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sequence | observation.state
sequence | timestamp
float32 0
9.8
| frame_index
int64 0
49
| episode_index
int64 0
0
| index
int64 0
49
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
13.18359375,
115.224609375,
147.744140625,
-3.779296875,
6.15234375,
33.22265625
] |
[
7.91015625,
118.740234375,
153.6328125,
-2.724609375,
1.669921875,
33.310546875
] | 0 | 0 | 0 | 0 | 0 |
[
16.5234375,
109.248046875,
141.6796875,
-3.076171875,
10.810546875,
32.6953125
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[
12.65625,
114.78515625,
148.88671875,
-2.63671875,
5.80078125,
33.310546875
] | 0.2 | 1 | 0 | 1 | 0 |
[
18.369140625,
104.150390625,
137.373046875,
-2.4609375,
15.908203125,
32.6953125
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[
15.380859375,
108.720703125,
142.3828125,
-2.724609375,
9.66796875,
32.34375
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[
18.544921875,
100.810546875,
135.52734375,
-1.142578125,
21.26953125,
32.6953125
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[
17.578125,
103.798828125,
138.779296875,
-1.669921875,
14.677734375,
32.34375
] | 0.6 | 3 | 0 | 3 | 0 |
[
18.544921875,
97.998046875,
134.82421875,
-1.23046875,
25.576171875,
32.783203125
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[
17.9296875,
99.755859375,
137.021484375,
-0.703125,
20.654296875,
32.34375
] | 0.8 | 4 | 0 | 4 | 0 |
[
18.369140625,
96.328125,
131.66015625,
-0.791015625,
30.673828125,
32.783203125
] |
[
17.9296875,
96.6796875,
136.58203125,
-0.703125,
24.78515625,
32.34375
] | 1 | 5 | 0 | 5 | 0 |
[
16.083984375,
95.9765625,
125.68359375,
4.306640625,
39.375,
32.87109375
] |
[
17.9296875,
95.712890625,
133.06640625,
0.263671875,
29.794921875,
32.34375
] | 1.2 | 6 | 0 | 6 | 0 |
[
14.853515625,
95.537109375,
121.376953125,
10.986328125,
45.791015625,
32.958984375
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[
16.5234375,
94.658203125,
126.826171875,
4.39453125,
38.671875,
32.34375
] | 1.4 | 7 | 0 | 7 | 0 |
[
14.677734375,
92.724609375,
115.224609375,
19.51171875,
50.712890625,
32.87109375
] |
[
14.23828125,
94.74609375,
123.046875,
10.37109375,
44.6484375,
32.34375
] | 1.6 | 8 | 0 | 8 | 0 |
[
15.380859375,
88.06640625,
109.775390625,
26.015625,
54.66796875,
32.783203125
] |
[
13.974609375,
91.494140625,
116.806640625,
19.3359375,
49.74609375,
32.34375
] | 1.8 | 9 | 0 | 9 | 0 |
[
17.578125,
84.287109375,
107.75390625,
28.30078125,
59.0625,
33.046875
] |
[
14.4140625,
87.626953125,
110.654296875,
26.3671875,
53.7890625,
32.34375
] | 2 | 10 | 0 | 10 | 0 |
[
18.544921875,
82.705078125,
107.578125,
27.509765625,
60.732421875,
35.595703125
] |
[
16.69921875,
83.583984375,
109.16015625,
28.037109375,
58.798828125,
32.6953125
] | 2.2 | 11 | 0 | 11 | 0 |
[
19.599609375,
82.08984375,
106.69921875,
27.421875,
65.390625,
31.11328125
] |
[
17.666015625,
81.5625,
109.248046875,
28.125,
59.58984375,
34.27734375
] | 2.4 | 12 | 0 | 12 | 0 |
[
20.7421875,
81.03515625,
106.171875,
27.861328125,
72.7734375,
31.201171875
] |
[
18.45703125,
81.474609375,
109.3359375,
28.125,
64.6875,
31.46484375
] | 2.6 | 13 | 0 | 13 | 0 |
[
22.5,
79.716796875,
106.259765625,
23.5546875,
72.861328125,
31.201171875
] |
[
19.3359375,
80.5078125,
109.248046875,
28.125,
71.71875,
31.46484375
] | 2.8 | 14 | 0 | 14 | 0 |
[
23.02734375,
77.958984375,
106.259765625,
20.830078125,
73.65234375,
31.2890625
] |
[
21.62109375,
78.57421875,
109.248046875,
24.9609375,
71.71875,
31.376953125
] | 3 | 15 | 0 | 15 | 0 |
[
23.818359375,
76.201171875,
106.787109375,
13.18359375,
73.037109375,
31.81640625
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[
22.67578125,
76.46484375,
109.248046875,
21.884765625,
72.59765625,
31.376953125
