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sequence
observation.state
sequence
timestamp
float32
0
24
frame_index
int64
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719
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2.14k
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[ -9.660011291503906, 37.70587921142578, 32.80906295776367, 86.87163543701172, -78.16436004638672, -2.254892349243164 ]
[ -8.0859375, 36.38671875, 29.8828125, 84.7265625, -70.13671875, 18.28125 ]
2.233333
67
0
67
0
[ -9.378324508666992, 43.789794921875, 39.276824951171875, 85.180908203125, -77.81958770751953, -2.0846099853515625 ]
[ -8.173828125, 36.298828125, 29.794921875, 84.7265625, -70.751953125, 16.962890625 ]
2.266667
68
0
68
0
[ -9.507562637329102, 46.97819519042969, 40.937774658203125, 85.87274932861328, -77.48918151855469, -2.312429428100586 ]
[ -8.173828125, 36.298828125, 29.794921875, 84.7265625, -71.015625, 15.46875 ]
2.3
69
0
69
0
[ -9.20509147644043, 54.82685089111328, 48.39305877685547, 84.19924926757812, -75.87777709960938, -2.3621997833251953 ]
[ -8.26171875, 36.298828125, 29.794921875, 84.7265625, -71.630859375, 14.23828125 ]
2.333333
70
0
70
0
[ -9.356758117675781, 52.416622161865234, 45.0540771484375, 85.12570190429688, -76.80072784423828, -2.2058677673339844 ]
[ -8.349609375, 36.298828125, 29.794921875, 84.7265625, -71.982421875, 12.919921875 ]
2.366667
71
0
71
0
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[ -8.349609375, 36.474609375, 30.322265625, 84.7265625, -71.982421875, 11.865234375 ]
2.4
72
0
72
0
[ -9.983810424804688, 65.74421691894531, 53.3527946472168, 86.96318054199219, -71.5003433227539, -1.6117477416992188 ]
[ -8.349609375, 36.826171875, 31.728515625, 84.7265625, -71.982421875, 10.546875 ]
2.433333
73
0
73
0
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[ -8.525390625, 37.44140625, 33.134765625, 84.7265625, -71.982421875, 9.66796875 ]
2.466667
74
0
74
0
[ -13.149825096130371, 75.90570831298828, 58.79187774658203, 89.79489135742188, -62.34046173095703, -2.0753917694091797 ]
[ -8.525390625, 38.49609375, 34.541015625, 84.638671875, -71.982421875, 8.7890625 ]
2.5
75
0
75
0
[ -14.831094741821289, 77.98356628417969, 56.890785217285156, 93.5510482788086, -59.375553131103516, -1.9789295196533203 ]
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ -8.701171875, 43.505859375, 40.60546875, 84.7265625, -72.0703125, 7.734375 ]
2.6
78
0
78
0
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2.633333
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0
79
0
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2.666667
80
0
80
0
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[ -10.01953125, 49.921875, 45.263671875, 86.66015625, -70.83984375, 7.470703125 ]
2.7
81
0
81
0
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2.733333
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0
82
0
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2.766667
83
0
83
0
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[ -13.271484375, 58.359375, 48.076171875, 88.59375, -64.86328125, 7.3828125 ]
2.8
84
0
84
0
[ -42.13738250732422, 101.61685180664062, 62.359779357910156, 110.205810546875, -8.229599952697754, -1.5273685455322266 ]
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2.833333
85
0
85
0
[ -51.23655700683594, 106.43962097167969, 64.96478271484375, 111.658447265625, 7.110347747802734, -1.9578933715820312 ]
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2.866667
86
0
86
0
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[ -18.28125, 67.1484375, 51.240234375, 92.021484375, -55.986328125, 7.294921875 ]
2.9
87
0
87
0
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2.933333
88
0
88
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2.966667
89
0
89
0
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[ -24.78515625, 75.234375, 54.404296875, 95.2734375, -44.912109375, 7.294921875 ]
3
90
0
90
0
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3.033333
91
0
91
0
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[ -29.970703125, 80.15625, 56.689453125, 97.119140625, -36.650390625, 7.294921875 ]
3.066667
92
0
92
0
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[ -32.87109375, 82.44140625, 57.744140625, 97.91015625, -32.255859375, 7.294921875 ]
3.1
93
0
93
0
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[ -35.771484375, 84.638671875, 58.798828125, 98.525390625, -27.7734375, 7.294921875 ]
3.133333
94
0
94
0
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[ -38.935546875, 86.748046875, 59.853515625, 99.228515625, -22.763671875, 7.294921875 ]
3.166667
95
0
95
0
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[ -41.923828125, 88.76953125, 60.64453125, 99.84375, -17.666015625, 7.294921875 ]
3.2
96
0
96
0
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[ -44.912109375, 90.703125, 61.5234375, 100.283203125, -12.744140625, 7.294921875 ]
3.233333
97
0
97
0
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3.266667
98
0
98
0
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[ -51.767578125, 93.779296875, 63.10546875, 101.162109375, -1.93359375, 7.294921875 ]
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",
    "total_episodes": 5,
    "total_frames": 2142,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": {
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            "names": [
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                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
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        "observation.state": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.cam_high": {
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        "observation.images.cam_front": {
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        "frame_index": {
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    }
}

Citation

BibTeX:

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