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sequence | observation.state
sequence | timestamp
float32 0
15.4
| frame_index
int64 0
463
| episode_index
int64 0
4
| index
int64 0
1.65k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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77.607421875,
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[
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[
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[
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84.0234375,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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80.33203125,
8.7890625,
32.255859375
] |
[
-0.52734375,
75.234375,
84.0234375,
80.15625,
7.998046875,
30.76171875
] | 2
| 60
| 0
| 60
| 0
|
[
-1.845703125,
75.5859375,
81.298828125,
80.33203125,
8.7890625,
32.34375
] |
[
-0.52734375,
74.794921875,
83.935546875,
80.15625,
7.998046875,
31.11328125
] | 2.033333
| 61
| 0
| 61
| 0
|
[
-1.845703125,
75.41015625,
80.859375,
80.33203125,
8.7890625,
32.431640625
] |
[
-0.52734375,
74.619140625,
83.84765625,
80.068359375,
7.998046875,
31.11328125
] | 2.066667
| 62
| 0
| 62
| 0
|
[
-1.845703125,
75.234375,
80.5078125,
80.33203125,
8.876953125,
32.431640625
] |
[
-0.52734375,
74.53125,
83.84765625,
80.068359375,
7.998046875,
31.11328125
] | 2.1
| 63
| 0
| 63
| 0
|
[
-1.845703125,
75.146484375,
80.244140625,
80.33203125,
8.7890625,
32.607421875
] |
[
-0.52734375,
74.53125,
83.759765625,
80.068359375,
7.998046875,
31.11328125
] | 2.133333
| 64
| 0
| 64
| 0
|
[
-1.845703125,
75.05859375,
80.068359375,
80.33203125,
8.876953125,
33.046875
] |
[
-0.52734375,
74.53125,
83.3203125,
80.15625,
7.998046875,
31.11328125
] | 2.166667
| 65
| 0
| 65
| 0
|
[
-1.845703125,
74.970703125,
79.98046875,
80.33203125,
8.876953125,
33.046875
] |
[
-0.52734375,
74.53125,
82.96875,
79.98046875,
7.998046875,
31.640625
] | 2.2
| 66
| 0
| 66
| 0
|
[
-1.93359375,
74.794921875,
79.716796875,
80.33203125,
8.876953125,
33.310546875
] |
[
-0.52734375,
74.267578125,
82.44140625,
80.244140625,
7.998046875,
32.080078125
] | 2.233333
| 67
| 0
| 67
| 0
|
[
-2.109375,
74.70703125,
79.453125,
80.33203125,
8.876953125,
34.189453125
] |
[
-0.52734375,
73.740234375,
81.5625,
80.15625,
8.0859375,
32.080078125
] | 2.266667
| 68
| 0
| 68
| 0
|
[
-2.109375,
74.443359375,
79.189453125,
80.33203125,
8.96484375,
35.859375
] |
[
-0.87890625,
73.65234375,
81.38671875,
79.8046875,
8.0859375,
32.607421875
] | 2.3
| 69
| 0
| 69
| 0
|
[
-2.197265625,
74.1796875,
78.837890625,
80.33203125,
9.140625,
37.96875
] |
[
-1.142578125,
73.65234375,
81.38671875,
80.068359375,
8.0859375,
33.662109375
] | 2.333333
| 70
| 0
| 70
| 0
|
[
-2.197265625,
74.00390625,
78.662109375,
80.33203125,
9.228515625,
38.759765625
] |
[
-1.23046875,
73.65234375,
81.298828125,
80.068359375,
8.173828125,
34.98046875
] | 2.366667
| 71
