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shin1107
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eval_koch_base_pi0fast_pretrained_20000

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Robotics
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LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
16.2
frame_index
int64
0
81
episode_index
int64
0
0
index
int64
0
81
task_index
int64
0
0
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0
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8
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8.2
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8.6
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8.8
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9
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9.2
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9.4
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9.6
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9.8
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10
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10.2
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10.4
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10.6
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10.8
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11
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11.2
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11.4
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11.6
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11.8
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12
60
0
60
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12.2
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12.4
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12.6
63
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12.8
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13
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[ -3.427734375, 119.970703125, 148.18359375, 20.302734375, 29.1796875, 36.03515625 ]
13.2
66
0
66
0
[ -3.3092105388641357, 120.91134643554688, 146.6959686279297, 20.113849639892578, 37.07888412475586, 34.429473876953125 ]
[ -3.955078125, 119.53125, 148.18359375, 20.302734375, 36.826171875, 35.33203125 ]
13.4
67
0
67
0
[ -2.2123987674713135, 122.24349975585938, 146.6959686279297, 20.113849639892578, 28.722049713134766, 36.89643859863281 ]
[ -3.779296875, 120.146484375, 148.18359375, 20.302734375, 37.001953125, 35.33203125 ]
13.6
68
0
68
0
[ -3.987077474594116, 120.0880355834961, 146.6959686279297, 20.113849639892578, 28.722049713134766, 36.89643859863281 ]
[ -2.4609375, 121.552734375, 148.18359375, 20.302734375, 29.267578125, 36.03515625 ]
13.8
69
0
69
0
[ -2.6313436031341553, 121.73466491699219, 146.6959686279297, 20.113849639892578, 28.722049713134766, 36.89643859863281 ]
[ -3.427734375, 119.970703125, 148.271484375, 20.390625, 29.1796875, 36.03515625 ]
14
70
0
70
0
[ -4.406022071838379, 119.5792007446289, 146.6959686279297, 20.113849639892578, 37.07888412475586, 34.429473876953125 ]
[ -3.427734375, 119.970703125, 148.18359375, 20.302734375, 29.1796875, 36.03515625 ]
14.2
71
0
71
0
[ -3.3092105388641357, 120.91134643554688, 146.6959686279297, 20.113849639892578, 37.07888412475586, 34.429473876953125 ]
[ -3.955078125, 119.53125, 148.18359375, 20.302734375, 36.73828125, 35.33203125 ]
14.4
72
0
72
0
[ -2.2123987674713135, 122.24349975585938, 146.6959686279297, 20.113849639892578, 28.722049713134766, 36.89643859863281 ]
[ -3.779296875, 120.146484375, 148.18359375, 20.302734375, 37.001953125, 35.33203125 ]
14.6
73
0
73
0
[ -3.987077474594116, 120.0880355834961, 146.6959686279297, 20.113849639892578, 28.722049713134766, 36.89643859863281 ]
[ -2.373046875, 121.552734375, 148.18359375, 20.302734375, 29.267578125, 36.03515625 ]
14.8
74
0
74
0
[ -2.6313436031341553, 121.73466491699219, 146.6959686279297, 20.113849639892578, 28.722049713134766, 36.89643859863281 ]
[ -3.427734375, 119.970703125, 148.271484375, 20.390625, 29.1796875, 36.03515625 ]
15
75
0
75
0
[ -4.406022071838379, 119.5792007446289, 146.6959686279297, 20.113849639892578, 37.07888412475586, 34.429473876953125 ]
[ -3.427734375, 119.970703125, 148.18359375, 20.302734375, 29.1796875, 36.03515625 ]
15.2
76
0
76
0
[ -3.3092105388641357, 120.91134643554688, 146.6959686279297, 20.113849639892578, 37.07888412475586, 34.429473876953125 ]
[ -3.955078125, 119.53125, 148.271484375, 20.302734375, 36.73828125, 35.33203125 ]
15.4
77
0
77
0
[ -2.2123987674713135, 122.24349975585938, 146.6959686279297, 20.113849639892578, 28.722049713134766, 36.89643859863281 ]
[ -3.779296875, 120.146484375, 148.18359375, 20.302734375, 37.001953125, 35.33203125 ]
15.6
78
0
78
0
[ -3.987077474594116, 120.0880355834961, 146.6959686279297, 20.113849639892578, 28.722049713134766, 36.89643859863281 ]
[ -2.373046875, 121.552734375, 148.18359375, 20.302734375, 29.267578125, 36.03515625 ]
15.8
79
0
79
0
[ -2.6313436031341553, 121.73466491699219, 146.6959686279297, 20.113849639892578, 28.722049713134766, 36.89643859863281 ]
[ -3.427734375, 119.970703125, 148.271484375, 20.302734375, 29.1796875, 36.03515625 ]
16
80
0
80
0
[ -4.406022071838379, 119.5792007446289, 146.6959686279297, 20.113849639892578, 37.07888412475586, 34.429473876953125 ]
[ -3.427734375, 119.970703125, 148.18359375, 20.302734375, 29.1796875, 36.03515625 ]
16.200001
81
0
81
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "koch",
    "total_episodes": 1,
    "total_frames": 82,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 5,
    "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": [
                6
            ],
            "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",
                "channels"
            ],
            "info": {
                "video.fps": 5.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 5.0,
                "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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