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Datasets:
abbyoneill
/
pusht

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
199
episode_index
int64
0
24
index
int64
0
5k
task_index
int64
0
0
[ 78.837890625, 50.44921875, 45.087890625, 92.109375, 6.064453125, 34.541015625 ]
[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.888671875, 80.068359375 ]
0
0
0
0
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
0.1
1
0
1
0
[ 78.837890625, 50.44921875, 45.087890625, 92.109375, 6.15234375, 34.541015625 ]
[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
0.2
2
0
2
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.888671875, 80.068359375 ]
0.3
3
0
3
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
0.4
4
0
4
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
0.5
5
0
5
0
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0.6
6
0
6
0
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0.7
7
0
7
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
0.8
8
0
8
0
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0.9
9
0
9
0
[ 78.837890625, 50.44921875, 45.087890625, 92.109375, 6.15234375, 34.541015625 ]
[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
1
10
0
10
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 6.064453125, 80.068359375 ]
1.1
11
0
11
0
[ 78.837890625, 50.44921875, 45.087890625, 92.109375, 6.064453125, 34.541015625 ]
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1.2
12
0
12
0
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1.3
13
0
13
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
1.4
14
0
14
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 6.064453125, 80.068359375 ]
1.5
15
0
15
0
[ 78.837890625, 50.44921875, 44.912109375, 92.109375, 6.064453125, 34.541015625 ]
[ 77.958984375, 47.98828125, 45.52734375, 91.669921875, 5.9765625, 80.068359375 ]
1.6
16
0
16
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
1.7
17
0
17
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.669921875, 5.9765625, 80.068359375 ]
1.8
18
0
18
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.669921875, 6.064453125, 80.068359375 ]
1.9
19
0
19
0
[ 78.837890625, 50.44921875, 44.912109375, 92.109375, 6.064453125, 34.541015625 ]
[ 77.958984375, 47.98828125, 45.52734375, 91.669921875, 5.9765625, 80.068359375 ]
2
20
0
20
0
[ 78.837890625, 50.44921875, 44.912109375, 92.109375, 6.15234375, 34.541015625 ]
[ 77.958984375, 47.98828125, 45.52734375, 91.669921875, 5.9765625, 80.068359375 ]
2.1
21
0
21
0
[ 78.837890625, 50.44921875, 44.912109375, 92.109375, 6.064453125, 34.541015625 ]
[ 77.958984375, 47.98828125, 45.52734375, 91.669921875, 5.9765625, 80.068359375 ]
2.2
22
0
22
0
[ 78.837890625, 50.44921875, 44.912109375, 92.109375, 6.15234375, 34.541015625 ]
[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
2.3
23
0
23
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
2.4
24
0
24
0
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2.5
25
0
25
0
[ 78.837890625, 50.44921875, 44.912109375, 92.109375, 6.064453125, 34.541015625 ]
[ 77.958984375, 47.98828125, 45.52734375, 91.669921875, 5.9765625, 80.068359375 ]
2.6
26
0
26
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
2.7
27
0
27
