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action
sequence | observation.state
sequence | timestamp
float32 0
14.7
| frame_index
int64 0
440
| episode_index
int64 0
4
| index
int64 0
1.75k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
77.255859375,
108.10546875,
99.228515625,
82.265625,
123.662109375
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77.16796875,
108.720703125,
100.634765625,
82.265625,
123.046875
] | 0 | 0 | 0 | 0 | 0 |
[
77.255859375,
106.787109375,
99.228515625,
81.650390625,
123.662109375
] | [
77.080078125,
107.75390625,
100.634765625,
82.177734375,
123.046875
] | 0.033333 | 1 | 0 | 1 | 0 |
[
77.255859375,
105.8203125,
99.228515625,
80.947265625,
123.662109375
] | [
77.080078125,
106.259765625,
100.72265625,
81.650390625,
123.046875
] | 0.066667 | 2 | 0 | 2 | 0 |
[
77.34375,
105.1171875,
99.228515625,
80.15625,
123.662109375
] | [
77.080078125,
104.677734375,
100.634765625,
80.595703125,
123.046875
] | 0.1 | 3 | 0 | 3 | 0 |
[
77.34375,
104.150390625,
99.228515625,
79.27734375,
123.662109375
] | [
77.080078125,
104.23828125,
100.634765625,
80.419921875,
123.046875
] | 0.133333 | 4 | 0 | 4 | 0 |
[
77.34375,
103.359375,
99.228515625,
78.75,
123.57421875
] | [
77.16796875,
103.53515625,
100.634765625,
79.8046875,
123.046875
] | 0.166667 | 5 | 0 | 5 | 0 |
[
77.431640625,
102.568359375,
99.228515625,
78.310546875,
123.662109375
] | [
77.080078125,
102.83203125,
100.546875,
78.92578125,
123.046875
] | 0.2 | 6 | 0 | 6 | 0 |
[
77.431640625,
101.865234375,
99.228515625,
77.958984375,
123.57421875
] | [
76.9921875,
101.953125,
100.546875,
78.486328125,
123.046875
] | 0.233333 | 7 | 0 | 7 | 0 |
[
77.34375,
101.162109375,
99.228515625,
77.6953125,
123.662109375
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76.904296875,
100.546875,
100.546875,
77.607421875,
123.046875
] | 0.266667 | 8 | 0 | 8 | 0 |
[
77.431640625,
100.1953125,
99.228515625,
77.255859375,
123.662109375
] | [
76.904296875,
100.107421875,
100.546875,
77.34375,
123.046875
] | 0.3 | 9 | 0 | 9 | 0 |
[
77.51953125,
99.404296875,
99.228515625,
76.81640625,
123.662109375
] | [
77.16796875,
99.31640625,
100.546875,
77.255859375,
122.958984375
] | 0.333333 | 10 | 0 | 10 | 0 |
[
77.607421875,
98.61328125,
99.228515625,
76.11328125,
123.662109375
] | [
77.080078125,
98.701171875,
100.458984375,
76.640625,
122.958984375
] | 0.366667 | 11 | 0 | 11 | 0 |
[
77.6953125,
97.822265625,
99.228515625,
75.498046875,
123.662109375
] | [
76.904296875,
97.470703125,
100.458984375,
76.201171875,
122.958984375
] | 0.4 | 12 | 0 | 12 | 0 |
[
77.6953125,
96.767578125,
99.228515625,
74.619140625,
123.662109375
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76.904296875,
96.591796875,
100.458984375,
75.673828125,
122.958984375
] | 0.433333 | 13 | 0 | 13 | 0 |
[
77.51953125,
95.9765625,
99.31640625,
74.00390625,
123.662109375
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76.904296875,
95.625,
100.458984375,
74.8828125,
122.958984375
] | 0.466667 | 14 | 0 | 14 | 0 |
[
77.431640625,
95.185546875,
99.228515625,
73.564453125,
123.662109375
] | [
77.080078125,
94.658203125,
100.458984375,
74.35546875,
123.046875
] | 0.5 | 15 | 0 | 15 | 0 |
[
77.16796875,
94.39453125,
99.228515625,
73.30078125,
123.662109375
] | [
77.080078125,
94.21875,
100.458984375,
