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ssaito
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koch_test_20

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Robotics
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action
sequence
observation.state
sequence
timestamp
float32
0
22.5
frame_index
int64
0
676
episode_index
int64
0
0
index
int64
0
676
task_index
int64
0
0
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77
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[ 16.083984375, 88.9453125, 93.427734375, 51.6796875, 58.447265625, 27.7734375 ]
[ 15.29296875, 89.208984375, 97.470703125, 50.009765625, 57.568359375, 28.388671875 ]
2.6
78
0
78
0
[ 16.083984375, 88.505859375, 93.1640625, 51.85546875, 58.447265625, 27.7734375 ]
[ 15.29296875, 88.41796875, 96.85546875, 50.44921875, 57.568359375, 27.861328125 ]
2.633333
79
0
79
0
[ 16.171875, 87.890625, 92.900390625, 51.85546875, 58.447265625, 27.7734375 ]
[ 15.29296875, 87.71484375, 95.888671875, 50.80078125, 57.568359375, 27.59765625 ]
2.666667
80
0
80
0
[ 16.34765625, 87.36328125, 92.548828125, 51.943359375, 58.447265625, 27.7734375 ]
[ 15.29296875, 87.099609375, 95.44921875, 51.240234375, 57.568359375, 27.509765625 ]
2.7
81
0
81
0
[ 16.435546875, 86.748046875, 91.93359375, 51.943359375, 58.7109375, 27.7734375 ]
[ 15.29296875, 86.66015625, 95.09765625, 50.9765625, 57.568359375, 27.509765625 ]
2.733333
82
0
82
0
[ 16.435546875, 85.869140625, 91.23046875, 51.85546875, 59.765625, 27.861328125 ]
[ 15.29296875, 86.044921875, 94.306640625, 51.15234375, 57.568359375, 27.421875 ]
2.766667
83
0
83
0
[ 16.435546875, 85.517578125, 90.87890625, 51.767578125, 60.29296875, 27.94921875 ]
[ 15.29296875, 85.25390625, 94.04296875, 50.9765625, 57.744140625, 27.509765625 ]
2.8
84
0
84
0
[ 16.5234375, 85.25390625, 90.615234375, 51.767578125, 61.611328125, 28.212890625 ]
[ 15.29296875, 84.638671875, 93.427734375, 51.240234375, 58.447265625, 27.421875 ]
2.833333
85
0
85
0
[ 16.435546875, 85.166015625, 90.791015625, 51.85546875, 63.28125, 29.00390625 ]
[ 15.29296875, 84.55078125, 93.251953125, 50.9765625, 59.23828125, 27.59765625 ]
2.866667
86
0
86
0
[ 16.435546875, 84.90234375, 91.0546875, 51.943359375, 64.072265625, 30.76171875 ]
[ 15.29296875, 84.55078125, 93.076171875, 51.15234375, 60.556640625, 28.037109375 ]
2.9
87
0
87
0
[ 16.435546875, 84.814453125, 91.669921875, 52.20703125, 64.51171875, 31.81640625 ]
[ 15.380859375, 84.19921875, 92.900390625, 51.064453125, 61.787109375, 28.916015625 ]
2.933333
88
0
88
0
[ 16.435546875, 84.638671875, 91.93359375, 53.349609375, 64.599609375, 32.255859375 ]
[ 15.380859375, 83.759765625, 92.900390625, 51.328125, 62.9296875, 29.970703125 ]
2.966667
89
0
89
0
[ 16.34765625, 84.19921875, 92.021484375, 54.140625, 64.6875, 32.255859375 ]
[ 15.29296875, 83.583984375, 92.98828125, 52.03125, 63.45703125, 31.025390625 ]
3
90
0
90
0
[ 16.259765625, 83.759765625, 92.109375, 54.140625, 64.775390625, 32.255859375 ]
[ 15.29296875, 83.583984375, 93.076171875, 52.998046875, 63.720703125, 31.376953125 ]
3.033333
91
0
91
0
[ 16.171875, 83.232421875, 92.109375, 54.140625, 64.86328125, 32.255859375 ]
[ 15.380859375, 83.3203125, 92.98828125, 53.876953125, 63.720703125, 31.376953125 ]
3.066667
92
0
92
0
[ 16.083984375, 82.705078125, 92.197265625, 54.140625, 64.775390625, 32.255859375 ]
[ 15.380859375, 82.705078125, 92.98828125, 53.96484375, 63.720703125, 31.376953125 ]
3.1
93
0
93
0
[ 15.908203125, 82.529296875, 92.197265625, 54.31640625, 64.248046875, 32.255859375 ]
[ 15.380859375, 81.9140625, 93.076171875, 53.96484375, 63.80859375, 31.376953125 ]
3.133333
94
0
94
0
[ 15.732421875, 82.08984375, 92.109375, 54.84375, 63.45703125, 32.255859375 ]
[ 15.205078125, 81.474609375, 93.076171875, 54.052734375, 63.720703125, 31.376953125 ]
3.166667
95
0
95
0
[ 15.908203125, 81.38671875, 91.494140625, 54.755859375, 63.28125, 32.255859375 ]
[ 15.1171875, 81.474609375, 93.076171875, 53.96484375, 63.6328125, 31.376953125 ]
3.2
96
0
96
0
[ 16.083984375, 80.771484375, 90.87890625, 54.66796875, 63.193359375, 32.255859375 ]
[ 15.029296875, 81.123046875, 92.98828125, 54.052734375, 63.28125, 31.376953125 ]
3.233333
97
0
97
0
[ 16.171875, 80.068359375, 90.52734375, 54.755859375, 62.314453125, 32.34375 ]
[ 15.205078125, 80.244140625, 92.8125, 53.96484375, 63.193359375, 31.376953125 ]
3.266667
98
0
98
0
[ 16.34765625, 79.541015625, 90.3515625, 54.580078125, 60.556640625, 33.046875 ]
[ 15.29296875, 79.541015625, 92.724609375, 53.96484375, 63.017578125, 31.376953125 ]
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": 1,
    "total_frames": 677,
    "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": [
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            "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.side_cam": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 1080,
                "video.width": 1920,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
            }
        },
        "observation.images.overhead_cam": {
            "dtype": "video",
            "shape": [
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                1920,
                3
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 1080,
                "video.width": 1920,
                "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",
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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