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sequence | observation.state
sequence | timestamp
float32 0
14.6
| frame_index
int64 0
438
| episode_index
int64 0
9
| index
int64 0
3.94k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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116.630859375,
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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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[
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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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115.83984375,
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[
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167.958984375,
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[
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115.751953125,
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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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32.958984375
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[
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108.6328125,
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[
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139.482421875,
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[
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[
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106.435546875,
134.296875,
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[
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[
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102.919921875,
117.685546875,
32.607421875,
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104.58984375,
127.001953125,
14.765625,
2.63671875,
33.134765625
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[
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103.974609375,
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19.951171875,
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102.919921875,
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101.25,
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93.515625,
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2.724609375,
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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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67.32421875,
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[
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80.244140625,
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[
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76.81640625,
63.720703125,
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79.541015625,
80.68359375,
66.4453125,
5.2734375,
33.22265625
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[
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76.728515625,
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-28.30078125,
79.1015625,
80.15625,
66.005859375,
5.537109375,
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[
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76.728515625,
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78.310546875,
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65.390625,
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[
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76.640625,
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-28.564453125,
77.34375,
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64.6875,
7.03125,
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[
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76.640625,
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-28.564453125,
76.025390625,
78.310546875,
62.314453125,
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33.22265625
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[
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76.46484375,
76.640625,
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75.849609375,
78.310546875,
61.611328125,
10.107421875,
33.310546875
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[
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76.2890625,
76.728515625,
56.6015625,
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-28.564453125,
75.5859375,
78.310546875,
60.556640625,
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[
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75.498046875,
78.310546875,
59.853515625,
14.4140625,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 9,
"total_frames": 3524,
"total_tasks": 1,
"total_videos": 18,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:9"
},
"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",
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"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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