73.740234375,
122.958984375
] | 0.533333 | 16 | 0 | 16 | 0 |
[
76.728515625,
93.603515625,
99.228515625,
73.037109375,
123.662109375
] | [
77.080078125,
93.33984375,
100.458984375,
73.30078125,
122.958984375
] | 0.566667 | 17 | 0 | 17 | 0 |
[
76.376953125,
92.724609375,
99.140625,
72.685546875,
123.662109375
] | [
76.640625,
92.63671875,
100.458984375,
73.212890625,
122.958984375
] | 0.6 | 18 | 0 | 18 | 0 |
[
76.201171875,
92.109375,
99.052734375,
72.509765625,
123.662109375
] | [
76.2890625,
91.7578125,
100.458984375,
72.685546875,
122.958984375
] | 0.633333 | 19 | 0 | 19 | 0 |
[
76.025390625,
91.58203125,
99.052734375,
72.0703125,
123.662109375
] | [
75.9375,
91.23046875,
100.458984375,
72.333984375,
122.958984375
] | 0.666667 | 20 | 0 | 20 | 0 |
[
75.9375,
91.0546875,
99.052734375,
71.630859375,
123.662109375
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75.849609375,
90.263671875,
100.458984375,
72.158203125,
123.046875
] | 0.7 | 21 | 0 | 21 | 0 |
[
75.849609375,
90.439453125,
99.052734375,
71.103515625,
123.662109375
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75.673828125,
90.087890625,
100.458984375,
71.630859375,
123.046875
] | 0.733333 | 22 | 0 | 22 | 0 |
[
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89.736328125,
99.052734375,
70.751953125,
123.662109375
] | [
75.498046875,
89.560546875,
100.458984375,
71.3671875,
123.046875
] | 0.766667 | 23 | 0 | 23 | 0 |
[
75.849609375,
88.9453125,
99.052734375,
70.6640625,
123.662109375
] | [
74.970703125,
88.505859375,
100.458984375,
70.6640625,
122.958984375
] | 0.8 | 24 | 0 | 24 | 0 |
[
75.849609375,
88.2421875,
99.052734375,
70.48828125,
123.662109375
] | [
74.794921875,
87.451171875,
100.458984375,
70.3125,
122.958984375
] | 0.833333 | 25 | 0 | 25 | 0 |
[
75.849609375,
87.451171875,
98.96484375,
70.224609375,
123.662109375
] | [
74.8828125,
87.01171875,
100.458984375,
70.224609375,
123.046875
] | 0.866667 | 26 | 0 | 26 | 0 |
[
75.849609375,
86.8359375,
99.052734375,
69.9609375,
123.662109375
] | [
75.234375,
86.220703125,
100.283203125,
70.048828125,
123.046875
] | 0.9 | 27 | 0 | 27 | 0 |
[
75.849609375,
86.30859375,
99.052734375,
69.697265625,
123.662109375
] | [
75.234375,
85.60546875,
100.283203125,
69.609375,
122.958984375
] | 0.933333 | 28 | 0 | 28 | 0 |
[
75.849609375,
85.869140625,
98.96484375,
69.345703125,
123.662109375
] | [
74.970703125,
85.166015625,
100.1953125,
69.2578125,
122.958984375
] | 0.966667 | 29 | 0 | 29 | 0 |
[
75.9375,
85.25390625,
99.052734375,
68.994140625,
123.662109375
] | [
74.794921875,
84.19921875,
100.107421875,
69.08203125,
123.046875
] | 1 | 30 | 0 | 30 | 0 |
[
75.9375,
84.55078125,
99.052734375,
68.642578125,
123.75
] | [
74.8828125,
83.935546875,
100.107421875,
68.5546875,
123.046875
] | 1.033333 | 31 | 0 | 31 | 0 |
[
76.025390625,
84.0234375,
99.052734375,
68.291015625,
123.75
] | [
75.146484375,
83.49609375,
100.107421875,
68.291015625,
123.046875
] | 1.066667 | 32 | 0 | 32 | 0 |
[
76.11328125,
83.49609375,
99.052734375,
68.02734375,
123.75
] | [
75.498046875,
83.232421875,
100.107421875,
68.115234375,
123.046875
] | 1.1 | 33 | 0 | 33 | 0 |
[
76.11328125,
83.14453125,
99.052734375,
67.67578125,
123.837890625
] | [
75.76171875,
82.6171875,
100.107421875,
68.115234375,
123.046875
] | 1.133333 | 34 | 0 | 34 | 0 |
[
