109375, 110.11862182617188, 30.368120193481445 ]
[ -33.92578125, 78.57421875, 72.0703125, 55.546875, 109.248046875, 31.9921875 ]
7.5
75
0
75
0
[ -34.568389892578125, 82.57438659667969, 73.47743225097656, 52.51209259033203, 108.54434967041016, 30.3544979095459 ]
[ -34.365234375, 80.244140625, 74.70703125, 54.66796875, 109.423828125, 31.2890625 ]
7.6
76
0
76
0
[ -36.64375305175781, 83.17259979248047, 71.67108154296875, 52.65758514404297, 109.40451049804688, 29.897418975830078 ]
[ -34.365234375, 80.5078125, 74.70703125, 54.66796875, 109.16015625, 31.2890625 ]
7.7
77
0
77
0
[ -35.370792388916016, 83.16902160644531, 75.09294128417969, 50.19044494628906, 111.747802734375, 28.903575897216797 ]
[ -35.68359375, 80.771484375, 74.70703125, 54.66796875, 109.248046875, 31.025390625 ]
7.8
78
0
78
0
[ -37.113555908203125, 82.86671447753906, 74.88682556152344, 52.11412048339844, 112.79164123535156, 28.86285972595215 ]
[ -35.771484375, 81.123046875, 76.201171875, 53.876953125, 110.478515625, 29.970703125 ]
7.9
79
0
79
0
[ -39.30412292480469, 82.77600860595703, 74.7950210571289, 54.98657989501953, 115.10822296142578, 28.012344360351562 ]
[ -36.474609375, 81.2109375, 76.552734375, 53.7890625, 112.060546875, 29.970703125 ]
8
80
0
80
0
[ -40.022735595703125, 82.84642028808594, 73.66957092285156, 52.892757415771484, 115.72622680664062, 27.167800903320312 ]
[ -38.408203125, 81.123046875, 76.552734375, 55.01953125, 113.994140625, 29.267578125 ]
8.1
81
0
81
0
[ -40.3038215637207, 82.30591583251953, 71.84246826171875, 52.9409065246582, 117.81707000732422, 25.41742515563965 ]
[ -39.287109375, 81.2109375, 76.552734375, 54.931640625, 115.048828125, 28.30078125 ]
8.2
82
0
82
0
[ -39.64836502075195, 81.58253479003906, 73.57682800292969, 53.762969970703125, 118.86264038085938, 24.89086151123047 ]
[ -39.55078125, 81.03515625, 75.849609375, 54.931640625, 116.630859375, 26.71875 ]
8.3
83
0
83
0
[ -40.52936935424805, 81.56936645507812, 70.46446228027344, 51.59856033325195, 119.9548110961914, 24.03661346435547 ]
[ -39.55078125, 80.859375, 75.498046875, 54.931640625, 118.037109375, 26.103515625 ]
8.4
84
0
84
0
[ -40.64170455932617, 81.57621002197266, 70.59181213378906, 54.4861946105957, 119.29706573486328, 22.627796173095703 ]
[ -39.814453125, 80.859375, 74.443359375, 54.4921875, 119.00390625, 25.224609375 ]
8.5
85
0
85
0
[ -41.320579528808594, 82.01744079589844, 71.3016357421875, 53.492431640625, 120.167236328125, 21.979686737060547 ]
[ -39.814453125, 80.859375, 74.00390625, 54.66796875, 119.1796875, 23.994140625 ]
8.6
86
0
86
0
[ -42.15397262573242, 82.94683837890625, 71.96833038330078, 53.84833526611328, 121.88148498535156, 21.04900550842285 ]
[ -40.4296875, 80.859375, 74.00390625, 54.580078125, 119.443359375, 23.291015625 ]
8.7
87
0
87
0
[ -41.939918518066406, 84.00714111328125, 71.16421508789062, 54.984375, 119.15650177001953, 21.162220001220703 ]
[ -41.396484375, 81.03515625, 74.00390625, 54.580078125, 120.5859375, 22.236328125 ]
8.8
88
0
88
0
[ -41.87232971191406, 83.60799407958984, 70.45369720458984, 57.36245346069336, 118.48944091796875, 20.13224983215332 ]
[ -41.748046875, 81.474609375, 74.00390625, 55.1953125, 120.146484375, 22.236328125 ]
8.9
89
0
89
0
[ -42.72357940673828, 84.49151611328125, 67.60147857666016, 59.15760803222656, 119.63003540039062, 19.853485107421875 ]
[ -41.8359375, 81.474609375, 74.00390625, 56.77734375, 119.00390625, 21.357421875 ]
9
90
0
90
0
[ -43.12976837158203, 84.0077896118164, 67.93276977539062, 58.625518798828125, 119.47273254394531, 19.378780364990234 ]
[ -42.1875, 81.9140625, 71.54296875, 58.7109375, 118.916015625, 21.357421875 ]
9.1
91
0
91
0
[ -42.49311828613281, 85.19346618652344, 68.4887924194336, 60.11052703857422, 121.10762023925781, 19.247390747070312 ]
[ -42.5390625, 82.08984375, 70.48828125, 59.0625, 118.916015625, 20.7421875 ]
9.2
92
0
92
0
[ -42.32772445678711, 85.30586242675781, 68.8225326538086, 61.07196044921875, 121.00669860839844, 19.76016616821289 ]
[ -42.451171875, 82.79296875, 70.576171875, 59.853515625, 119.8828125, 20.7421875 ]
9.3
93
0
93
0
[ -42.0631217956543, 84.82054138183594, 68.27439880371094, 60.34876251220703, 119.12601470947266, 20.122543334960938 ]
[ -42.36328125, 83.232421875, 70.576171875, 60.99609375, 120.498046875, 20.7421875 ]
9.4
94
0
94
0
[ -41.83936309814453, 84.53756713867188, 65.14246368408203, 62.55793380737305, 119.67390441894531, 20.645687103271484 ]
[ -42.1875, 83.232421875, 70.576171875, 60.99609375, 119.794921875, 20.7421875 ]
9.5
95
0
95
0
[ -42.39543533325195, 84.23698425292969, 66.80877685546875, 61.93796157836914, 121.07966613769531, 21.34084701538086 ]
[ -42.1875, 83.232421875, 69.2578125, 61.962890625, 119.53125, 20.7421875 ]
9.6
96
0
96
0
[ -40.23990249633789, 83.18328857421875, 66.70113372802734, 60.1271858215332, 119.38101196289062, 21.853309631347656 ]
[ -42.275390625, 83.232421875, 68.818359375, 62.490234375, 120.05859375, 20.91796875 ]
9.7
97
0
97
0
[ -39.50753402709961, 81.49419403076172, 63.119876861572266, 62.813934326171875, 118.36532592773438, 22.727323532104492 ]
[ -41.30859375, 82.880859375, 68.818359375, 62.138671875, 119.970703125, 21.005859375 ]
9.8
98
0
98
0
[ -38.10446548461914, 80.60028839111328, 64.13687896728516, 60.43888854980469, 115.94422149658203, 23.951881408691406 ]
[ -40.341796875, 81.2109375, 66.708984375, 62.666015625, 119.091796875, 21.796875 ]
9.9
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": 551,
    "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": {
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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": {
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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.images.top": {
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            "shape": [
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            "names": [
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            "info": {
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        "observation.images.front": {
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            "names": [
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            "info": {
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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