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action
sequence | observation.state
sequence | timestamp
float32 0
8.47
| frame_index
int64 0
254
| episode_index
int64 0
9
| index
int64 0
2.13k
| task_index
int64 0
0
|
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[
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180.966796875,
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[
6.591796875,
131.044921875,
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-1.40625,
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129.462890625,
179.47265625,
-1.58203125,
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33.662109375
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[
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180.966796875,
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179.47265625,
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[
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129.462890625,
179.47265625,
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[
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129.375,
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[
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[
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129.462890625,
179.47265625,
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[
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129.462890625,
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[
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179.47265625,
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[
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129.462890625,
179.47265625,
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[
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129.462890625,
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[
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129.375,
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[
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129.375,
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[
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[
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129.462890625,
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129.462890625,
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129.462890625,
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129.462890625,
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129.462890625,
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[
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[
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129.462890625,
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[
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[
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[
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[
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129.375,
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[
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[
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[
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106.435546875,
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103.359375,
76.728515625,
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100.458984375,
72.59765625,
88.9453125,
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[
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97.119140625,
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88.9453125,
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33.662109375
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[
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67.060546875,
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[
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90.087890625,
64.3359375,
88.9453125,
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[
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[
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[
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[
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[
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33.75,
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[
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54.140625,
30.5859375,
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[
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48.515625,
24.43359375,
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84.55078125,
34.27734375
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-11.162109375,
48.8671875,
27.7734375,
89.6484375,
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[
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47.548828125,
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47.4609375,
26.89453125,
89.6484375,
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[
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46.93359375,
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-10.8984375,
46.40625,
26.89453125,
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[
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45.52734375,
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45,
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44.6484375,
26.71875,
89.6484375,
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44.296875,
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42.626953125,
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89.6484375,
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-11.953125,
41.572265625,
23.73046875,
89.6484375,
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21.181640625,
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-12.041015625,
41.1328125,
23.818359375,
89.6484375,
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40.517578125,
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39.287109375,
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[
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[
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23.37890625,
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[
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34.013671875,
23.37890625,
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[
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33.57421875,
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[
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33.486328125,
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88.59375,
12.041015625
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[
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[
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33.75,
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33.486328125,
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[
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20.0390625,
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-12.65625,
32.87109375,
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88.681640625,
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[
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20.0390625,
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-12.65625,
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22.587890625,
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88.681640625,
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[
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20.0390625,
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88.681640625,
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[
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[
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[
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88.9453125,
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[
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21.533203125,
88.9453125,
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[
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21.533203125,
88.9453125,
88.681640625,
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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": 2131,
"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,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_front": {
"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
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