76.201171875,
82.96875,
99.052734375,
67.412109375,
123.837890625
] | [
76.025390625,
82.177734375,
100.107421875,
67.5,
122.87109375
] | 1.166667 | 35 | 0 | 35 | 0 |
[
76.201171875,
82.880859375,
99.052734375,
66.796875,
123.92578125
] | [
76.11328125,
81.650390625,
100.01953125,
67.236328125,
122.87109375
] | 1.2 | 36 | 0 | 36 | 0 |
[
76.201171875,
82.880859375,
99.052734375,
66.181640625,
124.013671875
] | [
76.025390625,
81.5625,
100.107421875,
66.796875,
122.958984375
] | 1.233333 | 37 | 0 | 37 | 0 |
[
76.2890625,
82.880859375,
98.96484375,
65.56640625,
124.1015625
] | [
76.025390625,
81.5625,
100.01953125,
66.533203125,
123.486328125
] | 1.266667 | 38 | 0 | 38 | 0 |
[
76.2890625,
82.79296875,
99.052734375,
65.0390625,
124.365234375
] | [
76.025390625,
81.5625,
99.66796875,
65.830078125,
123.75
] | 1.3 | 39 | 0 | 39 | 0 |
[
76.2890625,
82.6171875,
99.052734375,
64.599609375,
124.716796875
] | [
76.11328125,
81.5625,
99.66796875,
65.478515625,
123.837890625
] | 1.333333 | 40 | 0 | 40 | 0 |
[
76.2890625,
82.353515625,
99.052734375,
64.3359375,
125.419921875
] | [
76.025390625,
81.5625,
99.66796875,
65.0390625,
123.837890625
] | 1.366667 | 41 | 0 | 41 | 0 |
[
76.2890625,
82.001953125,
98.96484375,
64.16015625,
126.38671875
] | [
76.025390625,
81.5625,
99.66796875,
64.599609375,
124.541015625
] | 1.4 | 42 | 0 | 42 | 0 |
[
76.2890625,
81.826171875,
99.052734375,
64.072265625,
127.880859375
] | [
76.11328125,
81.474609375,
99.580078125,
64.51171875,
125.419921875
] | 1.433333 | 43 | 0 | 43 | 0 |
[
76.201171875,
81.826171875,
99.052734375,
64.072265625,
130.4296875
] | [
76.025390625,
80.947265625,
99.580078125,
64.51171875,
126.38671875
] | 1.466667 | 44 | 0 | 44 | 0 |
[
76.201171875,
81.826171875,
98.96484375,
64.16015625,
133.154296875
] | [
76.025390625,
80.771484375,
99.4921875,
64.51171875,
128.408203125
] | 1.5 | 45 | 0 | 45 | 0 |
[
76.201171875,
81.73828125,
99.052734375,
64.248046875,
136.7578125
] | [
76.025390625,
80.771484375,
99.31640625,
64.423828125,
130.95703125
] | 1.533333 | 46 | 0 | 46 | 0 |
[
76.11328125,
81.650390625,
99.052734375,
64.248046875,
140.888671875
] | [
76.025390625,
80.771484375,
99.31640625,
64.51171875,
133.681640625
] | 1.566667 | 47 | 0 | 47 | 0 |
[
76.11328125,
81.474609375,
99.052734375,
64.16015625,
146.07421875
] | [
76.11328125,
80.771484375,
99.228515625,
64.423828125,
138.076171875
] | 1.6 | 48 | 0 | 48 | 0 |
[
76.025390625,
81.38671875,
98.96484375,
64.16015625,
153.369140625
] | [
76.025390625,
80.771484375,
99.228515625,
64.423828125,
143.349609375
] | 1.633333 | 49 | 0 | 49 | 0 |
[
75.9375,
81.2109375,
99.052734375,
64.16015625,
159.609375
] | [
75.9375,
80.771484375,
99.140625,
64.423828125,
149.326171875
] | 1.666667 | 50 | 0 | 50 | 0 |
[
75.849609375,
81.2109375,
99.052734375,
64.16015625,
166.81640625
] | [
75.498046875,
80.771484375,
99.140625,
64.3359375,
156.005859375
] | 1.7 | 51 | 0 | 51 | 0 |
[
75.673828125,
81.298828125,
99.052734375,
64.16015625,
175.869140625
] | [
75.322265625,
80.771484375,
99.140625,
64.3359375,
161.630859375
] | 1.733333 | 52 | 0 | 52 | 0 |
[
75.673828125,
81.38671875,
99.052734375,
64.16015625,
182.900390625
] | [
75.05859375,
80.771484375,
99.140625,
64.3359375,
168.837890625
] | 1.766667 | 53 | 0 | 53 | 0 |
[
75.673828125,
81.474609375,