] | 3.2 | 16 | 0 | 16 | 0 |
[
23.994140625,
74.794921875,
107.578125,
9.931640625,
75.5859375,
31.9921875
] |
[
22.763671875,
75.5859375,
108.6328125,
14.94140625,
72.59765625,
31.376953125
] | 3.4 | 17 | 0 | 17 | 0 |
[
24.43359375,
73.65234375,
107.9296875,
10.01953125,
79.892578125,
31.904296875
] |
[
22.763671875,
73.388671875,
108.6328125,
11.42578125,
74.619140625,
31.2890625
] | 3.6 | 18 | 0 | 18 | 0 |
[
26.103515625,
73.037109375,
108.193359375,
10.01953125,
82.529296875,
29.091796875
] |
[
23.5546875,
72.509765625,
108.544921875,
11.42578125,
78.57421875,
31.2890625
] | 3.8 | 19 | 0 | 19 | 0 |
[
25.751953125,
71.806640625,
109.775390625,
5.80078125,
82.880859375,
26.630859375
] |
[
25.400390625,
72.509765625,
108.720703125,
11.42578125,
81.73828125,
29.53125
] | 4 | 20 | 0 | 20 | 0 |
[
25.576171875,
70.927734375,
113.203125,
1.0546875,
81.298828125,
26.630859375
] |
[
25.048828125,
70.576171875,
109.775390625,
6.943359375,
81.73828125,
26.54296875
] | 4.2 | 21 | 0 | 21 | 0 |
[
26.54296875,
69.521484375,
113.5546875,
-3.955078125,
79.365234375,
29.794921875
] |
[
24.9609375,
69.78515625,
113.818359375,
1.494140625,
81.298828125,
26.455078125
] | 4.4 | 22 | 0 | 22 | 0 |
[
27.333984375,
70.48828125,
113.73046875,
-5.888671875,
79.892578125,
34.541015625
] |
[
25.400390625,
68.73046875,
113.90625,
-1.845703125,
79.365234375,
28.212890625
] | 4.6 | 23 | 0 | 23 | 0 |
[
27.7734375,
75.498046875,
116.54296875,
-5.80078125,
81.123046875,
34.365234375
] |
[
26.455078125,
68.818359375,
113.90625,
-3.427734375,
79.365234375,
33.3984375
] | 4.8 | 24 | 0 | 24 | 0 |
[
27.421875,
82.177734375,
117.7734375,
-4.658203125,
84.814453125,
34.27734375
] |
[
26.71875,
72.94921875,
117.24609375,
-3.69140625,
80.68359375,
33.486328125
] | 5 | 25 | 0 | 25 | 0 |
[
27.0703125,
88.154296875,
118.388671875,
-3.1640625,
87.71484375,
34.27734375
] |
[
26.89453125,
79.98046875,
118.212890625,
-3.515625,
83.759765625,
33.486328125
] | 5.2 | 26 | 0 | 26 | 0 |
[
26.455078125,
92.109375,
117.94921875,
-2.4609375,
87.802734375,
34.27734375
] |
[
26.982421875,
86.396484375,
119.267578125,
-2.4609375,
86.748046875,
33.486328125
] | 5.4 | 27 | 0 | 27 | 0 |
[
23.994140625,
94.39453125,
115.3125,
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87.802734375,
34.365234375
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[
26.19140625,
90.3515625,
119.267578125,
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86.748046875,
33.486328125
] | 5.6 | 28 | 0 | 28 | 0 |
[
23.37890625,
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114.2578125,
-2.4609375,
92.109375,
34.365234375
] |
[
23.115234375,
92.28515625,
118.037109375,
-1.494140625,
86.748046875,
33.486328125
] | 5.8 | 29 | 0 | 29 | 0 |
[
20.21484375,
91.58203125,
115.576171875,
-2.548828125,
93.33984375,
34.716796875
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[
22.939453125,
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117.59765625,
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91.58203125,
33.486328125
] | 6 | 30 | 0 | 30 | 0 |
[
18.80859375,
87.5390625,
108.984375,
0.3515625,
87.978515625,
35.771484375
] |
[
20.390625,
90.615234375,
117.509765625,
-1.669921875,
92.4609375,
33.486328125
] | 6.2 | 31 | 0 | 31 | 0 |
[
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84.990234375,
102.568359375,
3.33984375,
55.8984375,
35.771484375
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[
18.10546875,
86.572265625,
110.0390625,
0.52734375,
87.01171875,
34.453125
] | 6.4 | 32 | 0 | 32 | 0 |
[
18.28125,
81.03515625,
90.52734375,
19.16015625,
62.490234375,
35.68359375
] |
[
17.138671875,
83.49609375,
104.765625,
3.515625,
55.72265625,
34.453125
] | 6.6 | 33 | 0 | 33 | 0 |
[
18.6328125,
80.244140625,