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 6.064453125, 80.068359375 ]
2.8
28
0
28
0
[ 78.837890625, 50.44921875, 45.087890625, 92.109375, 6.15234375, 34.541015625 ]
[ 77.958984375, 47.98828125, 45.52734375, 91.669921875, 5.9765625, 80.068359375 ]
2.9
29
0
29
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.669921875, 5.9765625, 80.068359375 ]
3
30
0
30
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.9765625, 80.068359375 ]
3.1
31
0
31
0
[ 78.837890625, 50.44921875, 44.82421875, 92.373046875, 5.9765625, 34.541015625 ]
[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.361328125, 80.068359375 ]
3.2
32
0
32
0
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[ 77.958984375, 47.98828125, 45.52734375, 91.7578125, 5.09765625, 80.068359375 ]
3.3
33
0
33
0
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[ 77.255859375, 47.98828125, 45.52734375, 91.7578125, 5.09765625, 80.068359375 ]
3.4
34
0
34
0
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[ 76.201171875, 47.98828125, 45.52734375, 91.669921875, 5.009765625, 80.068359375 ]
3.5
35
0
35
0
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[ 74.35546875, 48.076171875, 45.52734375, 91.669921875, 5.009765625, 80.068359375 ]
3.6
36
0
36
0
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[ 74.00390625, 48.603515625, 45.52734375, 91.669921875, 4.921875, 80.068359375 ]
3.7
37
0
37
0
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[ 73.916015625, 52.119140625, 45.703125, 91.669921875, 5.009765625, 80.068359375 ]
3.8
38
0
38
0
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[ 73.916015625, 54.228515625, 41.572265625, 91.7578125, 5.009765625, 80.068359375 ]
3.9
39
0
39
0
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[ 73.916015625, 54.404296875, 32.87109375, 91.58203125, 4.921875, 80.068359375 ]
4
40
0
40
0
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[ 74.70703125, 54.755859375, 26.3671875, 91.7578125, 4.921875, 80.068359375 ]
4.1
41
0
41
0
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[ 75.5859375, 54.4921875, 24.08203125, 87.099609375, 4.921875, 80.068359375 ]
4.2
42
0
42
0
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[ 75.9375, 54.140625, 23.994140625, 76.025390625, 4.921875, 80.068359375 ]
4.3
43
0
43
0
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[ 77.51953125, 51.328125, 23.02734375, 62.841796875, 4.833984375, 80.068359375 ]
4.4
44
0
44
0
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[ 78.57421875, 47.373046875, 20.830078125, 56.953125, 4.921875, 80.068359375 ]
4.5
45
0
45
0
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[ 78.837890625, 42.36328125, 15.908203125, 56.513671875, 4.921875, 80.068359375 ]
4.6
46
0
46
0
[ 82.001953125, 37.96875, 11.337890625, 54.140625, 5.9765625, 34.541015625 ]
[ 79.62890625, 39.90234375, 15.99609375, 56.6015625, 4.921875, 80.068359375 ]
4.7
47
0
47
0
[ 82.79296875, 31.728515625, 9.755859375, 54.140625, 5.888671875, 34.541015625 ]
[ 81.38671875, 36.38671875, 15.029296875, 56.337890625, 4.921875, 80.068359375 ]
4.8
48
0
48
0
[ 82.79296875, 29.091796875, 7.734375, 54.66796875, 5.888671875, 34.541015625 ]
[ 81.9140625, 30.322265625, 13.271484375, 56.337890625, 4.921875, 80.068359375 ]
4.9
49
0
49
0