99.052734375,
64.248046875,
190.01953125
] | [
75.05859375,
80.771484375,
99.140625,
64.248046875,
176.044921875
] | 1.8 | 54 | 0 | 54 | 0 |
[
75.5859375,
81.73828125,
99.228515625,
64.16015625,
197.05078125
] | [
75.05859375,
80.68359375,
99.228515625,
64.3359375,
185.537109375
] | 1.833333 | 55 | 0 | 55 | 0 |
[
75.41015625,
81.73828125,
99.4921875,
64.072265625,
205.13671875
] | [
75.05859375,
80.771484375,
99.140625,
64.248046875,
192.919921875
] | 1.866667 | 56 | 0 | 56 | 0 |
[
75.322265625,
81.650390625,
99.580078125,
64.072265625,
211.640625
] | [
75.05859375,
80.771484375,
99.140625,
64.248046875,
200.0390625
] | 1.9 | 57 | 0 | 57 | 0 |
[
75.234375,
81.38671875,
99.66796875,
64.072265625,
217.96875
] | [
75.05859375,
80.771484375,
99.140625,
64.248046875,
205.751953125
] | 1.933333 | 58 | 0 | 58 | 0 |
[
75.05859375,
81.38671875,
99.66796875,
64.072265625,
224.208984375
] | [
75.05859375,
80.68359375,
99.140625,
64.248046875,
211.9921875
] | 1.966667 | 59 | 0 | 59 | 0 |
[
74.970703125,
81.474609375,
99.66796875,
64.072265625,
230.361328125
] | [
74.970703125,
80.771484375,
99.140625,
64.248046875,
221.30859375
] | 2 | 60 | 0 | 60 | 0 |
[
74.8828125,
81.474609375,
99.755859375,
64.072265625,
236.865234375
] | [
74.619140625,
80.771484375,
99.140625,
64.248046875,
225.703125
] | 2.033333 | 61 | 0 | 61 | 0 |
[
74.970703125,
81.474609375,
99.755859375,
64.072265625,
237.3046875
] | [
74.267578125,
80.771484375,
99.140625,
64.248046875,
231.85546875
] | 2.066667 | 62 | 0 | 62 | 0 |
[
74.970703125,
81.474609375,
99.755859375,
64.072265625,
235.458984375
] | [
74.091796875,
80.771484375,
99.140625,
64.248046875,
234.228515625
] | 2.1 | 63 | 0 | 63 | 0 |
[
75.05859375,
81.650390625,
99.755859375,
64.3359375,
233.4375
] | [
74.1796875,
80.771484375,
99.140625,
64.248046875,
234.140625
] | 2.133333 | 64 | 0 | 64 | 0 |
[
75.05859375,
81.73828125,
99.84375,
64.51171875,
233.4375
] | [
74.53125,
80.771484375,
99.140625,
64.248046875,
233.0859375
] | 2.166667 | 65 | 0 | 65 | 0 |
[
75.146484375,
81.826171875,
99.931640625,
64.6875,
233.525390625
] | [
74.619140625,
80.771484375,
99.140625,
64.3359375,
232.822265625
] | 2.2 | 66 | 0 | 66 | 0 |
[
75.234375,
81.9140625,
99.931640625,
64.951171875,
233.61328125
] | [
74.70703125,
80.68359375,
99.140625,
64.248046875,
232.822265625
] | 2.233333 | 67 | 0 | 67 | 0 |
[
75.498046875,
82.08984375,
100.01953125,
65.302734375,
233.61328125
] | [
74.794921875,
80.771484375,
99.31640625,
64.3359375,
232.822265625
] | 2.266667 | 68 | 0 | 68 | 0 |
[
75.5859375,
82.44140625,
100.01953125,
65.91796875,
233.525390625
] | [
74.794921875,
81.03515625,
99.66796875,
64.3359375,
232.822265625
] | 2.3 | 69 | 0 | 69 | 0 |
[
75.673828125,
82.880859375,
100.01953125,
66.62109375,
233.525390625
] | [
74.8828125,
81.123046875,
99.84375,
64.51171875,
232.822265625
] | 2.333333 | 70 | 0 | 70 | 0 |
[
75.76171875,
83.408203125,
100.01953125,
67.5,
233.525390625
] | [
74.970703125,
81.2109375,
99.931640625,
65.302734375,
232.734375
] | 2.366667 | 71 | 0 | 71 | 0 |
[
75.849609375,
84.287109375,
100.01953125,
68.642578125,
233.525390625
] | [
74.970703125,
81.650390625,
100.107421875,
66.4453125,
232.822265625
] | 2.4 | 72 | 0 | 72 | 0 |
[
75.849609375,
85.517578125,
100.01953125,
70.13671875,
233.525390625
] | [
74.970703125,
