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sequence | observation.state
sequence | timestamp
float32 0
9.6
| frame_index
int64 0
48
| episode_index
int64 0
0
| index
int64 0
48
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
2.373046875,
116.89453125,
163.916015625,
-28.740234375,
-7.470703125,
31.728515625
] |
[
0.439453125,
116.19140625,
171.38671875,
-26.54296875,
-8.4375,
32.34375
] | 0 | 0 | 0 | 0 | 0 |
[
2.98828125,
116.71875,
155.21484375,
-21.97265625,
-4.21875,
31.728515625
] |
[
1.318359375,
115.576171875,
164.35546875,
-26.455078125,
-7.20703125,
31.201171875
] | 0.2 | 1 | 0 | 1 | 0 |
[
3.076171875,
115.3125,
146.6015625,
-16.34765625,
-0.3515625,
31.728515625
] |
[
1.318359375,
115.576171875,
156.09375,
-20.302734375,
-4.04296875,
31.201171875
] | 0.4 | 2 | 0 | 2 | 0 |
[
3.33984375,
114.2578125,
139.04296875,
-7.822265625,
2.724609375,
31.552734375
] |
[
2.98828125,
114.697265625,
147.216796875,
-15.46875,
-0.087890625,
31.201171875
] | 0.6 | 3 | 0 | 3 | 0 |
[
2.197265625,
112.5,
132.451171875,
-0.615234375,
6.6796875,
31.552734375
] |
[
2.98828125,
113.994140625,
140.80078125,
-6.328125,
1.669921875,
31.201171875
] | 0.8 | 4 | 0 | 4 | 0 |
[
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112.587890625,
117.861328125,
25.83984375,
26.54296875,
26.19140625
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[
2.373046875,
111.708984375,
133.9453125,
0.52734375,
5.80078125,
31.201171875
] | 1 | 5 | 0 | 5 | 0 |
[
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112.67578125,
116.89453125,
27.509765625,
27.685546875,
26.279296875
] |
[
1.23046875,
111.708984375,
132.099609375,
3.69140625,
8.173828125,
30.322265625
] | 1.2 | 6 | 0 | 6 | 0 |
[
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112.939453125,
36.474609375,
32.51953125,
26.455078125
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[
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111.357421875,
117.421875,
27.7734375,
26.89453125,
26.19140625
] | 1.4 | 7 | 0 | 7 | 0 |
[
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112.939453125,
110.830078125,
39.462890625,
35.244140625,
26.3671875
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[
-6.85546875,
111.884765625,
114.345703125,
36.474609375,
31.81640625,
26.19140625
] | 1.6 | 8 | 0 | 8 | 0 |
[
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102.041015625,
39.462890625,
33.22265625,
26.015625
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[
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111.796875,
113.203125,
39.375,
34.716796875,
26.19140625
] | 1.8 | 9 | 0 | 9 | 0 |
[
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106.34765625,
92.900390625,
36.9140625,
28.65234375,
24.697265625
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[
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109.599609375,
104.150390625,
39.375,
33.046875,
26.19140625
] | 2 | 10 | 0 | 10 | 0 |
[
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91.7578125,
31.9921875,
25.224609375,
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[
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105.8203125,
93.69140625,
38.14453125,
28.037109375,
24.43359375
] | 2.2 | 11 | 0 | 11 | 0 |
[
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99.31640625,
96.943359375,
28.916015625,
22.1484375,
24.43359375
] |
[
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101.6015625,
93.779296875,
34.1015625,
25.13671875,
24.43359375
] | 2.4 | 12 | 0 | 12 | 0 |
[
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108.720703125,
25.751953125,
17.314453125,
24.609375
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[
-2.109375,
98.525390625,
97.55859375,
30.673828125,
21.97265625,
24.345703125
] | 2.6 | 13 | 0 | 13 | 0 |