[ 82.08984375, 28.212890625, 7.119140625, 54.66796875, 5.9765625, 34.541015625 ]
[ 81.9140625, 27.59765625, 13.271484375, 56.337890625, 4.921875, 80.068359375 ]
5
50
0
50
0
[ 82.08984375, 28.30078125, 7.119140625, 55.1953125, 5.9765625, 34.541015625 ]
[ 81.9140625, 26.806640625, 13.18359375, 56.162109375, 4.921875, 80.068359375 ]
5.1
51
0
51
0
[ 82.177734375, 28.4765625, 7.119140625, 58.095703125, 5.9765625, 34.541015625 ]
[ 81.9140625, 26.806640625, 13.18359375, 56.162109375, 5.009765625, 80.068359375 ]
5.2
52
0
52
0
[ 81.9140625, 28.388671875, 7.119140625, 61.435546875, 5.888671875, 34.541015625 ]
[ 81.9140625, 26.71875, 12.744140625, 57.919921875, 4.921875, 80.068359375 ]
5.3
53
0
53
0
[ 81.73828125, 28.388671875, 7.119140625, 63.984375, 5.9765625, 34.541015625 ]
[ 81.298828125, 26.806640625, 11.162109375, 60.732421875, 4.921875, 80.068359375 ]
5.4
54
0
54
0
[ 81.38671875, 28.388671875, 7.119140625, 64.599609375, 5.9765625, 34.541015625 ]
[ 80.947265625, 26.806640625, 10.986328125, 63.017578125, 5.009765625, 80.068359375 ]
5.5
55
0
55
0
[ 80.947265625, 28.388671875, 7.119140625, 65.21484375, 5.9765625, 34.541015625 ]
[ 80.947265625, 26.806640625, 10.986328125, 63.984375, 4.921875, 80.068359375 ]
5.6
56
0
56
0
[ 80.859375, 28.388671875, 7.119140625, 66.09375, 5.9765625, 34.541015625 ]
[ 80.33203125, 26.806640625, 10.986328125, 64.951171875, 4.921875, 80.068359375 ]
5.7
57
0
57
0
[ 80.419921875, 32.431640625, 7.119140625, 64.16015625, 5.9765625, 34.541015625 ]
[ 80.068359375, 26.806640625, 10.986328125, 65.91796875, 4.833984375, 80.068359375 ]
5.8
58
0
58
0
[ 80.859375, 33.486328125, 6.943359375, 61.171875, 5.9765625, 34.541015625 ]
[ 79.98046875, 28.125, 10.986328125, 65.91796875, 4.921875, 80.068359375 ]
5.9
59
0
59
0
[ 82.705078125, 36.474609375, 6.6796875, 61.171875, 5.9765625, 34.541015625 ]
[ 79.98046875, 29.091796875, 10.986328125, 63.80859375, 5.009765625, 80.068359375 ]
6
60
0
60
0
[ 84.287109375, 39.638671875, 6.767578125, 63.193359375, 5.9765625, 34.541015625 ]
[ 81.474609375, 31.2890625, 10.986328125, 63.369140625, 5.009765625, 80.068359375 ]
6.1
61
0
61
0
[ 85.78125, 41.1328125, 7.294921875, 71.982421875, 5.9765625, 34.541015625 ]
[ 83.49609375, 34.892578125, 10.986328125, 63.369140625, 5.009765625, 80.068359375 ]
6.2
62
0
62
0
[ 87.71484375, 42.890625, 7.294921875, 79.189453125, 5.9765625, 34.541015625 ]
[ 84.638671875, 37.6171875, 10.986328125, 69.521484375, 4.921875, 80.068359375 ]
6.3
63
0
63
0
[ 89.296875, 42.978515625, 7.294921875, 86.396484375, 5.888671875, 34.541015625 ]
[ 86.484375, 38.408203125, 10.986328125, 77.6953125, 4.921875, 80.068359375 ]
6.4
64
0
64
0
[ 91.318359375, 42.978515625, 7.294921875, 87.099609375, 5.9765625, 34.541015625 ]
[ 88.505859375, 38.408203125, 10.986328125, 84.90234375, 5.009765625, 80.068359375 ]
6.5
65
0
65
0
[ 93.779296875, 43.330078125, 7.294921875, 89.033203125, 5.888671875, 34.541015625 ]
[ 90.52734375, 38.408203125, 10.986328125, 87.01171875, 5.009765625, 80.068359375 ]
6.6
66
0
66
0
[ 96.15234375, 43.857421875, 7.294921875, 89.384765625, 5.888671875, 34.541015625 ]
[ 92.548828125, 39.287109375, 10.986328125, 88.76953125, 5.009765625, 80.068359375 ]
6.7
67
0
67
0
[ 98.4375, 45, 7.294921875, 90.791015625, 5.9765625, 34.541015625 ]