| 0
| 71
| 0
|
[
-2.109375,
73.916015625,
78.662109375,
80.33203125,
9.228515625,
38.759765625
] |
[
-1.318359375,
73.65234375,
81.123046875,
80.068359375,
8.4375,
36.298828125
] | 2.4
| 72
| 0
| 72
| 0
|
[
-2.109375,
73.916015625,
78.92578125,
80.419921875,
9.228515625,
38.583984375
] |
[
-1.40625,
73.30078125,
80.947265625,
79.98046875,
8.61328125,
37.001953125
] | 2.433333
| 73
| 0
| 73
| 0
|
[
-2.021484375,
73.828125,
79.27734375,
80.419921875,
9.228515625,
38.232421875
] |
[
-1.40625,
72.94921875,
80.859375,
80.068359375,
8.701171875,
37.08984375
] | 2.466667
| 74
| 0
| 74
| 0
|
[
-2.021484375,
73.828125,
79.541015625,
80.419921875,
9.228515625,
37.79296875
] |
[
-1.40625,
72.685546875,
80.859375,
79.98046875,
8.876953125,
37.08984375
] | 2.5
| 75
| 0
| 75
| 0
|
[
-2.021484375,
73.828125,
79.892578125,
80.419921875,
9.228515625,
37.79296875
] |
[
-1.40625,
72.59765625,
80.947265625,
80.068359375,
8.96484375,
37.001953125
] | 2.533333
| 76
| 0
| 76
| 0
|
[
-2.021484375,
73.828125,
80.15625,
80.5078125,
9.228515625,
37.79296875
] |
[
-1.40625,
72.685546875,
80.859375,
80.068359375,
8.876953125,
36.9140625
] | 2.566667
| 77
| 0
| 77
| 0
|
[
-2.021484375,
73.828125,
80.419921875,
80.5078125,
9.228515625,
37.79296875
] |
[
-1.40625,
72.685546875,
80.859375,
80.068359375,
8.876953125,
36.9140625
] | 2.6
| 78
| 0
| 78
| 0
|
[
-1.93359375,
73.828125,
80.5078125,
80.5078125,
9.228515625,
37.880859375
] |
[
-1.40625,
72.685546875,
80.947265625,
80.068359375,
8.876953125,
37.001953125
] | 2.633333
| 79
| 0
| 79
| 0
|
[
-1.93359375,
73.828125,
80.595703125,
80.5078125,
9.228515625,
37.96875
] |
[
-1.318359375,
72.685546875,
80.859375,
80.068359375,
8.876953125,
37.001953125
] | 2.666667
| 80
| 0
| 80
| 0
|
[
-1.93359375,
73.828125,
80.5078125,
80.5078125,
9.228515625,
38.056640625
] |
[
-1.142578125,
72.59765625,
80.859375,
80.068359375,
8.876953125,
37.001953125
] | 2.7
| 81
| 0
| 81
| 0
|
[
-1.845703125,
73.828125,
80.5078125,
80.5078125,
9.228515625,
38.14453125
] |
[
-1.0546875,
72.685546875,
80.947265625,
80.068359375,
8.876953125,
37.265625
] | 2.733333
| 82
| 0
| 82
| 0
|
[
-1.7578125,
73.828125,
80.5078125,
80.5078125,
9.228515625,
38.232421875
] |
[
-0.966796875,
72.685546875,
80.859375,
80.068359375,
8.876953125,
37.44140625
] | 2.766667
| 83
| 0
| 83
| 0
|
[
-1.669921875,
73.828125,
80.5078125,
80.5078125,
9.052734375,
38.232421875
] |
[
-0.966796875,
72.685546875,
80.859375,
80.068359375,
8.876953125,
37.44140625
] | 2.8
| 84
| 0
| 84
| 0
|
[
-1.669921875,
73.828125,
80.5078125,
80.5078125,
8.96484375,
38.232421875
] |
[
-0.966796875,
72.59765625,
80.859375,
80.068359375,
8.876953125,
37.44140625
] | 2.833333
| 85
| 0
| 85
| 0
|
[
-1.58203125,
73.828125,
80.595703125,
80.5078125,
8.96484375,
38.232421875
] |
[
-0.966796875,
72.59765625,
80.947265625,
80.068359375,
8.7890625,
37.44140625
] | 2.866667
| 86
| 0
| 86
| 0
