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shin1107
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eval_koch_base_pi0_pretrained_20000

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Robotics
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LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
595
episode_index
int64
0
7
index
int64
0
4.32k
task_index
int64
0
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[ 21.911453247070312, 54.36038589477539, 148.90969848632812, -91.20252990722656, 91.51956939697266, 51.443511962890625 ]
[ 21.09375, 55.01953125, 151.34765625, -87.451171875, 90.17578125, 51.328125 ]
2.2
66
0
66
0
[ 22.041053771972656, 53.81246566772461, 147.9925994873047, -91.22743225097656, 91.41158294677734, 51.385711669921875 ]
[ 21.26953125, 54.580078125, 150.29296875, -87.451171875, 90.52734375, 51.328125 ]
2.233333
67
0
67
0
[ 22.341373443603516, 53.22547912597656, 146.91848754882812, -91.12074279785156, 91.66647338867188, 51.2069206237793 ]
[ 21.4453125, 54.140625, 149.4140625, -87.451171875, 90.615234375, 51.328125 ]
2.266667
68
0
68
0
[ 22.386497497558594, 52.86900329589844, 146.2072296142578, -90.8536376953125, 91.64800262451172, 51.09748840332031 ]
[ 21.62109375, 53.525390625, 148.359375, -87.451171875, 90.791015625, 51.328125 ]
2.3
69
0
69
0
[ 22.58460235595703, 52.319313049316406, 144.98007202148438, -91.06927490234375, 91.8719711303711, 51.004154205322266 ]
[ 21.796875, 52.91015625, 147.48046875, -87.451171875, 90.966796875, 51.328125 ]
2.333333
70
0
70
0
[ 22.741867065429688, 51.97975158691406, 144.08621215820312, -90.72171020507812, 91.98299407958984, 50.81797790527344 ]
[ 21.97265625, 52.470703125, 146.6015625, -87.451171875, 91.0546875, 51.328125 ]
2.366667
71
0
71
0
[ 22.775203704833984, 51.52232360839844, 143.11878967285156, -90.30610656738281, 92.04383850097656, 50.69161605834961 ]
[ 22.1484375, 52.03125, 145.634765625, -87.451171875, 91.0546875, 51.240234375 ]
2.4
72
0
72
0
[ 23.167587280273438, 51.05284881591797, 142.53468322753906, -90.21258544921875, 91.96025848388672, 50.54278564453125 ]
[ 22.32421875, 51.591796875, 144.580078125, -87.451171875, 91.0546875, 51.240234375 ]
2.433333
73
0
73
0
[ 23.206188201904297, 50.637245178222656, 142.03506469726562, -89.95616149902344, 91.9500961303711, 50.333030700683594 ]
[ 22.5, 51.240234375, 143.701171875, -87.451171875, 91.0546875, 51.15234375 ]
2.466667
74
0
74
0
[ 23.326404571533203, 50.05447006225586, 141.30645751953125, -89.59356689453125, 92.07182312011719, 50.16868591308594 ]
[ 22.763671875, 50.80078125, 143.0859375, -87.451171875, 91.0546875, 51.15234375 ]
2.5
75
0
75
0
[ 23.2059326171875, 49.59675598144531, 140.51242065429688, -89.31230163574219, 92.00300598144531, 49.98186492919922 ]
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ 23.02734375, 49.306640625, 141.50390625, -87.451171875, 91.0546875, 50.625 ]
2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
[ 23.33663558959961, 46.34164047241211, 138.4115447998047, -89.75201416015625, 91.40673065185547, 46.18933868408203 ]
[ 23.203125, 47.109375, 138.779296875, -87.451171875, 91.0546875, 49.74609375 ]
2.7
81
0
81
0
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2.733333
82
0
82
0
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[ 23.291015625, 46.0546875, 138.779296875, -87.36328125, 91.0546875, 47.28515625 ]
2.766667
83
0
83
0
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[ 23.203125, 45.966796875, 138.779296875, -87.36328125, 91.0546875, 45.791015625 ]
2.8