[
-1.494140625,
102.12890625,
119.267578125,
23.466796875,
9.404296875,
24.697265625
] |
[
-1.93359375,
98.876953125,
111.09375,
27.0703125,
17.138671875,
24.2578125
] | 2.8 | 14 | 0 | 14 | 0 |
[
1.845703125,
104.150390625,
124.62890625,
20.830078125,
3.076171875,
24.78515625
] |
[
-1.142578125,
101.42578125,
121.81640625,
24.43359375,
9.140625,
24.345703125
] | 3 | 15 | 0 | 15 | 0 |
[
2.900390625,
104.765625,
126.73828125,
18.017578125,
1.669921875,
24.697265625
] |
[
0.439453125,
103.0078125,
126.123046875,
21.62109375,
3.076171875,
24.345703125
] | 3.2 | 16 | 0 | 16 | 0 |
[
4.04296875,
104.853515625,
127.44140625,
15.732421875,
-0.263671875,
24.697265625
] |
[
1.318359375,
102.83203125,
127.529296875,
20.126953125,
1.0546875,
24.345703125
] | 3.4 | 17 | 0 | 17 | 0 |
[
5.80078125,
104.765625,
129.462890625,
10.986328125,
-2.63671875,
24.697265625
] |
[
3.603515625,
102.83203125,
127.96875,
17.2265625,
0.263671875,
24.345703125
] | 3.6 | 18 | 0 | 18 | 0 |
[
6.50390625,
103.7109375,
132.01171875,
5.625,
-4.130859375,
24.697265625
] |
[
4.39453125,
102.83203125,
130.4296875,
12.3046875,
-1.669921875,
24.345703125
] | 3.8 | 19 | 0 | 19 | 0 |
[
6.943359375,
102.3046875,
133.2421875,
2.28515625,
-5.09765625,
24.697265625
] |
[
5.44921875,
102.744140625,
133.505859375,
7.470703125,
-3.779296875,
24.345703125
] | 4 | 20 | 0 | 20 | 0 |
[
7.734375,
100.458984375,
133.9453125,
-0.87890625,
-6.416015625,
24.697265625
] |
[
5.44921875,
101.77734375,
133.9453125,
4.482421875,
-4.5703125,
24.345703125
] | 4.2 | 21 | 0 | 21 | 0 |
[
8.4375,
97.55859375,
134.296875,
-6.50390625,
-7.822265625,
24.697265625
] |
[
6.416015625,
99.755859375,
133.9453125,
2.8125,
-5.80078125,
24.345703125
] | 4.4 | 22 | 0 | 22 | 0 |
[
8.7890625,
94.482421875,
134.384765625,
-11.162109375,
-8.701171875,
24.697265625
] |
[
7.822265625,
96.6796875,
134.912109375,
-3.33984375,
-6.767578125,
24.345703125
] | 4.6 | 23 | 0 | 23 | 0 |
[
8.701171875,
92.4609375,
134.384765625,
-13.18359375,
-8.701171875,
24.78515625
] |
[
7.998046875,
93.779296875,
134.912109375,
-8.349609375,
-7.91015625,
24.345703125
] | 4.8 | 24 | 0 | 24 | 0 |
[
8.4375,
91.0546875,
134.736328125,
-15.029296875,
-8.4375,
24.78515625
] |
[
7.998046875,
91.58203125,
134.912109375,
-9.931640625,
-7.91015625,
24.345703125
] | 5 | 25 | 0 | 25 | 0 |
[
8.173828125,
89.384765625,
135.087890625,
-17.40234375,
-8.4375,
25.048828125
] |
[
7.998046875,
90.703125,
134.912109375,
-12.216796875,
-7.91015625,
24.345703125
] | 5.2 | 26 | 0 | 26 | 0 |
[
7.55859375,
87.890625,
135.17578125,
-20.478515625,
-8.26171875,
25.048828125
] |
[
7.998046875,
88.76953125,
135.52734375,
-14.326171875,
-7.91015625,
24.78515625
] | 5.4 | 27 | 0 | 27 | 0 |
[
6.328125,
86.8359375,
135.263671875,
-22.412109375,
-6.591796875,
25.13671875
] |
[
7.3828125,
86.66015625,
135.615234375,
-17.2265625,
-7.91015625,
24.78515625
] | 5.6 | 28 | 0 | 28 | 0 |
[
4.658203125,
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135.263671875,
-24.345703125,
-3.8671875,
25.13671875
] |
[
6.328125,
85.693359375,
135.615234375,
-18.984375,
-6.328125,
24.78515625
] | 5.8 | 29 | 0 | 29 | 0 |
[
3.076171875,
85.869140625,
135.703125,
-25.224609375,
-0.615234375,
25.13671875
] |
[
4.04296875,
84.814453125,
135.615234375,
-21.005859375,
-3.1640625,
24.78515625
] | 6 | 30 | 0 | 30 | 0 |
[
-0.703125,
87.5390625,
138.515625,
-26.3671875,
1.845703125,
25.224609375
] |
[
2.98828125,
84.7265625,
135.615234375,
-22.1484375,
-0.087890625,
24.78515625
] | 6.2 | 31 | 0 | 31 | 0 |
[
-3.33984375,
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141.943359375,
-26.71875,
2.98828125,
25.224609375
] |
[
0.17578125,
85.4296875,
139.39453125,
-23.5546875,
0.791015625,
24.78515625
] | 6.4 | 32 | 0 | 32 | 0 |