|
[
-1.58203125,
73.740234375,
80.595703125,
80.5078125,
8.96484375,
38.232421875
] |
[
-0.966796875,
72.685546875,
80.859375,
80.068359375,
8.61328125,
37.44140625
] | 2.9
| 87
| 0
| 87
| 0
|
[
-1.669921875,
73.65234375,
80.68359375,
80.5078125,
8.96484375,
38.232421875
] |
[
-0.966796875,
72.59765625,
80.947265625,
80.068359375,
8.4375,
37.44140625
] | 2.933333
| 88
| 0
| 88
| 0
|
[
-1.669921875,
73.564453125,
80.947265625,
80.5078125,
8.96484375,
38.232421875
] |
[
-0.966796875,
72.685546875,
80.947265625,
80.068359375,
8.26171875,
37.44140625
] | 2.966667
| 89
| 0
| 89
| 0
|
[
-1.58203125,
73.564453125,
81.2109375,
80.5078125,
8.96484375,
38.3203125
] |
[
-0.966796875,
72.685546875,
80.859375,
80.068359375,
8.0859375,
37.44140625
] | 3
| 90
| 0
| 90
| 0
|
[
-1.58203125,
73.564453125,
81.5625,
80.5078125,
8.96484375,
38.3203125
] |
[
-0.966796875,
72.685546875,
81.298828125,
79.892578125,
7.998046875,
37.44140625
] | 3.033333
| 91
| 0
| 91
| 0
|
[
-1.58203125,
73.564453125,
81.73828125,
80.5078125,
9.052734375,
38.3203125
] |
[
-0.966796875,
72.685546875,
81.73828125,
80.15625,
8.0859375,
37.44140625
] | 3.066667
| 92
| 0
| 92
| 0
|
[
-1.58203125,
73.65234375,
81.73828125,
80.5078125,
9.052734375,
38.3203125
] |
[
-0.966796875,
72.685546875,
81.826171875,
80.244140625,
8.173828125,
37.44140625
] | 3.1
| 93
| 0
| 93
| 0
|
[
-1.58203125,
73.828125,
81.73828125,
80.5078125,
9.052734375,
38.232421875
] |
[
-0.966796875,
72.685546875,
81.826171875,
80.068359375,
8.349609375,
37.44140625
] | 3.133333
| 94
| 0
| 94
| 0
|
[
-1.58203125,
74.1796875,
81.650390625,
80.5078125,
9.052734375,
38.3203125
] |
[
-0.966796875,
72.59765625,
81.826171875,
80.15625,
8.525390625,
37.44140625
] | 3.166667
| 95
| 0
| 95
| 0
|
[
-1.58203125,
74.267578125,
81.650390625,
80.5078125,
9.052734375,
38.3203125
] |
[
-0.966796875,
72.685546875,
81.826171875,
80.15625,
8.701171875,
37.44140625
] | 3.2
| 96
| 0
| 96
| 0
|
[
-1.494140625,
74.1796875,
81.650390625,
80.5078125,
9.052734375,
38.3203125
] |
[
-0.966796875,
72.685546875,
81.826171875,
80.15625,
8.7890625,
37.44140625
] | 3.233333
| 97
| 0
| 97
| 0
|
[
-1.40625,
74.00390625,
81.650390625,
80.5078125,
8.96484375,
38.3203125
] |
[
-0.966796875,
72.685546875,
81.826171875,
80.15625,
8.876953125,
37.44140625
] | 3.266667
| 98
| 0
| 98
| 0
|
[
-1.40625,
73.916015625,
81.73828125,
80.5078125,
8.96484375,
38.232421875
] |
[
-0.966796875,
72.685546875,
81.826171875,
80.15625,
8.876953125,
37.44140625
] | 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": 1651,
"total_tasks": 1,
"total_videos": 5,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:5"
},
"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_camera": {
"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": "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
}
}
}
Citation
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