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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
[ 6.591796875, 131.044921875, 180.966796875, -1.40625, 0.263671875, 34.716796875 ]
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0
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[ -11.865234375, 37.6171875, 23.37890625, 89.6484375, 83.935546875, 33.662109375 ]
2.633333
79
0
79
0
[ -12.48046875, 37.6171875, 20.126953125, 89.208984375, 87.802734375, 33.92578125 ]
[ -12.041015625, 37.265625, 23.466796875, 89.6484375, 84.375, 33.662109375 ]
2.666667
80
0
80
0
[ -12.65625, 36.826171875, 20.126953125, 89.12109375, 88.154296875, 33.837890625 ]
[ -11.865234375, 36.5625, 23.37890625, 89.6484375, 85.517578125, 33.3984375 ]
2.7
81
0
81
0
[ -13.0078125, 35.859375, 20.0390625, 89.12109375, 88.857421875, 33.046875 ]
[ -11.865234375, 35.68359375, 23.37890625, 89.6484375, 86.572265625, 33.3984375 ]
2.733333
82
0
82
0
[ -13.095703125, 35.419921875, 20.0390625, 88.9453125, 89.736328125, 31.46484375 ]
[ -12.48046875, 34.541015625, 23.37890625, 89.6484375, 87.1875, 33.3984375 ]
2.766667
83
0
83
0
[ -13.359375, 35.33203125, 20.126953125, 88.857421875, 90.087890625, 28.740234375 ]
[ -12.65625, 34.27734375, 23.37890625, 89.560546875, 87.36328125, 32.080078125 ]
2.8
84
0
84
0
[ -13.53515625, 35.244140625, 20.126953125, 88.857421875, 90.087890625, 24.697265625 ]
[ -12.65625, 34.1015625, 23.37890625, 89.384765625, 87.451171875, 29.70703125 ]
2.833333
85
0
85
0
[ -13.53515625, 35.068359375, 20.126953125, 88.857421875, 89.912109375, 19.951171875 ]
[ -12.83203125, 34.013671875, 23.37890625, 89.296875, 88.41796875, 26.455078125 ]
2.866667
86
0
86
0
[ -13.623046875, 34.892578125, 20.126953125, 88.76953125, 89.736328125, 14.765625 ]
[ -12.744140625, 34.013671875, 23.37890625, 89.208984375, 88.59375, 21.796875 ]
2.9
87
0
87
0
[ -13.623046875, 34.8046875, 20.126953125, 88.857421875, 89.82421875, 9.404296875 ]
[ -12.744140625, 33.57421875, 23.291015625, 89.12109375, 88.59375, 16.962890625 ]
2.933333
88
0
88
0
[ -13.7109375, 34.541015625, 20.126953125, 88.857421875, 89.736328125, 3.8671875 ]
[ -12.65625, 33.486328125, 23.291015625, 89.033203125, 88.59375, 12.041015625 ]
2.966667
89
0
89
0
[ -13.798828125, 34.013671875, 20.126953125, 88.857421875, 89.736328125, -1.0546875 ]
[ -12.65625, 33.486328125, 22.8515625, 89.033203125, 88.76953125, 7.3828125 ]
3
90
0
90
0
[ -13.798828125, 33.75, 20.126953125, 88.857421875, 89.6484375, -2.98828125 ]
[ -12.65625, 33.486328125, 22.763671875, 89.033203125, 88.681640625, 7.20703125 ]
3.033333
91
0
91
0
[ -13.7109375, 33.662109375, 20.0390625, 88.76953125, 89.47265625, -2.98828125 ]
[ -12.65625, 32.87109375, 22.587890625, 89.033203125, 88.681640625, 7.20703125 ]
3.066667
92
0
92
0
[ -13.7109375, 33.662109375, 20.0390625, 88.76953125, 89.47265625, -2.98828125 ]
[ -12.65625, 32.783203125, 22.587890625, 89.033203125, 88.681640625, 7.20703125 ]
3.1
93
0
93
0
[ -13.7109375, 33.662109375, 20.0390625, 88.76953125, 89.47265625, -2.98828125 ]
[ -12.65625, 32.783203125, 22.412109375, 89.033203125, 88.681640625, 7.20703125 ]
3.133333
94
0
94
0
[ -13.7109375, 33.662109375, 19.951171875, 88.76953125, 89.47265625, -2.98828125 ]
[ -12.65625, 32.6953125, 22.236328125, 88.9453125, 88.681640625, 7.20703125 ]
3.166667
95
0
95
0
[ -13.7109375, 33.75, 20.0390625, 88.76953125, 89.47265625, -2.98828125 ]
[ -12.83203125, 32.6953125, 21.62109375, 88.9453125, 88.681640625, 7.20703125 ]
3.2
96
0
96
0
[ -13.623046875, 33.92578125, 20.0390625, 88.76953125, 89.384765625, -2.98828125 ]
[ -12.83203125, 32.607421875, 21.533203125, 88.9453125, 88.681640625, 7.20703125 ]
3.233333
97
0
97
0
[ -13.623046875, 34.365234375, 20.126953125, 88.76953125, 89.296875, -2.98828125 ]
[ -12.83203125, 32.607421875, 21.533203125, 88.9453125, 88.59375, 7.20703125 ]
3.266667
98
0
98
0
[ -13.798828125, 34.453125, 20.478515625, 88.76953125, 88.505859375, -2.98828125 ]
[ -12.83203125, 32.6953125, 21.533203125, 88.9453125, 88.681640625, 7.20703125 ]
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": 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
        }
    }
}

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BibTeX:

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