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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
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76
0
[ 15.8203125, 90.87890625, 74.8828125, 67.412109375, -8.0859375, 16.083984375 ]
[ 1.23046875, 92.109375, 79.27734375, 65.390625, -2.63671875, 37.705078125 ]
2.566667
77
0
77
0
[ 20.390625, 89.296875, 74.70703125, 66.4453125, -9.228515625, 16.083984375 ]
[ 19.248046875, 88.2421875, 76.552734375, 67.32421875, -8.26171875, 37.705078125 ]
2.6
78
0
78
0
[ 34.1015625, 82.880859375, 74.70703125, 60.556640625, -11.953125, 16.171875 ]
[ 28.037109375, 84.55078125, 75.234375, 65.0390625, -9.931640625, 37.705078125 ]
2.633333
79
0
79
0
[ 39.638671875, 78.134765625, 74.619140625, 56.162109375, -12.744140625, 16.171875 ]
[ 29.619140625, 83.49609375, 74.8828125, 63.896484375, -10.1953125, 37.705078125 ]
2.666667
80
0
80
0
[ 40.95703125, 76.376953125, 74.619140625, 54.931640625, -12.919921875, 16.171875 ]
[ 33.046875, 80.5078125, 75.322265625, 61.787109375, -10.810546875, 37.705078125 ]
2.7
81
0
81
0
[ 41.8359375, 74.70703125, 74.619140625, 53.701171875, -12.919921875, 16.171875 ]
[ 39.19921875, 75.9375, 76.728515625, 58.095703125, -11.6015625, 37.705078125 ]
2.733333
82
0
82
0
[ 42.626953125, 72.509765625, 74.619140625, 52.20703125, -13.0078125, 16.171875 ]
[ 41.044921875, 73.125, 75.9375, 56.07421875, -11.865234375, 37.705078125 ]
2.766667
83
0
83
0
[ 43.330078125, 70.224609375, 74.619140625, 50.09765625, -13.271484375, 16.171875 ]
[ 42.451171875, 68.994140625, 76.2890625, 53.96484375, -12.83203125, 37.705078125 ]
2.8
84
0
84
0
[ 42.71484375, 67.32421875, 74.70703125, 48.955078125, -13.7109375, 22.060546875 ]
[ 42.451171875, 68.994140625, 76.11328125, 53.876953125, -12.83203125, 37.705078125 ]
2.833333
85
0
85
0
[ 42.36328125, 67.1484375, 74.794921875, 49.04296875, -14.58984375, 26.455078125 ]
[ 42.275390625, 68.37890625, 76.11328125, 53.173828125, -12.83203125, 37.705078125 ]
2.866667
86
0
86
0
[ 41.8359375, 67.1484375, 74.794921875, 49.39453125, -15.46875, 30.673828125 ]
[ 42.099609375, 67.1484375, 76.11328125, 51.85546875, -13.0078125, 37.705078125 ]
2.9
87
0
87
0
[ 41.220703125, 67.060546875, 74.8828125, 50.09765625, -15.99609375, 34.27734375 ]
[ 41.572265625, 65.91796875, 76.46484375, 51.064453125, -14.0625, 38.056640625 ]
2.933333
88
0
88
0
[ 40.78125, 67.1484375, 75.146484375, 50.625, -17.2265625, 38.14453125 ]
[ 41.484375, 65.91796875, 76.46484375, 51.064453125, -14.326171875, 38.14453125 ]
2.966667
89
0
89
0
[ 40.60546875, 67.412109375, 75.41015625, 50.625, -17.314453125, 39.19921875 ]
[ 40.95703125, 65.91796875, 76.2890625, 50.9765625, -14.94140625, 38.759765625 ]
3
90
0
90
0
[ 40.517578125, 67.763671875, 75.5859375, 50.537109375, -17.314453125, 39.638671875 ]
[ 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 ]
[ 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 ]
[ 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 ]
[ 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, -18.984375, 44.6484375 ]
[ 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

meta/info.json:

{
    "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",
                "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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