90.439453125,
23.73046875,
63.6328125,
35.859375
] |
[
17.666015625,
80.33203125,
91.58203125,
19.423828125,
61.69921875,
34.453125
] | 6.8 | 34 | 0 | 34 | 0 |
[
15.556640625,
84.90234375,
97.55859375,
21.26953125,
43.76953125,
35.859375
] |
[
17.9296875,
79.365234375,
91.669921875,
23.466796875,
62.578125,
34.453125
] | 7 | 35 | 0 | 35 | 0 |
[
12.392578125,
93.955078125,
113.994140625,
12.216796875,
30.41015625,
35.771484375
] |
[
15.380859375,
82.001953125,
99.228515625,
22.5,
43.41796875,
34.453125
] | 7.2 | 36 | 0 | 36 | 0 |
[
8.61328125,
101.337890625,
127.177734375,
5.80078125,
23.02734375,
35.419921875
] |
[
12.12890625,
91.845703125,
116.19140625,
14.765625,
30.41015625,
34.453125
] | 7.4 | 37 | 0 | 37 | 0 |
[
5.09765625,
105.46875,
136.93359375,
-0.439453125,
15.029296875,
34.62890625
] |
[
8.26171875,
100.37109375,
129.814453125,
7.55859375,
23.291015625,
34.365234375
] | 7.6 | 38 | 0 | 38 | 0 |
[
2.98828125,
107.138671875,
144.84375,
-6.6796875,
9.31640625,
34.453125
] |
[
5.2734375,
104.4140625,
137.98828125,
2.197265625,
15.205078125,
34.013671875
] | 7.8 | 39 | 0 | 39 | 0 |
[
2.109375,
108.017578125,
150.205078125,
-10.72265625,
4.21875,
34.365234375
] |
[
2.28515625,
106.435546875,
145.72265625,
-3.515625,
9.140625,
34.013671875
] | 8 | 40 | 0 | 40 | 0 |
[
1.58203125,
108.6328125,
155.302734375,
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-0.087890625,
34.365234375
] |
[
1.845703125,
107.2265625,
151.171875,
-8.0859375,
4.04296875,
34.013671875
] | 8.2 | 41 | 0 | 41 | 0 |
[
1.318359375,
109.51171875,
161.19140625,
-20.390625,
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34.27734375
] |
[
1.318359375,
107.05078125,
156.181640625,
-11.865234375,
0.17578125,
33.92578125
] | 8.4 | 42 | 0 | 42 | 0 |
[
0.703125,
110.91796875,
165.146484375,
-22.412109375,
-6.240234375,
34.27734375
] |
[
1.142578125,
108.10546875,
162.0703125,
-18.193359375,
-3.779296875,
34.013671875
] | 8.6 | 43 | 0 | 43 | 0 |
[
0.52734375,
111.357421875,
167.958984375,
-22.587890625,
-7.294921875,
34.27734375
] |
[
-0.087890625,
109.423828125,
166.11328125,
-20.478515625,
-5.9765625,
34.013671875
] | 8.8 | 44 | 0 | 44 | 0 |
[
0.52734375,
110.91796875,
169.1015625,
-22.5,
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34.27734375
] |
[
-0.087890625,
110.302734375,
167.6953125,
-20.654296875,
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34.013671875
] | 9 | 45 | 0 | 45 | 0 |
[
0.439453125,
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171.73828125,
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] |
[
0,
110.126953125,
169.365234375,
-21.97265625,
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33.92578125
] | 9.2 | 46 | 0 | 46 | 0 |
[
-0.087890625,
110.56640625,
174.111328125,
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34.27734375
] |
[
0,
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170.859375,
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34.013671875
] | 9.4 | 47 | 0 | 47 | 0 |
[
-0.791015625,
110.390625,
175.869140625,
-21.26953125,
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34.365234375
] |
[
0,
110.302734375,
173.408203125,
-22.5,
-10.546875,
34.013671875
] | 9.6 | 48 | 0 | 48 | 0 |
[
-1.142578125,
110.390625,
175.95703125,
-21.357421875,
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34.365234375
] |
[
0,
110.302734375,
173.759765625,
-22.5,
-10.546875,
34.013671875
] | 9.8 | 49 | 0 | 49 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 1,
"total_frames": 50,
"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": [
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
}
},
"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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