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action
sequence | observation.state
sequence | timestamp
float32 0
14.2
| frame_index
int64 0
427
| episode_index
int64 0
0
| index
int64 0
427
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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58.7109375,
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98.4375,
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78.75,
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[
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[
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40.693359375,
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112.5,
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[
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[
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[
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63.45703125,
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[
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74.00390625,
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66.26953125,
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[
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69.169921875,
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40.25390625
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[
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72.421875,
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40.25390625
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[
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103.798828125,
98.7890625,
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40.25390625
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[
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104.150390625,
90.615234375,
80.068359375,
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40.25390625
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[
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78.75,
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88.59375,
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40.25390625
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[
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79.541015625,
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[
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100.810546875,
73.4765625,
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103.359375,
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40.25390625
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[
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99.4921875,
73.4765625,
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81.474609375,
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40.25390625
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[
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74.35546875,
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[
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[
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74.619140625,
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[
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90,
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94.130859375,
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[
34.1015625,
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74.70703125,
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40.25390625
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[
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74.619140625,
72.7734375,
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[
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73.212890625,
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86.8359375,
74.619140625,
71.015625,
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40.25390625
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[
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74.794921875,
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[
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74.8828125,
68.37890625,
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[
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80.595703125,
74.8828125,
67.587890625,
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[
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74.70703125,
66.884765625,
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[
34.98046875,
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78.046875,
74.794921875,
66.09375,
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40.25390625
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[
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65.478515625,
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[
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41.220703125
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34.013671875,
75.849609375,
74.8828125,
65.0390625,
-17.9296875,
40.25390625
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[
35.859375,
73.828125,
74.00390625,
60.556640625,
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34.27734375,
74.8828125,
74.794921875,
64.51171875,
-18.193359375,
40.25390625
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[
36.298828125,
72.59765625,
74.00390625,
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41.220703125
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34.453125,
73.740234375,
74.8828125,
63.6328125,
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40.25390625
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[
36.650390625,
71.3671875,
74.00390625,
58.447265625,
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34.892578125,
72.333984375,
74.8828125,
62.578125,
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40.25390625
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[
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70.3125,
74.00390625,
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74.970703125,
61.5234375,
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74.00390625,
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41.220703125
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68.90625,
75.146484375,
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-19.86328125,
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[
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36.5625,
67.236328125,
75.234375,
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-20.56640625,
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[
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41.220703125
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36.5625,
66.62109375,
75.322265625,
57.744140625,
-20.830078125,
40.25390625
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[
37.6171875,
66.09375,
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36.38671875,
65.91796875,
75.322265625,
57.216796875,
-20.91796875,
40.25390625
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[
37.6171875,
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36.38671875,
65.390625,
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56.337890625,
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40.25390625
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[
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76.2890625,
52.119140625,
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64.86328125,
76.11328125,
55.458984375,
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40.25390625
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[
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63.896484375,
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[
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[
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[
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[
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51.15234375,
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40.25390625
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[
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78.486328125,
48.8671875,
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[
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58.974609375,
78.57421875,
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[
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58.271484375,
78.3984375,
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[
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77.51953125,
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36.03515625,
57.83203125,
78.310546875,
46.0546875,
-21.09375,
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[
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42.978515625,
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57.3046875,
78.134765625,
45.17578125,
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[
36.38671875,
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77.958984375,
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57.041015625,
78.134765625,
44.208984375,
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33.662109375
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[
36.38671875,
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78.22265625,
40.78125,
-21.4453125,
29.443359375
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35.947265625,
56.865234375,
78.134765625,
43.59375,
-20.91796875,
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[
36.123046875,
58.7109375,
78.3984375,
39.814453125,
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35.947265625,
57.041015625,
78.22265625,
43.06640625,
-20.91796875,
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[
35.771484375,
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78.837890625,
38.935546875,
-21.4453125,
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35.947265625,
57.12890625,
78.310546875,
42.451171875,
-21.005859375,
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[
35.33203125,
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79.892578125,
37.705078125,
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26.103515625
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35.771484375,
57.3046875,
78.3984375,
42.01171875,
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30.322265625
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[
34.892578125,
65.21484375,
81.5625,
35.68359375,
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35.595703125,
58.0078125,
79.1015625,
41.396484375,
-21.005859375,
29.619140625
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[
33.837890625,
69.521484375,
83.056640625,
34.1015625,
-21.4453125,
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35.15625,
59.4140625,
80.947265625,
40.078125,
-20.91796875,
28.916015625
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[
32.255859375,
74.1796875,
83.84765625,
33.3984375,
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34.541015625,
61.787109375,
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38.14453125,
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28.125
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[
28.916015625,
84.0234375,
84.0234375,
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32.51953125,
68.115234375,
86.66015625,
36.73828125,
-20.91796875,
27.7734375
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[
26.54296875,
89.47265625,
83.759765625,
31.640625,
-19.248046875,
21.005859375
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30.849609375,
72.421875,
86.923828125,
36.650390625,
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[
24.08203125,
94.21875,
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30.9375,
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28.65234375,
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86.572265625,
36.2109375,
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27.0703125
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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": 1,
"total_frames": 428,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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.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": {
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480,
640,
3
],
"names": [
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"width",
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],
"info": {
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"video.height": 480,
"video.width": 640,
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"video.codec": "av1",
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"has_audio": false
}
},
"timestamp": {
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"names": null
},
"frame_index": {
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"names": null
},
"episode_index": {
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],
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},
"index": {
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],
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},
"task_index": {
"dtype": "int64",
"shape": [
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],
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}
}
}
Citation
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