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action
sequence | observation.state
sequence | timestamp
float32 0
19.3
| frame_index
int64 0
580
| episode_index
int64 0
9
| index
int64 0
5.51k
| 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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[
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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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67.5,
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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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90.17578125,
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[
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89.296875,
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[
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[
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108.10546875,
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[
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[
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-21.4453125,
83.49609375,
108.10546875,
57.12890625,
-0.087890625,
43.505859375
] | 2.1 | 63 | 0 | 63 | 0 |
[
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82.001953125,
107.578125,
54.580078125,
-1.494140625,
41.748046875
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-21.796875,
82.529296875,
108.017578125,
56.865234375,
-0.3515625,
43.59375
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[
-23.466796875,
81.650390625,
107.75390625,
54.140625,
-1.318359375,
38.583984375
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82.177734375,
107.9296875,
56.865234375,
-0.52734375,
43.2421875
] | 2.166667 | 65 | 0 | 65 | 0 |
[
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81.5625,
108.017578125,
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35.419921875
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81.73828125,
107.841796875,
56.865234375,
-0.615234375,
42.890625
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[
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81.474609375,
108.017578125,
56.77734375,
-0.615234375,
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[
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81.474609375,
108.193359375,
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42.1875
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[
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81.73828125,
108.28125,
56.162109375,
-0.52734375,
41.923828125
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[
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84.7265625,
108.896484375,
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0.17578125,
25.3125
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82.529296875,
108.544921875,
55.8984375,
-0.439453125,
41.923828125
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[
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87.890625,
108.6328125,
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19.51171875
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82.705078125,
108.6328125,
55.8984375,
-0.439453125,
41.923828125
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[
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83.583984375,
108.896484375,
55.546875,
-0.439453125,
41.572265625
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[
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52.998046875,
-0.263671875,
16.787109375
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87.978515625,
108.896484375,
54.228515625,
-0.3515625,
37.705078125
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[
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16.083984375
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90.439453125,
103.7109375,
55.634765625,
-0.3515625,
37.705078125
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[
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87.890625,
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92.109375,
90.966796875,
60.205078125,
-0.52734375,
37.705078125
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[
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93.69140625,
78.046875,
67.8515625,
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92.197265625,
80.33203125,
65.0390625,
-2.28515625,
37.705078125
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[
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-2.63671875,
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[
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88.2421875,
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67.32421875,
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37.705078125
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[
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[
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83.49609375,
74.8828125,
63.896484375,
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[
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[
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75.9375,
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58.095703125,
-11.6015625,
37.705078125
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[
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74.619140625,
52.20703125,
-13.0078125,
16.171875
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41.044921875,
73.125,
75.9375,
56.07421875,
-11.865234375,
37.705078125
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[
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70.224609375,
74.619140625,
50.09765625,
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16.171875
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42.451171875,
68.994140625,
76.2890625,
53.96484375,
-12.83203125,
37.705078125
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[
42.71484375,
67.32421875,
74.70703125,
48.955078125,
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22.060546875
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42.451171875,
68.994140625,
76.11328125,
53.876953125,
-12.83203125,
37.705078125
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[
42.36328125,
67.1484375,
74.794921875,
49.04296875,
-14.58984375,
26.455078125
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42.275390625,
68.37890625,
76.11328125,
53.173828125,
-12.83203125,
37.705078125
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[
41.8359375,
67.1484375,
74.794921875,
49.39453125,
-15.46875,
30.673828125
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42.099609375,
67.1484375,
76.11328125,
51.85546875,
-13.0078125,
37.705078125
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[
41.220703125,
67.060546875,
74.8828125,
50.09765625,
-15.99609375,
34.27734375
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41.572265625,
65.91796875,
76.46484375,
51.064453125,
-14.0625,
38.056640625
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[
40.78125,
67.1484375,
75.146484375,
50.625,
-17.2265625,
38.14453125
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41.484375,
65.91796875,
76.46484375,
51.064453125,
-14.326171875,
38.14453125
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[
40.60546875,
67.412109375,
75.41015625,
50.625,
-17.314453125,
39.19921875
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40.95703125,
65.91796875,
76.2890625,
50.9765625,
-14.94140625,
38.759765625
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[
40.517578125,
67.763671875,
75.5859375,
50.537109375,
-17.314453125,
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40.60546875,
65.91796875,
76.11328125,
50.888671875,
-15.732421875,
39.55078125
] | 3.033333 | 91 | 0 | 91 | 0 |
[
40.517578125,
67.939453125,
75.76171875,
50.44921875,
-17.40234375,
39.814453125
] | [
40.341796875,
65.91796875,
76.2890625,
50.888671875,
-16.435546875,
39.55078125
] | 3.066667 | 92 | 0 | 92 | 0 |
[
40.517578125,
68.115234375,
75.76171875,
50.361328125,
-17.490234375,
40.166015625
] | [
40.25390625,
65.830078125,
76.376953125,
50.888671875,
-16.787109375,
39.55078125
] | 3.1 | 93 | 0 | 93 | 0 |
[
40.517578125,
68.291015625,
75.76171875,
50.361328125,
-17.841796875,
41.396484375
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40.25390625,
65.91796875,
76.376953125,
50.888671875,
-16.962890625,
39.90234375
] | 3.133333 | 94 | 0 | 94 | 0 |
[
40.4296875,
68.466796875,
75.849609375,
50.361328125,
-18.45703125,
42.451171875
] | [
40.25390625,
65.91796875,
76.2890625,
50.888671875,
-16.962890625,
40.166015625
] | 3.166667 | 95 | 0 | 95 | 0 |
[
40.166015625,
68.818359375,
76.025390625,
50.361328125,
-18.80859375,
43.2421875
] | [
40.25390625,
66.005859375,
76.201171875,
50.888671875,
-17.138671875,
41.30859375
] | 3.2 | 96 | 0 | 96 | 0 |
[
39.990234375,
68.994140625,
76.025390625,
50.361328125,
-18.984375,
44.12109375
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40.25390625,
65.91796875,
76.376953125,
50.888671875,
-17.40234375,
42.099609375
] | 3.233333 | 97 | 0 | 97 | 0 |
[
39.90234375,
69.2578125,
76.11328125,
50.2734375,
-18.984375,
44.6484375
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39.990234375,
65.91796875,
77.080078125,
50.888671875,
-17.666015625,
43.06640625
] | 3.266667 | 98 | 0 | 98 | 0 |
[
39.7265625,
69.697265625,
76.552734375,
49.921875,
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44.6484375
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39.7265625,
66.09375,
77.51953125,
50.888671875,
-17.841796875,
43.330078125
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 10,
"total_frames": 5514,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"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.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
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"has_audio": false
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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],
"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
}
}
}
Citation
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