[
-5.9765625,
90.966796875,
143.0859375,
-26.71875,
4.39453125,
25.224609375
] |
[
-2.8125,
87.5390625,
142.294921875,
-23.818359375,
1.669921875,
24.78515625
] | 6.6 | 33 | 0 | 33 | 0 |
[
-8.876953125,
91.669921875,
143.4375,
-26.71875,
6.240234375,
25.224609375
] |
[
-4.833984375,
88.59375,
144.052734375,
-23.818359375,
3.779296875,
24.78515625
] | 6.8 | 34 | 0 | 34 | 0 |
[
-11.6015625,
92.4609375,
143.96484375,
-26.71875,
8.349609375,
25.3125
] |
[
-7.91015625,
89.560546875,
144.052734375,
-23.818359375,
5.80078125,
24.78515625
] | 7 | 35 | 0 | 35 | 0 |
[
-13.53515625,
94.921875,
144.228515625,
-28.30078125,
9.228515625,
25.83984375
] |
[
-10.8984375,
90.615234375,
144.052734375,
-23.818359375,
7.822265625,
24.78515625
] | 7.2 | 36 | 0 | 36 | 0 |
[
-12.216796875,
97.119140625,
146.07421875,
-30.41015625,
6.6796875,
25.83984375
] |
[
-12.83203125,
92.63671875,
144.66796875,
-25.048828125,
8.701171875,
24.78515625
] | 7.4 | 37 | 0 | 37 | 0 |
[
-9.66796875,
98.0859375,
148.18359375,
-30.9375,
3.779296875,
25.83984375
] |
[
-12.48046875,
95.80078125,
147.216796875,
-27.0703125,
6.15234375,
24.78515625
] | 7.6 | 38 | 0 | 38 | 0 |
[
-8.61328125,
98.173828125,
149.853515625,
-31.2890625,
2.28515625,
25.83984375
] |
[
-9.228515625,
96.6796875,
149.0625,
-27.158203125,
3.1640625,
24.78515625
] | 7.8 | 39 | 0 | 39 | 0 |
[
-8.26171875,
97.646484375,
151.611328125,
-31.728515625,
1.669921875,
25.83984375
] |
[
-8.349609375,
96.6796875,
149.501953125,
-27.94921875,
2.021484375,
24.78515625
] | 8 | 40 | 0 | 40 | 0 |
[
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96.15234375,
153.6328125,
-33.662109375,
0.615234375,
25.83984375
] |
[
-8.349609375,
96.591796875,
152.05078125,
-28.30078125,
1.142578125,
24.78515625
] | 8.2 | 41 | 0 | 41 | 0 |
[
-6.6796875,
95.185546875,
155.126953125,
-35.15625,
-0.703125,
25.83984375
] |
[
-7.03125,
95.80078125,
153.984375,
-29.794921875,
0.263671875,
24.78515625
] | 8.4 | 42 | 0 | 42 | 0 |
[
-5.712890625,
94.833984375,
156.533203125,
-36.2109375,
-1.93359375,
25.83984375
] |
[
-5.9765625,
94.833984375,
155.91796875,
-32.255859375,
0.263671875,
24.78515625
] | 8.6 | 43 | 0 | 43 | 0 |
[
-5.2734375,
94.21875,
157.587890625,
-36.650390625,
-2.548828125,
25.83984375
] |
[
-4.921875,
93.779296875,
156.4453125,
-32.87109375,
-0.791015625,
24.78515625
] | 8.8 | 44 | 0 | 44 | 0 |
[
-4.74609375,
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159.08203125,
-36.650390625,
-3.515625,
25.83984375
] |
[
-4.921875,
93.779296875,
157.8515625,
-33.134765625,
-1.669921875,
24.78515625
] | 9 | 45 | 0 | 45 | 0 |
[
-3.8671875,
94.21875,
161.279296875,
-37.880859375,
-4.833984375,
25.927734375
] |
[
-4.04296875,
93.8671875,
159.873046875,
-33.837890625,
-2.724609375,
24.78515625
] | 9.2 | 46 | 0 | 46 | 0 |
[
-1.318359375,
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161.3671875,
-38.232421875,
-6.591796875,
26.015625
] |
[
-3.427734375,
93.8671875,
161.455078125,
-35.5078125,
-3.603515625,
24.78515625
] | 9.4 | 47 | 0 | 47 | 0 |
[
-0.703125,
97.734375,
164.267578125,
-38.14453125,
-6.943359375,
26.015625
] |
[
-1.142578125,
93.8671875,
161.54296875,
-35.859375,
-5.888671875,
25.400390625
] | 9.6 | 48 | 0 | 48 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 1,
"total_frames": 49,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"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": [
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.overhead_cam": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 5.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.side_cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 5.0,
"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
BibTeX:
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