[ 95.361328125, 39.7265625, 10.986328125, 88.9453125, 4.921875, 80.068359375 ]
6.8
68
0
68
0
[ 100.810546875, 45.703125, 7.294921875, 94.04296875, 5.888671875, 34.541015625 ]
[ 97.55859375, 41.396484375, 10.986328125, 90, 5.009765625, 80.068359375 ]
6.9
69
0
69
0
[ 101.953125, 45.791015625, 7.3828125, 95.09765625, 5.80078125, 34.541015625 ]
[ 99.404296875, 42.01171875, 10.986328125, 92.98828125, 5.009765625, 80.068359375 ]
7
70
0
70
0
[ 102.65625, 45.3515625, 8.61328125, 95.9765625, 5.80078125, 34.541015625 ]
[ 100.634765625, 42.099609375, 10.8984375, 94.482421875, 5.009765625, 80.068359375 ]
7.1
71
0
71
0
[ 103.0078125, 44.12109375, 9.931640625, 96.50390625, 5.80078125, 34.541015625 ]
[ 101.6015625, 42.01171875, 10.8984375, 94.74609375, 5.009765625, 80.068359375 ]
7.2
72
0
72
0
[ 102.65625, 41.484375, 10.107421875, 96.50390625, 5.80078125, 34.541015625 ]
[ 102.48046875, 42.01171875, 10.8984375, 95.44921875, 5.009765625, 80.068359375 ]
7.3
73
0
73
0
[ 101.865234375, 39.19921875, 10.107421875, 96.328125, 5.712890625, 34.541015625 ]
[ 102.12890625, 40.078125, 10.986328125, 95.712890625, 5.009765625, 80.068359375 ]
7.4
74
0
74
0
[ 100.986328125, 37.79296875, 10.107421875, 96.15234375, 5.712890625, 34.541015625 ]
[ 101.337890625, 38.056640625, 10.986328125, 95.712890625, 5.009765625, 80.068359375 ]
7.5
75
0
75
0
[ 100.107421875, 36.73828125, 10.107421875, 96.15234375, 5.625, 34.541015625 ]
[ 100.37109375, 36.123046875, 10.986328125, 95.712890625, 5.009765625, 80.068359375 ]
7.6
76
0
76
0
[ 98.701171875, 36.2109375, 10.107421875, 96.240234375, 5.625, 34.541015625 ]
[ 100.1953125, 35.068359375, 10.986328125, 95.712890625, 4.921875, 80.068359375 ]
7.7
77
0
77
0
[ 97.646484375, 36.2109375, 10.107421875, 96.416015625, 5.625, 34.541015625 ]
[ 98.525390625, 34.98046875, 10.986328125, 95.712890625, 5.009765625, 80.068359375 ]
7.8
78
0
78
0
[ 96.767578125, 36.474609375, 10.107421875, 96.85546875, 5.625, 34.541015625 ]
[ 97.3828125, 34.892578125, 10.986328125, 95.712890625, 4.921875, 80.068359375 ]
7.9
79
0
79
0
[ 95.888671875, 37.08984375, 10.107421875, 97.55859375, 5.625, 34.541015625 ]
[ 96.50390625, 34.892578125, 10.986328125, 95.712890625, 4.921875, 80.068359375 ]
8
80
0
80
0
[ 95.009765625, 38.583984375, 11.6015625, 98.26171875, 5.625, 34.541015625 ]
[ 95.2734375, 34.98046875, 10.986328125, 96.15234375, 4.921875, 80.068359375 ]
8.1
81
0
81
0
[ 94.306640625, 40.693359375, 15.205078125, 98.349609375, 5.625, 34.541015625 ]
[ 95.185546875, 35.15625, 11.6015625, 96.767578125, 4.921875, 80.068359375 ]
8.2
82
0
82
0
[ 93.33984375, 43.857421875, 20.478515625, 98.349609375, 5.625, 34.541015625 ]
[ 94.5703125, 36.826171875, 16.083984375, 96.943359375, 4.921875, 80.068359375 ]
8.3
83
0
83
0
[ 92.724609375, 46.142578125, 23.73046875, 98.26171875, 5.625, 34.541015625 ]
[ 93.603515625, 39.19921875, 21.26953125, 97.294921875, 4.921875, 80.068359375 ]
8.4
84
0
84
0
[ 92.548828125, 47.109375, 24.521484375, 98.26171875, 5.625, 34.541015625 ]
[ 92.28515625, 42.451171875, 23.994140625, 97.294921875, 4.921875, 80.068359375 ]
8.5
85
0
85
0
[ 92.548828125, 47.8125, 24.521484375, 98.26171875, 5.625, 34.541015625 ]
[ 92.021484375, 43.681640625, 24.43359375, 97.294921875, 5.09765625, 80.068359375 ]
