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sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
595
episode_index
int64
0
59
index
int64
0
35.8k
task_index
int64
0
0
[ 0.87890625, 134.384765625, 169.1015625, 1.845703125, -0.615234375, 34.892578125 ]
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1.666667
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2
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2.1
63
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63
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2.266667
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2.3
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2.333333
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2.366667
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2.4
72
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72
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2.433333
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73
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2.466667
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2.5
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2.533333
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76
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2.566667
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[ -5.537109375, 102.216796875, 106.611328125, 67.5, 4.74609375, 33.75 ]
2.6
78
0
78
0
[ -6.767578125, 97.998046875, 101.162109375, 69.9609375, 6.416015625, 34.013671875 ]
[ -5.712890625, 100.634765625, 105.46875, 67.5, 4.921875, 33.75 ]
2.633333
79
0
79
0
[ -6.591796875, 96.15234375, 100.01953125, 69.9609375, 6.50390625, 34.013671875 ]
[ -5.80078125, 98.701171875, 104.4140625, 67.5, 5.185546875, 33.75 ]
2.666667
80
0
80
0
[ -6.85546875, 95.2734375, 99.140625, 69.873046875, 6.85546875, 34.013671875 ]
[ -5.80078125, 96.943359375, 103.359375, 67.5, 5.44921875, 33.75 ]
2.7
81
0
81
0
[ -7.20703125, 94.130859375, 98.349609375, 69.873046875, 6.6796875, 34.365234375 ]
[ -5.888671875, 95.537109375, 102.48046875, 67.5, 5.537109375, 33.75 ]
2.733333
82
0
82
0
[ -7.55859375, 93.1640625, 97.734375, 69.9609375, 6.767578125, 34.365234375 ]
[ -6.15234375, 94.5703125, 101.77734375, 67.5, 5.537109375, 33.75 ]
2.766667
83
0
83
0
[ -7.55859375, 92.109375, 97.294921875, 69.873046875, 6.767578125, 34.27734375 ]
[ -6.50390625, 93.427734375, 100.72265625, 67.5, 5.537109375, 33.75 ]
2.8
84
0
84
0
[ -7.294921875, 90.615234375, 96.767578125, 69.873046875, 6.85546875, 34.189453125 ]
[ -6.591796875, 92.373046875, 100.01953125, 67.5, 5.537109375, 33.75 ]
2.833333
85
0
85
0
[ -7.294921875, 89.208984375, 96.240234375, 69.873046875, 6.943359375, 34.189453125 ]
[ -6.6796875, 91.142578125, 99.66796875, 67.5, 5.537109375, 33.75 ]
2.866667
86
0
86
0
[ -7.294921875, 88.06640625, 95.888671875, 69.873046875, 7.470703125, 34.189453125 ]
[ -6.85546875, 89.82421875, 99.404296875, 67.5, 5.537109375, 33.75 ]
2.9
87
0
87
0
[ -7.119140625, 87.099609375, 95.625, 69.78515625, 7.91015625, 34.189453125 ]
[ -6.767578125, 88.59375, 98.96484375, 67.5, 5.625, 33.75 ]
2.933333
88
0
88
0
[ -6.943359375, 85.95703125, 95.185546875, 69.697265625, 7.91015625, 34.189453125 ]
[ -6.767578125, 87.36328125, 98.525390625, 67.5, 6.064453125, 33.75 ]
2.966667
89
0
89
0
[ -6.6796875, 84.990234375, 94.39453125, 69.697265625, 7.91015625, 34.189453125 ]
[ -6.6796875, 86.30859375, 98.26171875, 67.5, 6.328125, 33.75 ]
3
90
0
90
0
[ -6.50390625, 84.375, 93.69140625, 69.697265625, 7.91015625, 34.1015625 ]
[ -6.328125, 84.7265625, 97.734375, 67.5, 6.50390625, 33.75 ]
3.033333
91
0
91
0
[ -6.15234375, 83.49609375, 92.8125, 69.609375, 7.91015625, 34.1015625 ]
[ -6.15234375, 83.84765625, 97.119140625, 67.5, 6.591796875, 33.75 ]
3.066667
92
0
92
0
[ -5.44921875, 82.705078125, 91.669921875, 69.609375, 7.646484375, 34.1015625 ]
[ -6.15234375, 83.232421875, 96.591796875, 67.5, 6.591796875, 33.75 ]
3.1
93
0
93
0
[ -5.09765625, 81.73828125, 90.52734375, 69.609375, 7.55859375, 34.1015625 ]
[ -5.80078125, 82.44140625, 95.009765625, 67.5, 6.591796875, 33.75 ]
3.133333
94
0
94
0
[ -4.658203125, 81.123046875, 89.82421875, 69.609375, 7.55859375, 34.1015625 ]
[ -5.2734375, 81.38671875, 93.251953125, 67.5, 6.6796875, 33.75 ]
3.166667
95
0
95
0
[ -3.8671875, 80.33203125, 89.208984375, 69.697265625, 7.55859375, 34.1015625 ]
[ -5.009765625, 80.771484375, 92.109375, 67.5, 6.6796875, 33.75 ]
3.2
96
0
96
0
[ -3.33984375, 79.8046875, 89.12109375, 69.609375, 7.646484375, 34.1015625 ]
[ -4.39453125, 80.33203125, 91.7578125, 67.5, 6.50390625, 33.75 ]
3.233333
97
0
97
0
[ -2.724609375, 79.365234375, 89.12109375, 69.697265625, 7.822265625, 34.1015625 ]
[ -3.69140625, 79.365234375, 91.58203125, 67.5, 6.767578125, 33.75 ]
3.266667
98
0
98
0
[ -2.197265625, 78.486328125, 89.12109375, 69.78515625, 7.998046875, 34.013671875 ]
[ -3.251953125, 78.662109375, 91.7578125, 67.5, 6.6796875, 33.75 ]
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": 60,
    "total_frames": 35760,
    "total_tasks": 1,
    "total_videos": 120,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:60"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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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