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action
sequence
observation.state
sequence
timestamp
float32
0
10.4
frame_index
int64
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313
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0
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[ 71.279296875, 114.08203125, 125.244140625, 56.25, 0.263671875, 35.595703125 ]
2.633333
79
0
79
0
[ 71.015625, 114.9609375, 113.115234375, 59.326171875, 5.09765625, 36.123046875 ]
[ 71.103515625, 114.08203125, 122.958984375, 56.689453125, 0.87890625, 35.5078125 ]
2.666667
80
0
80
0
[ 70.576171875, 114.345703125, 110.390625, 61.259765625, 6.6796875, 35.771484375 ]
[ 70.927734375, 113.73046875, 116.806640625, 57.919921875, 2.4609375, 35.5078125 ]
2.7
81
0
81
0
[ 68.994140625, 114.345703125, 107.138671875, 63.544921875, 8.4375, 35.68359375 ]
[ 70.576171875, 113.90625, 113.203125, 58.88671875, 3.603515625, 35.33203125 ]
2.733333
82
0
82
0
[ 67.412109375, 114.609375, 104.94140625, 65.126953125, 9.140625, 35.68359375 ]
[ 69.2578125, 113.90625, 109.3359375, 60.908203125, 5.537109375, 35.244140625 ]
2.766667
83
0
83
0
[ 65.7421875, 115.3125, 102.3046875, 67.763671875, 9.66796875, 35.5078125 ]
[ 68.291015625, 113.818359375, 107.666015625, 62.40234375, 6.767578125, 35.244140625 ]
2.8
84
0
84
0
[ 65.390625, 116.806640625, 99.931640625, 70.83984375, 9.66796875, 35.15625 ]
[ 66.97265625, 113.90625, 106.171875, 64.072265625, 7.646484375, 35.244140625 ]
2.833333
85
0
85
0
[ 65.478515625, 118.037109375, 96.85546875, 74.619140625, 9.140625, 34.541015625 ]
[ 65.91796875, 114.169921875, 104.23828125, 66.181640625, 8.26171875, 35.15625 ]
2.866667
86
0
86
0
[ 65.56640625, 118.828125, 93.1640625, 78.75, 8.525390625, 33.662109375 ]
[ 65.302734375, 115.400390625, 99.84375, 69.9609375, 8.61328125, 34.453125 ]
2.9
87
0
87
0
[ 65.56640625, 118.388671875, 87.626953125, 84.638671875, 6.6796875, 33.310546875 ]
[ 65.0390625, 116.19140625, 97.03125, 72.685546875, 8.525390625, 33.837890625 ]
2.933333
88
0
88
0
[ 65.654296875, 117.158203125, 82.880859375, 89.384765625, 3.69140625, 33.310546875 ]
[ 65.0390625, 116.630859375, 93.427734375, 76.376953125, 8.26171875, 33.3984375 ]
2.966667
89
0
89
0
[ 66.09375, 115.48828125, 78.3984375, 93.779296875, 0, 33.310546875 ]
[ 65.0390625, 116.455078125, 87.890625, 80.771484375, 7.119140625, 33.3984375 ]
3
90
0
90
0
[ 67.060546875, 113.73046875, 74.00390625, 97.91015625, -3.8671875, 33.310546875 ]
[ 65.302734375, 115.576171875, 80.33203125, 86.8359375, 3.955078125, 33.3984375 ]
3.033333
91
0
91
0
[ 70.048828125, 111.708984375, 68.994140625, 102.12890625, -8.4375, 33.3984375 ]
[ 65.830078125, 114.78515625, 77.16796875, 90.52734375, 1.845703125, 33.3984375 ]
3.066667
92
0
92
0
[ 72.7734375, 110.7421875, 66.62109375, 104.501953125, -11.513671875, 33.3984375 ]
[ 68.115234375, 112.5, 71.3671875, 96.328125, -2.197265625, 33.310546875 ]
3.1
93
0
93
0
[ 76.46484375, 109.951171875, 64.951171875, 105.8203125, -15.732421875, 33.3984375 ]
[ 69.9609375, 110.91796875, 68.291015625, 98.7890625, -5.09765625, 33.3984375 ]
3.133333
94
0
94
0
[ 78.837890625, 109.775390625, 64.775390625, 105.8203125, -19.6875, 33.3984375 ]
[ 73.388671875, 109.3359375, 66.708984375, 101.6015625, -9.755859375, 33.310546875 ]
3.166667
95
0
95
0
[ 81.38671875, 109.51171875, 64.775390625, 105.732421875, -25.83984375, 33.3984375 ]
[ 75.5859375, 108.984375, 66.533203125, 102.744140625, -12.83203125, 33.310546875 ]
3.2
96
0
96
0
[ 83.14453125, 109.072265625, 64.599609375, 105.64453125, -30.5859375, 33.3984375 ]
[ 77.783203125, 108.80859375, 66.533203125, 103.359375, -16.171875, 33.3984375 ]
3.233333
97
0
97
0
[ 85.166015625, 108.28125, 64.599609375, 105.556640625, -35.15625, 33.310546875 ]
[ 81.123046875, 108.80859375, 66.533203125, 103.623046875, -22.587890625, 33.310546875 ]
3.266667
98
0
98
0
[ 88.154296875, 107.138671875, 64.599609375, 105.29296875, -40.693359375, 33.310546875 ]
[ 82.880859375, 108.45703125, 66.533203125, 103.7109375, -26.71875, 33.310546875 ]
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": 1,
    "total_frames": 314,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.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
            }
        },
        "observation.images.phone": {
            "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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