8.6
86
0
86
0
[ 92.63671875, 48.515625, 24.43359375, 97.998046875, 5.625, 34.541015625 ]
[ 91.93359375, 43.76953125, 24.43359375, 97.294921875, 4.921875, 80.068359375 ]
8.7
87
0
87
0
[ 92.8125, 50.537109375, 24.43359375, 97.646484375, 5.625, 34.541015625 ]
[ 91.93359375, 44.47265625, 24.521484375, 97.119140625, 5.009765625, 80.068359375 ]
8.8
88
0
88
0
[ 93.076171875, 54.228515625, 24.43359375, 97.470703125, 5.625, 34.541015625 ]
[ 91.93359375, 46.494140625, 24.609375, 97.119140625, 5.009765625, 80.068359375 ]
8.9
89
0
89
0
[ 92.8125, 55.986328125, 23.37890625, 95.361328125, 5.80078125, 34.541015625 ]
[ 92.724609375, 50.2734375, 24.609375, 97.119140625, 4.921875, 80.068359375 ]
9
90
0
90
0
[ 92.63671875, 55.986328125, 20.7421875, 91.318359375, 5.80078125, 34.541015625 ]
[ 92.109375, 52.294921875, 24.609375, 95.888671875, 4.921875, 80.068359375 ]
9.1
91
0
91
0
[ 91.0546875, 55.546875, 20.21484375, 87.099609375, 5.888671875, 34.541015625 ]
[ 91.58203125, 52.294921875, 23.73046875, 91.669921875, 4.921875, 80.068359375 ]
9.2
92
0
92
0
[ 89.82421875, 54.052734375, 19.951171875, 80.15625, 5.888671875, 34.541015625 ]
[ 91.142578125, 52.294921875, 23.73046875, 89.033203125, 4.921875, 80.068359375 ]
9.3
93
0
93
0
[ 88.505859375, 49.39453125, 16.083984375, 71.630859375, 5.888671875, 34.541015625 ]
[ 89.384765625, 52.20703125, 23.73046875, 83.3203125, 5.009765625, 80.068359375 ]
9.4
94
0
94
0
[ 86.8359375, 44.82421875, 12.568359375, 65.126953125, 5.888671875, 34.541015625 ]
[ 88.330078125, 48.515625, 18.984375, 75.05859375, 4.921875, 80.068359375 ]
9.5
95
0
95
0
[ 85.166015625, 39.111328125, 8.26171875, 63.193359375, 5.888671875, 34.541015625 ]
[ 86.484375, 43.41796875, 15.205078125, 68.37890625, 5.009765625, 80.068359375 ]
9.6
96
0
96
0
[ 83.671875, 36.474609375, 8.173828125, 63.28125, 5.888671875, 34.541015625 ]
[ 85.341796875, 38.232421875, 12.041015625, 65.830078125, 4.921875, 80.068359375 ]
9.7
97
0
97
0
[ 83.232421875, 35.419921875, 8.173828125, 63.28125, 5.888671875, 34.541015625 ]
[ 83.49609375, 34.98046875, 11.953125, 65.302734375, 4.921875, 80.068359375 ]
9.8
98
0
98
0
[ 82.353515625, 34.8046875, 8.173828125, 63.544921875, 5.888671875, 34.541015625 ]
[ 83.056640625, 33.837890625, 11.953125, 65.302734375, 5.009765625, 80.068359375 ]
9.9
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": 25,
    "total_frames": 5000,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:25"
    },
    "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.logitech1": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.height": 720,
                "video.width": 1280,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.logitech2": {
            "dtype": "video",
            "shape": [
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                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 10.0,
                "video.height": 720,
                "video.width": 1280,
                "video.channels": 3,
                "video.codec": "av1",
                "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",
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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