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sequence
observation.state
sequence
timestamp
float32
0
13.5
frame_index
int64
0
406
episode_index
int64
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49
index
int64
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16.8k
task_index
int64
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2.9
87
0
87
0
[ 59.94140625, 102.48046875, 85.517578125, 77.783203125, -144.66796875, 0.52734375, 3.427734375, 101.42578125, 175.078125, -43.2421875, -5.537109375, 34.892578125 ]
[ 56.77734375, 103.359375, 92.28515625, 79.98046875, -137.724609375, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
2.933333
88
0
88
0
[ 60.908203125, 101.6015625, 84.638671875, 77.87109375, -146.07421875, 0.52734375, 3.427734375, 101.513671875, 175.166015625, -43.2421875, -5.537109375, 34.892578125 ]
[ 57.216796875, 102.568359375, 91.58203125, 79.62890625, -139.5703125, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
2.966667
89
0
89
0
[ 62.138671875, 101.162109375, 83.84765625, 77.87109375, -147.744140625, 0.439453125, 3.427734375, 101.513671875, 175.078125, -43.2421875, -5.537109375, 34.892578125 ]
[ 59.765625, 100.810546875, 89.384765625, 79.453125, -143.0859375, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
3
90
0
90
0
[ 64.775390625, 97.91015625, 80.068359375, 77.87109375, -152.2265625, 0.439453125, 3.427734375, 101.513671875, 175.078125, -43.154296875, -5.537109375, 34.892578125 ]
[ 60.908203125, 100.37109375, 88.154296875, 79.27734375, -144.140625, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
3.033333
91
0
91
0
[ 65.7421875, 96.15234375, 77.87109375, 77.87109375, -154.6875, 0.439453125, 3.427734375, 101.42578125, 175.078125, -43.2421875, -5.537109375, 34.892578125 ]
[ 62.490234375, 99.31640625, 86.923828125, 79.189453125, -145.546875, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
3.066667
92
0
92
0
[ 67.060546875, 94.306640625, 75.76171875, 77.783203125, -156.62109375, 0.439453125, 3.427734375, 101.42578125, 175.078125, -43.2421875, -5.537109375, 34.892578125 ]
[ 63.6328125, 97.470703125, 84.462890625, 79.189453125, -147.919921875, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
3.1
93
0
93
0
[ 68.291015625, 92.63671875, 74.091796875, 77.87109375, -158.115234375, 0.439453125, 3.427734375, 101.513671875, 175.078125, -43.2421875, -5.537109375, 34.892578125 ]
[ 64.775390625, 95.185546875, 81.123046875, 79.1015625, -150.29296875, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
3.133333
94
0
94
0
[ 69.43359375, 91.58203125, 73.125, 77.6953125, -159.345703125, 0.439453125, 3.427734375, 101.513671875, 175.078125, -43.2421875, -5.537109375, 34.892578125 ]
[ 66.26953125, 92.98828125, 78.837890625, 78.837890625, -152.578125, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
3.166667
95
0
95
0
[ 70.751953125, 90.615234375, 72.333984375, 76.81640625, -160.576171875, 0.439453125, 3.427734375, 101.513671875, 175.078125, -43.2421875, -5.537109375, 34.892578125 ]
[ 67.587890625, 91.318359375, 77.87109375, 78.837890625, -154.775390625, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
3.2
96
0
96
0
[ 71.89453125, 90.087890625, 71.806640625, 75.9375, -162.0703125, 0.439453125, 3.427734375, 101.513671875, 175.166015625, -43.2421875, -5.537109375, 34.892578125 ]
[ 68.818359375, 89.912109375, 77.34375, 78.837890625, -156.4453125, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
3.233333
97
0
97
0
[ 73.212890625, 89.208984375, 71.015625, 75.498046875, -163.125, 0.439453125, 3.427734375, 101.42578125, 175.078125, -43.2421875, -5.537109375, 34.892578125 ]
[ 70.927734375, 88.59375, 77.080078125, 78.134765625, -159.43359375, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
3.266667
98
0
98
0
[ 75.41015625, 87.626953125, 69.169921875, 75.41015625, -165.9375, 0.439453125, 3.427734375, 101.513671875, 175.166015625, -43.2421875, -5.537109375, 34.892578125 ]
[ 73.037109375, 87.5390625, 76.201171875, 77.958984375, -161.630859375, 14.58984375, 2.98828125, 100.986328125, 175.166015625, -42.099609375, -4.74609375, 33.92578125 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "koch_bimanual",
    "total_episodes": 50,
    "total_frames": 16763,
    "total_tasks": 1,
    "total_videos": 150,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
                12
            ],
            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.images.top_camera": {
            "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.side_camera": {
            "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.hand_camera": {
            "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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