82.177734375,
100.1953125,
67.32421875,
232.734375
] | 2.433333 | 73 | 0 | 73 | 0 |
[
75.849609375,
86.66015625,
99.931640625,
71.54296875,
233.525390625
] | [
74.970703125,
82.705078125,
100.283203125,
68.818359375,
232.734375
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[
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100.634765625,
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[
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[
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[
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[
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[
70.048828125,
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233.4375
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[
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233.4375
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[
68.02734375,
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69.609375,
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[
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68.37890625,
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[
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[
64.6875,
113.90625,
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233.4375
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65.7421875,
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88.154296875,
104.326171875,
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[
63.80859375,
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64.599609375,
111.357421875,
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105.29296875,
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[
62.75390625,
114.609375,
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107.666015625,
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63.6328125,
111.97265625,
85.078125,
106.34765625,
232.734375
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 5,
"total_frames": 1746,
"total_tasks": 1,
"total_videos": 10,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
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},
"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": [
5
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
5
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_gripper"
]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.codec": "h264",
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"video.is_depth_map": false,
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}
},
"observation.images.phone": {
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640,
3
],
"names": [
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],
"info": {
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"video.codec": "h264",
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}
},
"timestamp": {
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},
"frame_index": {
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},
"index": {
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],
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},
"task_index": {
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"shape": [
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],
"names": null
}
}
}
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