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action
sequence | observation.state
sequence | timestamp
float32 0
41.5
| frame_index
int64 0
1.25k
| episode_index
int64 0
9
| index
int64 0
2.32k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 10,
"total_frames": 2319,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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.cam_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
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"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
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"has_audio": false
}
},
"observation.images.cam_front": {
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"shape": [
480,
640,
3
],
"names": [
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],
"info": {
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"video.height": 480,
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"video.channels": 3,
"video.codec": "h264",
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}
},
"timestamp": {
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},
"frame_index": {
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},
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},
"index": {
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},
"task_index": {
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"shape": [
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],
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}
}
}
Citation
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