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action
sequence | observation.state
sequence | timestamp
float32 0
28.7
| frame_index
int64 0
860
| episode_index
int64 0
8
| index
int64 0
4.42k
| 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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173.84765625,
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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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130.25390625,
156.796875,
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33.57421875
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[
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130.25390625,
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91.318359375,
33.57421875
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[
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130.25390625,
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17.578125,
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33.57421875
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[
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130.25390625,
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21.005859375,
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[
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130.25390625,
148.271484375,
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33.57421875
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[
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130.25390625,
146.689453125,
27.7734375,
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[
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130.25390625,
144.84375,
30.41015625,
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[
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130.25390625,
142.646484375,
33.3984375,
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33.57421875
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[
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130.25390625,
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36.38671875,
91.318359375,
33.57421875
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[
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137.8125,
39.375,
91.318359375,
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[
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130.25390625,
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[
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130.25390625,
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47.28515625,
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[
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130.25390625,
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51.064453125,
91.318359375,
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[
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130.25390625,
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91.318359375,
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[
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91.845703125,
130.078125,
119.70703125,
59.58984375,
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[
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128.408203125,
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129.814453125,
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[
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[
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[
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[
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103.798828125,
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[
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80.068359375,
91.40625,
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34.365234375
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91.93359375,
121.376953125,
100.810546875,
82.08984375,
91.93359375,
33.57421875
] | 2.133333 | 64 | 0 | 64 | 0 |
[
92.197265625,
119.794921875,
98.61328125,
83.49609375,
95.80078125,
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91.93359375,
120.41015625,
100.546875,
82.705078125,
92.373046875,
33.57421875
] | 2.166667 | 65 | 0 | 65 | 0 |
[
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119.091796875,
98.525390625,
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91.93359375,
119.619140625,
100.634765625,
83.056640625,
92.900390625,
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[
92.28515625,
118.212890625,
98.4375,
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91.93359375,
119.00390625,
100.634765625,
82.96875,
93.515625,
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[
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91.93359375,
118.4765625,
100.634765625,
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[
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91.93359375,
117.7734375,
100.634765625,
82.96875,
95.2734375,
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[
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91.93359375,
116.3671875,
100.458984375,
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33.57421875
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[
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96.50390625,
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[
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91.93359375,
115.224609375,
100.283203125,
82.96875,
98.525390625,
33.57421875
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[
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94.5703125,
83.583984375,
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91.845703125,
114.521484375,
99.66796875,
83.14453125,
99.404296875,
33.57421875
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[
93.1640625,
112.763671875,
93.427734375,
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91.93359375,
113.642578125,
98.173828125,
83.056640625,
100.1953125,
33.57421875
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92.28515625,
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92.373046875,
112.67578125,
96.416015625,
82.880859375,
100.810546875,
33.57421875
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[
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90.966796875,
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111.26953125,
94.833984375,
83.14453125,
100.986328125,
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[
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87.890625,
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[
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[
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105.99609375,
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[
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103.798828125,
87.626953125,
83.671875,
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[
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101.25,
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94.658203125,
102.48046875,
87.275390625,
83.84765625,
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33.57421875
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[
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95.537109375,
101.25,
86.8359375,
83.84765625,
95.537109375,
33.57421875
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[
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98.4375,
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96.6796875,
99.931640625,
85.95703125,
83.84765625,
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[
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98.701171875,
84.90234375,
83.84765625,
89.208984375,
33.57421875
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[
102.48046875,
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78.662109375,
84.638671875,
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83.3203125,
83.935546875,
85.869140625,
33.57421875
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[
103.53515625,
93.8671875,
77.431640625,
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100.8984375,
95.185546875,
80.771484375,
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[
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92.197265625,
76.025390625,
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101.953125,
93.955078125,
80.068359375,
83.408203125,
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[
105.29296875,
90.791015625,
74.970703125,
84.90234375,
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102.919921875,
92.63671875,
79.365234375,
83.935546875,
74.53125,
33.57421875
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[
105.99609375,
89.6484375,
74.091796875,
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103.798828125,
91.142578125,
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83.84765625,
71.455078125,
33.57421875
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[
106.69921875,
88.59375,
73.212890625,
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104.4140625,
89.560546875,
77.16796875,
83.408203125,
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33.57421875
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[
107.314453125,
87.5390625,
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104.94140625,
88.154296875,
76.376953125,
83.49609375,
64.3359375,
33.57421875
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[
107.841796875,
86.572265625,
71.3671875,
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106.171875,
86.66015625,
75.322265625,
84.111328125,
59.23828125,
33.57421875
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[
108.45703125,
85.4296875,
69.873046875,
85.60546875,
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106.435546875,
85.95703125,
74.70703125,
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[
108.896484375,
84.375,
68.466796875,
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107.05078125,
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[
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83.49609375,
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107.40234375,
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[
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108.017578125,
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63.45703125,
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108.28125,
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[
110.126953125,
81.2109375,
61.171875,
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86.748046875,
48.603515625,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 9,
"total_frames": 4419,
"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": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
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"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
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3
],
"names": [
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"width",
"channels"
],
"info": {
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"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
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"has_audio": false
}
},
"timestamp": {
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},
"frame_index": {
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},
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},
"index": {
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},
"task_index": {
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"shape": [
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}
}
}
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