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ssaito
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koch_test_24

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Robotics
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action
sequence
observation.state
sequence
timestamp
float32
0
23.9
frame_index
int64
0
717
episode_index
int64
0
0
index
int64
0
717
task_index
int64
0
0
[ 3.955078125, 126.826171875, 127.880859375, 20.390625, 1.40625, 36.2109375 ]
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2.4
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2.533333
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0
[ 2.28515625, 127.79296875, 129.55078125, 22.587890625, -5.625, 39.19921875 ]
[ 0.087890625, 126.9140625, 130.95703125, 27.685546875, -1.58203125, 36.123046875 ]
2.566667
77
0
77
0
[ 3.076171875, 127.79296875, 129.111328125, 21.4453125, -7.646484375, 39.462890625 ]
[ 0.791015625, 126.9140625, 130.95703125, 26.455078125, -2.63671875, 36.650390625 ]
2.6
78
0
78
0
[ 4.306640625, 127.79296875, 128.84765625, 19.248046875, -9.404296875, 39.638671875 ]
[ 1.669921875, 126.9140625, 130.95703125, 25.3125, -3.955078125, 37.529296875 ]
2.633333
79
0
79
0
[ 5.44921875, 127.79296875, 128.759765625, 17.9296875, -10.986328125, 39.638671875 ]
[ 2.63671875, 126.9140625, 130.95703125, 24.2578125, -5.625, 37.96875 ]
2.666667
80
0
80
0
[ 5.888671875, 127.6171875, 128.056640625, 17.666015625, -12.568359375, 39.814453125 ]
[ 3.69140625, 126.9140625, 130.95703125, 22.763671875, -7.294921875, 38.056640625 ]
2.7
81
0
81
0
[ 6.591796875, 127.353515625, 127.265625, 17.9296875, -13.88671875, 39.90234375 ]
[ 4.21875, 126.9140625, 130.95703125, 21.357421875, -8.876953125, 38.056640625 ]
2.733333
82
0
82
0
[ 8.4375, 126.5625, 126.38671875, 18.28125, -15.46875, 41.748046875 ]
[ 4.921875, 126.9140625, 130.95703125, 20.390625, -10.458984375, 38.14453125 ]
2.766667
83
0
83
0
[ 9.84375, 125.419921875, 124.716796875, 19.6875, -16.69921875, 43.2421875 ]
[ 5.9765625, 126.5625, 130.869140625, 20.126953125, -11.865234375, 38.759765625 ]
2.8
84
0
84
0
[ 10.986328125, 124.453125, 122.255859375, 22.236328125, -18.544921875, 43.505859375 ]
[ 7.20703125, 125.771484375, 129.462890625, 20.302734375, -13.359375, 40.25390625 ]
2.833333
85
0
85
0
[ 11.865234375, 123.57421875, 119.8828125, 24.345703125, -20.91796875, 43.59375 ]
[ 8.525390625, 124.8046875, 127.177734375, 20.7421875, -14.853515625, 41.572265625 ]
2.866667
86
0
86
0
[ 12.919921875, 122.607421875, 117.59765625, 26.015625, -23.02734375, 43.76953125 ]
[ 9.66796875, 123.837890625, 123.92578125, 22.236328125, -16.611328125, 42.1875 ]
2.9
87
0
87
0
[ 13.974609375, 121.201171875, 115.6640625, 27.59765625, -25.3125, 44.384765625 ]
[ 10.634765625, 122.87109375, 120.76171875, 23.818359375, -18.544921875, 42.275390625 ]
2.933333
88
0
88
0
[ 15.1171875, 120.234375, 113.818359375, 29.8828125, -28.125, 44.384765625 ]
[ 11.513671875, 121.81640625, 117.94921875, 25.48828125, -20.7421875, 42.71484375 ]
2.966667
89
0
89
0
[ 15.46875, 119.1796875, 112.32421875, 32.16796875, -31.201171875, 44.384765625 ]
[ 12.83203125, 120.849609375, 116.015625, 27.158203125, -23.291015625, 43.154296875 ]
3
90
0
90
0
[ 16.083984375, 117.94921875, 110.7421875, 34.716796875, -34.1015625, 44.384765625 ]
[ 13.798828125, 119.70703125, 114.873046875, 29.091796875, -25.83984375, 43.2421875 ]
3.033333
91
0
91
0
[ 16.787109375, 116.455078125, 108.984375, 36.73828125, -36.123046875, 44.384765625 ]
[ 14.765625, 118.4765625, 113.818359375, 31.376953125, -28.65234375, 43.2421875 ]
3.066667
92
0
92
0
[ 17.40234375, 115.13671875, 107.841796875, 37.79296875, -37.79296875, 44.384765625 ]
[ 15.205078125, 116.982421875, 112.32421875, 33.662109375, -31.2890625, 43.2421875 ]
3.1
93
0
93
0
[ 18.28125, 113.818359375, 107.2265625, 39.0234375, -39.638671875, 44.296875 ]
[ 15.732421875, 115.83984375, 110.7421875, 35.595703125, -33.57421875, 43.330078125 ]
3.133333
94
0
94
0
[ 18.720703125, 112.236328125, 105.8203125, 40.60546875, -41.484375, 44.296875 ]
[ 16.5234375, 114.521484375, 109.86328125, 37.177734375, -35.419921875, 43.330078125 ]
3.166667
95
0
95
0
[ 19.51171875, 110.654296875, 104.326171875, 41.484375, -42.275390625, 44.12109375 ]
[ 17.05078125, 113.203125, 108.720703125, 38.935546875, -37.353515625, 43.330078125 ]
3.2
96
0
96
0
[ 20.0390625, 109.3359375, 102.919921875, 42.36328125, -42.890625, 43.9453125 ]
[ 17.75390625, 111.533203125, 107.490234375, 40.25390625, -39.0234375, 43.330078125 ]
3.233333
97
0
97
0
[ 20.390625, 107.578125, 101.513671875, 43.41796875, -43.505859375, 43.59375 ]
[ 18.720703125, 109.951171875, 106.259765625, 41.484375, -40.25390625, 43.06640625 ]
3.266667
98
0
98
0
[ 20.56640625, 105.908203125, 100.107421875, 44.47265625, -43.76953125, 41.923828125 ]
[ 19.072265625, 108.369140625, 105.1171875, 42.5390625, -41.1328125, 43.06640625 ]
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": 1,
    "total_frames": 718,
    "total_tasks": 1,
    "total_videos": 1,
    "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": [
                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.overhead_cam": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 1080,
                "video.width": 1920,
                "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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