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ssaito
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koch_test_104

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Robotics
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
0
49
index
int64
0
22.3k
task_index
int64
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2.533333
76
0
76
0
[ -5.9765625, 134.208984375, 150.732421875, 17.666015625, -2.900390625, 34.1015625 ]
[ -5.888671875, 131.748046875, 155.91796875, 15.205078125, -1.494140625, 34.365234375 ]
2.566667
77
0
77
0
[ -5.9765625, 133.505859375, 150.46875, 17.9296875, -3.603515625, 34.1015625 ]
[ -5.888671875, 131.748046875, 154.16015625, 16.611328125, -2.021484375, 34.365234375 ]
2.6
78
0
78
0
[ -6.15234375, 132.626953125, 149.853515625, 18.10546875, -4.5703125, 34.1015625 ]
[ -5.9765625, 131.748046875, 153.017578125, 17.666015625, -2.4609375, 34.365234375 ]
2.633333
79
0
79
0
[ -6.767578125, 131.748046875, 148.798828125, 19.248046875, -4.921875, 34.1015625 ]
[ -6.064453125, 131.572265625, 152.578125, 18.45703125, -3.1640625, 34.365234375 ]
2.666667
80
0
80
0
[ -7.3828125, 130.95703125, 147.041015625, 21.796875, -5.009765625, 34.1015625 ]
[ -6.328125, 131.396484375, 152.490234375, 18.80859375, -3.779296875, 34.365234375 ]
2.7
81
0
81
0
[ -8.173828125, 130.341796875, 145.458984375, 24.521484375, -5.09765625, 34.1015625 ]
[ -6.85546875, 130.95703125, 151.875, 19.951171875, -4.21875, 34.365234375 ]
2.733333
82
0
82
0
[ -9.66796875, 129.55078125, 144.404296875, 25.48828125, -5.537109375, 34.1015625 ]
[ -7.3828125, 130.517578125, 150.380859375, 21.97265625, -4.5703125, 34.365234375 ]
2.766667
83
0
83
0
[ -10.986328125, 128.84765625, 143.173828125, 25.83984375, -6.6796875, 34.1015625 ]
[ -8.173828125, 129.990234375, 148.359375, 23.818359375, -4.74609375, 34.365234375 ]
2.8
84
0
84
0
[ -12.216796875, 128.3203125, 142.20703125, 26.89453125, -7.470703125, 34.1015625 ]
[ -9.4921875, 129.375, 146.689453125, 25.400390625, -5.2734375, 34.365234375 ]
2.833333
85
0
85
0
[ -13.798828125, 127.705078125, 140.80078125, 28.740234375, -8.525390625, 34.1015625 ]
[ -10.8984375, 128.759765625, 145.37109375, 26.455078125, -6.064453125, 34.365234375 ]
2.866667
86
0
86
0
[ -15.205078125, 127.177734375, 138.69140625, 30.9375, -9.31640625, 34.1015625 ]
[ -12.12890625, 128.232421875, 144.4921875, 27.685546875, -6.767578125, 34.365234375 ]
2.9
87
0
87
0
[ -15.732421875, 125.947265625, 135.966796875, 33.662109375, -9.404296875, 34.1015625 ]
[ -13.53515625, 127.705078125, 143.26171875, 29.00390625, -7.734375, 34.365234375 ]
2.933333
88
0
88
0
[ -15.908203125, 124.62890625, 132.71484375, 37.08984375, -9.580078125, 34.1015625 ]
[ -14.765625, 126.73828125, 141.15234375, 31.201171875, -8.525390625, 34.365234375 ]
2.966667
89
0
89
0
[ -16.171875, 123.134765625, 129.19921875, 40.341796875, -9.84375, 34.1015625 ]
[ -15.29296875, 125.771484375, 138.603515625, 33.3984375, -8.96484375, 34.365234375 ]
3
90
0
90
0
[ -16.611328125, 121.728515625, 126.123046875, 42.802734375, -10.1953125, 34.189453125 ]
[ -15.732421875, 124.453125, 134.47265625, 36.38671875, -9.228515625, 34.365234375 ]
3.033333
91
0
91
0
[ -17.2265625, 120.498046875, 123.134765625, 44.6484375, -10.72265625, 34.1015625 ]
[ -16.083984375, 123.134765625, 130.78125, 38.935546875, -9.580078125, 34.365234375 ]
3.066667
92
0
92
0
[ -18.28125, 119.35546875, 120.05859375, 47.197265625, -11.513671875, 34.1015625 ]
[ -16.5234375, 121.640625, 127.177734375, 41.748046875, -9.84375, 34.365234375 ]
3.1
93
0
93
0
[ -19.16015625, 118.30078125, 117.0703125, 50.185546875, -11.77734375, 34.1015625 ]
[ -17.2265625, 120.322265625, 123.92578125, 44.296875, -10.37109375, 34.365234375 ]
3.133333
94
0
94
0
[ -20.21484375, 117.24609375, 114.609375, 52.734375, -12.3046875, 34.1015625 ]
[ -18.017578125, 119.091796875, 121.376953125, 46.845703125, -10.8984375, 34.365234375 ]
3.166667
95
0
95
0
[ -20.654296875, 116.54296875, 113.203125, 54.755859375, -12.919921875, 34.1015625 ]
[ -19.16015625, 117.94921875, 118.916015625, 49.39453125, -11.42578125, 34.365234375 ]
3.2
96
0
96
0
[ -21.005859375, 116.19140625, 112.412109375, 56.953125, -13.447265625, 34.1015625 ]
[ -19.86328125, 116.982421875, 116.806640625, 51.943359375, -11.865234375, 34.365234375 ]
3.233333
97
0
97
0
[ -21.62109375, 115.6640625, 112.32421875, 58.88671875, -13.623046875, 34.1015625 ]
[ -20.390625, 116.455078125, 115.576171875, 54.052734375, -12.392578125, 34.365234375 ]
3.266667
98
0
98
0
[ -23.73046875, 115.6640625, 112.412109375, 59.853515625, -13.7109375, 34.1015625 ]
[ -20.91796875, 115.927734375, 115.048828125, 56.162109375, -12.919921875, 34.365234375 ]
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": 50,
    "total_frames": 22274,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.overhead_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
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                "width",
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                "has_audio": false
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        "observation.images.side_cam": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
22,274