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twerdster
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koch_bimanual_test

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Robotics
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LeRobot
koch_bimanual
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action
sequence
observation.state
sequence
timestamp
float32
0
35.5
frame_index
int64
0
1.06k
episode_index
int64
0
2
index
int64
0
2.97k
task_index
int64
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[ 25.224609375, 47.021484375, 30.5859375, 106.5234375, -33.310546875, 35.595703125, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 23.466796875, 46.845703125, 35.244140625, 99.4921875, -31.201171875, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
2.866667
86
0
86
0
[ 25.48828125, 45.87890625, 28.740234375, 106.5234375, -33.134765625, 35.595703125, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 23.994140625, 46.40625, 33.134765625, 99.4921875, -31.201171875, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
2.9
87
0
87
0
[ 25.83984375, 44.912109375, 27.333984375, 106.611328125, -33.134765625, 35.595703125, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 24.169921875, 45.52734375, 31.201171875, 99.4921875, -31.201171875, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
2.933333
88
0
88
0
[ 26.3671875, 44.384765625, 26.3671875, 106.69921875, -33.22265625, 35.595703125, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 24.2578125, 44.208984375, 29.53125, 99.4921875, -31.201171875, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
2.966667
89
0
89
0
[ 26.806640625, 44.033203125, 26.015625, 106.787109375, -33.662109375, 35.595703125, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 24.609375, 43.2421875, 28.65234375, 99.4921875, -31.201171875, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
3
90
0
90
0
[ 27.0703125, 43.857421875, 26.015625, 106.787109375, -33.92578125, 35.595703125, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 24.873046875, 42.802734375, 28.65234375, 99.4921875, -31.201171875, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
3.033333
91
0
91
0
[ 27.333984375, 43.681640625, 26.19140625, 106.875, -34.1015625, 35.595703125, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 25.48828125, 42.275390625, 28.65234375, 99.4921875, -31.201171875, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
3.066667
92
0
92
0
[ 27.333984375, 43.59375, 26.630859375, 106.962890625, -34.365234375, 35.595703125, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 25.927734375, 41.923828125, 28.564453125, 99.4921875, -31.2890625, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
3.1
93
0
93
0
[ 27.333984375, 43.505859375, 27.333984375, 106.962890625, -34.453125, 35.68359375, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 26.279296875, 41.923828125, 28.564453125, 99.4921875, -31.728515625, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
3.133333
94
0
94
0
[ 27.333984375, 43.59375, 27.7734375, 106.962890625, -34.453125, 35.68359375, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 26.3671875, 41.923828125, 28.564453125, 99.4921875, -31.904296875, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
3.166667
95
0
95
0
[ 27.421875, 43.59375, 27.7734375, 106.962890625, -34.541015625, 35.68359375, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 26.3671875, 41.8359375, 28.65234375, 99.4921875, -32.080078125, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
3.2
96
0
96
0
[ 27.861328125, 43.59375, 27.7734375, 106.962890625, -34.62890625, 35.68359375, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 26.455078125, 41.8359375, 28.65234375, 99.4921875, -31.9921875, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
3.233333
97
0
97
0
[ 28.212890625, 43.857421875, 27.7734375, 106.962890625, -34.98046875, 35.68359375, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 26.455078125, 41.8359375, 28.564453125, 99.4921875, -32.080078125, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
3.266667
98
0
98
0
[ 28.65234375, 44.208984375, 27.685546875, 106.962890625, -35.419921875, 35.68359375, -6.50390625, 18.017578125, 6.240234375, 70.224609375, -6.943359375, 34.365234375 ]
[ 26.806640625, 41.8359375, 28.564453125, 99.4921875, -32.080078125, 34.62890625, -5.712890625, 18.10546875, 5.80078125, 69.2578125, -6.328125, 34.013671875 ]
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": "v2.0",
    "robot_type": "koch_bimanual",
    "total_episodes": 3,
    "total_frames": 2969,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
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    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
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                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.state": {
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                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
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                "right_wrist_roll",
                "right_gripper"
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            "shape": [
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                1280,
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            "names": [
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            "info": {
                "video.fps": 30.0,
                "video.height": 720,
                "video.width": 1280,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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