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sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
594
episode_index
int64
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29
index
int64
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17.8k
task_index
int64
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2.6
78
0
78
0
[ -5.09765625, 52.3828125, 59.326171875, 80.419921875, 11.77734375, 16.875 ]
[ -4.306640625, 51.767578125, 60.29296875, 78.22265625, 11.42578125, 22.060546875 ]
2.633333
79
0
79
0
[ -5.09765625, 52.3828125, 59.326171875, 80.419921875, 11.953125, 13.095703125 ]
[ -4.306640625, 51.767578125, 60.29296875, 78.22265625, 11.337890625, 20.654296875 ]
2.666667
80
0
80
0
[ -5.09765625, 52.3828125, 59.326171875, 80.419921875, 12.041015625, 10.107421875 ]
[ -4.306640625, 51.767578125, 60.1171875, 78.22265625, 11.25, 18.369140625 ]
2.7
81
0
81
0
[ -5.09765625, 52.3828125, 59.326171875, 80.419921875, 12.12890625, 9.31640625 ]
[ -4.306640625, 51.767578125, 60.1171875, 78.134765625, 11.337890625, 17.75390625 ]
2.733333
82
0
82
0
[ -5.09765625, 52.3828125, 59.326171875, 80.419921875, 12.216796875, 9.31640625 ]
[ -4.306640625, 51.767578125, 60.1171875, 78.134765625, 11.513671875, 17.75390625 ]
2.766667
83
0
83
0
[ -5.09765625, 52.470703125, 59.326171875, 80.419921875, 12.3046875, 9.31640625 ]
[ -4.306640625, 51.767578125, 60.1171875, 78.134765625, 11.689453125, 17.841796875 ]
2.8
84
0
84
0
[ -5.09765625, 52.55859375, 59.326171875, 80.419921875, 12.392578125, 9.404296875 ]
[ -4.306640625, 51.6796875, 60.029296875, 78.134765625, 11.689453125, 17.75390625 ]
2.833333
85
0
85
0
[ -5.009765625, 52.646484375, 59.326171875, 80.419921875, 12.65625, 9.404296875 ]
[ -4.306640625, 51.767578125, 60.1171875, 78.134765625, 11.689453125, 17.75390625 ]
2.866667
86
0
86
0
[ -5.009765625, 52.822265625, 59.326171875, 80.419921875, 12.919921875, 9.404296875 ]
[ -4.306640625, 51.767578125, 60.029296875, 78.134765625, 11.689453125, 17.75390625 ]
2.9
87
0
87
0
[ -5.009765625, 53.0859375, 59.23828125, 80.419921875, 13.0078125, 9.31640625 ]
[ -4.306640625, 51.6796875, 60.029296875, 78.134765625, 11.689453125, 17.841796875 ]
2.933333
88
0
88
0
[ -4.833984375, 53.4375, 59.326171875, 80.33203125, 13.095703125, 9.31640625 ]
[ -4.306640625, 51.767578125, 60.1171875, 78.134765625, 11.865234375, 17.841796875 ]
2.966667
89
0
89
0
[ -4.658203125, 53.96484375, 59.326171875, 80.244140625, 13.447265625, 9.31640625 ]
[ -4.21875, 51.767578125, 60.029296875, 78.134765625, 12.12890625, 17.75390625 ]
3
90
0
90
0
[ -4.482421875, 54.4921875, 59.326171875, 80.244140625, 13.447265625, 9.404296875 ]
[ -4.130859375, 51.767578125, 60.1171875, 78.134765625, 12.392578125, 17.75390625 ]
3.033333
91
0
91
0
[ -4.21875, 55.283203125, 59.326171875, 80.244140625, 13.447265625, 9.404296875 ]
[ -4.130859375, 51.85546875, 60.1171875, 78.134765625, 12.48046875, 17.841796875 ]
3.066667
92
0
92
0
[ -3.779296875, 55.986328125, 59.326171875, 80.068359375, 13.53515625, 9.404296875 ]
[ -4.130859375, 52.119140625, 60.1171875, 78.134765625, 12.65625, 17.841796875 ]
3.1
93
0
93
0
[ -3.33984375, 56.953125, 59.326171875, 79.892578125, 13.798828125, 9.31640625 ]
[ -3.955078125, 52.119140625, 60.205078125, 78.134765625, 12.744140625, 17.841796875 ]
3.133333
94
0
94
0
[ -2.724609375, 57.83203125, 59.326171875, 79.8046875, 14.0625, 9.31640625 ]
[ -3.779296875, 52.3828125, 60.29296875, 78.134765625, 12.744140625, 17.841796875 ]
3.166667
95
0
95
0
[ -1.93359375, 58.88671875, 59.326171875, 79.62890625, 14.4140625, 9.404296875 ]
[ -3.33984375, 52.998046875, 60.380859375, 78.22265625, 12.83203125, 17.75390625 ]
3.2
96
0
96
0
[ -1.0546875, 59.677734375, 59.326171875, 79.62890625, 15.029296875, 9.31640625 ]
[ -2.4609375, 53.61328125, 60.46875, 78.22265625, 13.18359375, 17.841796875 ]
3.233333
97
0
97
0
[ -0.087890625, 60.732421875, 59.326171875, 79.541015625, 15.64453125, 9.31640625 ]
[ -1.58203125, 54.66796875, 60.46875, 78.22265625, 13.88671875, 17.841796875 ]
3.266667
98
0
98
0
[ 0.791015625, 61.5234375, 59.326171875, 79.541015625, 15.99609375, 9.31640625 ]
[ -0.966796875, 55.810546875, 60.46875, 78.22265625, 14.326171875, 17.75390625 ]
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": "v2.1",
    "robot_type": "koch",
    "total_episodes": 30,
    "total_frames": 17850,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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.laptop": {
            "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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