84
0
84
0
[ 23.40640640258789, 46.586856842041016, 139.4430389404297, -89.74911499023438, 91.8083724975586, 35.6383056640625 ]
[ 23.115234375, 45.966796875, 138.8671875, -87.451171875, 91.0546875, 44.6484375 ]
2.833333
85
0
85
0
[ 23.44357681274414, 46.692073822021484, 139.85751342773438, -89.52703857421875, 91.90393829345703, 33.31871795654297 ]
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2.866667
86
0
86
0
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[ 23.37890625, 46.0546875, 139.21875, -87.451171875, 91.142578125, 44.47265625 ]
2.9
87
0
87
0
[ 23.604469299316406, 47.22636795043945, 141.5357666015625, -89.68452453613281, 92.22236633300781, 31.068729400634766 ]
[ 23.466796875, 46.0546875, 139.833984375, -87.451171875, 91.142578125, 44.47265625 ]
2.933333
88
0
88
0
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2.966667
89
0
89
0
[ 23.30718994140625, 48.462730407714844, 142.6593017578125, -89.95352172851562, 92.85758972167969, 31.69124412536621 ]
[ 23.466796875, 46.23046875, 141.240234375, -87.5390625, 91.318359375, 44.47265625 ]
3
90
0
90
0
[ 22.896114349365234, 49.78511047363281, 143.236328125, -90.21656799316406, 93.02959442138672, 31.69116973876953 ]
[ 23.37890625, 46.494140625, 141.591796875, -87.5390625, 91.669921875, 44.47265625 ]
3.033333
91
0
91
0
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[ 23.203125, 47.109375, 142.20703125, -87.5390625, 92.197265625, 44.47265625 ]
3.066667
92
0
92
0
[ 22.43535614013672, 54.41343307495117, 144.717529296875, -88.93672180175781, 93.97625732421875, 29.409198760986328 ]
[ 23.02734375, 47.98828125, 143.0859375, -87.5390625, 92.4609375, 44.47265625 ]
3.1
93
0
93
0
[ 22.034847259521484, 57.417564392089844, 145.2321319580078, -88.01701354980469, 94.40059661865234, 27.529001235961914 ]
[ 22.8515625, 49.39453125, 144.4921875, -87.451171875, 92.548828125, 44.47265625 ]
3.133333
94
0
94
0
[ 21.436481475830078, 60.69654846191406, 145.9188995361328, -86.12466430664062, 94.70341491699219, 25.465543746948242 ]
[ 22.587890625, 51.15234375, 145.458984375, -87.36328125, 93.076171875, 44.47265625 ]
3.166667
95
0
95
0
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[ 22.32421875, 53.4375, 145.72265625, -86.748046875, 93.427734375, 44.47265625 ]
3.2
96
0
96
0
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[ 21.796875, 56.42578125, 146.162109375, -85.60546875, 93.8671875, 44.47265625 ]
3.233333
97
0
97
0
[ 18.316883087158203, 70.52181243896484, 146.5902099609375, -81.58665466308594, 96.52862548828125, 23.509765625 ]
[ 21.181640625, 59.4140625, 146.337890625, -84.462890625, 94.21875, 44.47265625 ]
3.266667
98
0
98
0
[ 16.645328521728516, 74.38396453857422, 146.2903289794922, -79.26995849609375, 96.94723510742188, 23.259510040283203 ]
[ 20.302734375, 62.666015625, 146.513671875, -82.880859375, 94.833984375, 44.47265625 ]
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": 8,
    "total_frames": 4317,
    "total_tasks": 1,
    "total_videos": 16,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:8"
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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_wrist_roll",
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        "observation.state": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        "observation.images.top": {
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    }
}

Citation

BibTeX:

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License:
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