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sequence
observation.state
sequence
timestamp
float32
0
23.4
frame_index
int64
0
702
episode_index
int64
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52
index
int64
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27.2k
task_index
int64
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[ -61.875, 78.486328125, 79.1015625, 68.5546875, -6.6796875, 33.134765625 ]
2.533333
76
0
76
0
[ -65.126953125, 78.75, 75.673828125, 74.443359375, -8.525390625, 33.75 ]
[ -62.841796875, 77.783203125, 78.662109375, 68.5546875, -6.6796875, 33.134765625 ]
2.566667
77
0
77
0
[ -65.91796875, 78.486328125, 75.234375, 74.443359375, -8.525390625, 33.662109375 ]
[ -63.80859375, 77.51953125, 78.3984375, 68.5546875, -6.6796875, 33.134765625 ]
2.6
78
0
78
0
[ -66.796875, 78.310546875, 75.234375, 74.443359375, -8.525390625, 33.662109375 ]
[ -64.423828125, 77.51953125, 78.22265625, 68.5546875, -6.591796875, 33.134765625 ]
2.633333
79
0
79
0
[ -67.587890625, 77.958984375, 75.234375, 74.53125, -8.4375, 33.662109375 ]
[ -65.0390625, 77.51953125, 78.22265625, 68.5546875, -6.6796875, 33.134765625 ]
2.666667
80
0
80
0
[ -68.37890625, 77.51953125, 75.234375, 74.53125, -8.525390625, 33.662109375 ]
[ -65.7421875, 77.080078125, 78.22265625, 68.5546875, -6.6796875, 33.046875 ]
2.7
81
0
81
0
[ -69.345703125, 76.81640625, 75.234375, 74.53125, -8.525390625, 33.662109375 ]
[ -66.796875, 76.640625, 78.310546875, 68.5546875, -6.591796875, 33.134765625 ]
2.733333
82
0
82
0
[ -70.224609375, 76.46484375, 75.234375, 74.53125, -8.525390625, 33.662109375 ]
[ -67.763671875, 76.201171875, 78.310546875, 68.5546875, -6.6796875, 33.046875 ]
2.766667
83
0
83
0
[ -71.3671875, 75.849609375, 74.970703125, 74.443359375, -8.4375, 33.662109375 ]
[ -68.73046875, 75.76171875, 78.310546875, 68.5546875, -6.6796875, 33.134765625 ]
2.8
84
0
84
0
[ -72.421875, 75.05859375, 74.35546875, 74.53125, -8.4375, 33.662109375 ]
[ -69.78515625, 75.146484375, 77.783203125, 68.5546875, -6.6796875, 33.134765625 ]
2.833333
85
0
85
0
[ -73.388671875, 74.619140625, 74.091796875, 74.443359375, -8.4375, 33.662109375 ]
[ -70.751953125, 74.70703125, 76.9921875, 68.5546875, -6.6796875, 33.046875 ]
2.866667
86
0
86
0
[ -74.53125, 73.916015625, 73.564453125, 74.53125, -8.4375, 33.662109375 ]
[ -71.71875, 74.35546875, 76.728515625, 68.5546875, -6.591796875, 33.046875 ]
2.9
87
0
87
0
[ -75.41015625, 73.4765625, 72.94921875, 74.53125, -8.4375, 33.662109375 ]
[ -72.685546875, 73.4765625, 75.9375, 68.5546875, -6.591796875, 33.134765625 ]
2.933333
88
0
88
0
[ -76.11328125, 72.421875, 72.24609375, 74.53125, -8.4375, 33.662109375 ]
[ -73.65234375, 72.685546875, 74.794921875, 68.5546875, -6.6796875, 33.046875 ]
2.966667
89
0
89
0
[ -76.904296875, 71.71875, 71.71875, 74.619140625, -8.4375, 33.662109375 ]
[ -74.70703125, 72.0703125, 74.619140625, 68.5546875, -6.6796875, 33.046875 ]
3
90
0
90
0
[ -77.607421875, 70.48828125, 70.751953125, 74.619140625, -8.4375, 33.662109375 ]
[ -75.41015625, 71.19140625, 74.1796875, 68.5546875, -6.6796875, 33.046875 ]
3.033333
91
0
91
0
[ -78.046875, 69.2578125, 69.43359375, 74.619140625, -8.525390625, 33.662109375 ]
[ -76.025390625, 70.048828125, 72.94921875, 68.5546875, -6.6796875, 33.134765625 ]
3.066667
92
0
92
0
[ -78.837890625, 68.37890625, 68.203125, 74.619140625, -8.4375, 33.662109375 ]
[ -76.81640625, 69.08203125, 72.0703125, 68.5546875, -6.6796875, 33.046875 ]
3.1
93
0
93
0
[ -79.453125, 67.1484375, 66.796875, 74.619140625, -8.4375, 33.662109375 ]
[ -77.255859375, 68.115234375, 71.3671875, 68.5546875, -6.6796875, 33.046875 ]
3.133333
94
0
94
0
[ -79.892578125, 65.91796875, 65.21484375, 74.619140625, -8.4375, 33.662109375 ]
[ -77.87109375, 67.060546875, 69.873046875, 68.5546875, -6.6796875, 33.134765625 ]
3.166667
95
0
95
0
[ -80.244140625, 65.126953125, 63.6328125, 74.619140625, -8.4375, 33.662109375 ]
[ -78.310546875, 65.7421875, 67.939453125, 68.5546875, -6.6796875, 33.134765625 ]
3.2
96
0
96
0
[ -80.5078125, 64.072265625, 61.787109375, 74.619140625, -8.4375, 33.662109375 ]
[ -78.837890625, 64.951171875, 66.357421875, 68.5546875, -6.6796875, 33.046875 ]
3.233333
97
0
97
0
[ -80.68359375, 63.017578125, 60.205078125, 74.619140625, -8.4375, 33.662109375 ]
[ -79.365234375, 64.072265625, 64.423828125, 68.5546875, -6.6796875, 33.046875 ]
3.266667
98
0
98
0
[ -80.859375, 62.578125, 59.326171875, 74.619140625, -8.4375, 33.662109375 ]
[ -79.62890625, 63.10546875, 62.666015625, 68.5546875, -6.6796875, 33.046875 ]
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": 53,
    "total_frames": 27183,
    "total_tasks": 1,
    "total_videos": 106,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:53"
    },
    "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": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 720,
                "video.width": 1280,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.above": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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BibTeX:

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