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float32
0
17.7
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int64
0
353
episode_index
int64
0
49
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int64
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18.7k
task_index
int64
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[ 93.955078125, 134.384765625, 180.615234375, -6.6796875, 0, 33.92578125 ]
[ 93.955078125, 132.71484375, 178.76953125, -7.20703125, -0.439453125, 33.22265625 ]
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0.8
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1
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1.05
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1.1
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1.15
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24
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25
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1.3
26
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26
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27
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1.4
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1.45
29
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29
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1.5
30
0
30
0
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1.55
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31
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1.6
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33
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1.7
34
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34
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1.8
36
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1.85
37
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1.9
38
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38
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1.95
39
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2
40
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2.05
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41
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2.1
42
0
42
0
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2.15
43
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43
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2.2
44
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44
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2.25
45
0
45
0
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2.3
46
0
46
0
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2.35
47
0
47
0
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2.4
48
0
48
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2.45
49
0
49
0
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
52
0
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[ 78.75, 103.0078125, 83.056640625, 70.13671875, -47.4609375, 31.81640625 ]
2.65
53
0
53
0
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[ 77.958984375, 99.755859375, 77.87109375, 73.564453125, -48.779296875, 31.640625 ]
2.7
54
0
54
0
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2.75
55
0
55
0
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2.8
56
0
56
0
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2.85
57
0
57
0
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[ 75.76171875, 88.9453125, 65.126953125, 84.0234375, -54.052734375, 31.640625 ]
2.9
58
0
58
0
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2.95
59
0
59
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[ 74.8828125, 85.78125, 61.962890625, 85.78125, -55.546875, 31.640625 ]
3
60
0
60
0
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3.05
61
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61
0
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3.1
62
0
62
0
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[ 73.037109375, 80.244140625, 55.8984375, 89.384765625, -57.216796875, 31.552734375 ]
3.15
63
0
63
0
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[ 72.59765625, 78.57421875, 54.4921875, 90.439453125, -57.392578125, 31.552734375 ]
3.2
64
0
64
0
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[ 72.0703125, 76.81640625, 52.734375, 91.142578125, -57.48046875, 31.552734375 ]
3.25
65
0
65
0
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[ 71.455078125, 75.322265625, 52.119140625, 91.58203125, -57.48046875, 31.552734375 ]
3.3
66
0
66
0
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[ 70.927734375, 74.091796875, 52.119140625, 91.845703125, -57.48046875, 31.552734375 ]
3.35
67
0
67
0
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[ 70.48828125, 73.212890625, 52.20703125, 91.845703125, -57.48046875, 31.552734375 ]
3.4
68
0
68
0
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[ 69.873046875, 72.7734375, 52.20703125, 91.845703125, -57.392578125, 31.552734375 ]
3.45
69
0
69
0
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[ 69.609375, 72.509765625, 52.20703125, 91.845703125, -57.392578125, 31.552734375 ]
3.5
70
0
70
0
[ 68.291015625, 71.630859375, 49.5703125, 93.515625, -57.919921875, 31.2890625 ]
[ 69.2578125, 71.982421875, 52.119140625, 91.93359375, -57.48046875, 31.552734375 ]
3.55
71
0
71
0
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[ 68.818359375, 71.3671875, 52.20703125, 91.93359375, -57.392578125, 31.552734375 ]
3.6
72
0
72
0
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[ 68.5546875, 70.48828125, 52.20703125, 91.93359375, -57.48046875, 31.552734375 ]
3.65
73
0
73
0
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[ 68.37890625, 69.609375, 52.20703125, 91.93359375, -57.568359375, 31.552734375 ]
3.7
74
0
74
0
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[ 68.37890625, 69.2578125, 52.20703125, 91.93359375, -57.83203125, 31.552734375 ]
3.75
75
0
75
0
[ 67.939453125, 69.08203125, 49.5703125, 93.427734375, -58.974609375, 31.2890625 ]
[ 68.37890625, 69.169921875, 52.119140625, 91.93359375, -58.095703125, 31.552734375 ]
3.8
76
0
76
0
[ 68.02734375, 68.90625, 49.5703125, 93.515625, -59.150390625, 31.2890625 ]
[ 68.37890625, 68.90625, 52.119140625, 91.93359375, -58.271484375, 31.552734375 ]
3.85
77
0
77
0
[ 68.115234375, 68.5546875, 49.5703125, 93.603515625, -59.4140625, 31.2890625 ]
[ 68.37890625, 68.818359375, 52.20703125, 91.93359375, -58.447265625, 31.552734375 ]
3.9
78
0
78
0
[ 68.115234375, 68.115234375, 49.658203125, 93.69140625, -59.501953125, 31.2890625 ]
[ 68.291015625, 68.466796875, 52.119140625, 91.93359375, -58.7109375, 31.552734375 ]
3.95
79
0
79
0
[ 68.203125, 67.587890625, 49.658203125, 93.69140625, -59.677734375, 31.2890625 ]
[ 68.37890625, 67.763671875, 52.20703125, 91.93359375, -58.798828125, 31.552734375 ]
4
80
0
80
0
[ 68.37890625, 66.97265625, 49.658203125, 93.69140625, -59.765625, 31.2890625 ]
[ 68.291015625, 67.32421875, 52.20703125, 91.93359375, -58.88671875, 31.552734375 ]
4.05
81
0
81
0
[ 68.466796875, 66.4453125, 49.658203125, 93.603515625, -59.853515625, 31.2890625 ]
[ 68.37890625, 66.796875, 52.119140625, 91.93359375, -59.150390625, 31.552734375 ]
4.1
82
0
82
0
[ 68.5546875, 65.91796875, 49.658203125, 93.515625, -59.853515625, 31.2890625 ]
[ 68.466796875, 66.09375, 52.119140625, 91.93359375, -59.150390625, 31.552734375 ]
4.15
83
0
83
0
[ 68.642578125, 65.654296875, 49.658203125, 93.515625, -59.853515625, 31.2890625 ]
[ 68.466796875, 65.478515625, 52.20703125, 91.93359375, -59.150390625, 31.552734375 ]
4.2
84
0
84
0
[ 68.642578125, 65.478515625, 49.658203125, 93.427734375, -59.853515625, 31.2890625 ]
[ 68.642578125, 65.302734375, 52.119140625, 91.93359375, -59.23828125, 31.552734375 ]
4.25
85
0
85
0
[ 68.642578125, 65.126953125, 49.658203125, 93.33984375, -59.853515625, 31.2890625 ]
[ 68.642578125, 65.302734375, 52.119140625, 91.93359375, -59.326171875, 31.552734375 ]
4.3
86
0
86
0
[ 68.642578125, 64.6875, 49.658203125, 93.251953125, -59.853515625, 31.2890625 ]
[ 68.642578125, 64.86328125, 52.119140625, 91.93359375, -59.4140625, 31.552734375 ]
4.35
87
0
87
0
[ 68.642578125, 64.16015625, 49.5703125, 93.1640625, -59.94140625, 31.2890625 ]
[ 68.642578125, 64.3359375, 52.119140625, 91.93359375, -59.4140625, 31.552734375 ]
4.4
88
0
88
0
[ 68.642578125, 63.45703125, 49.658203125, 92.98828125, -59.94140625, 31.2890625 ]
[ 68.642578125, 63.80859375, 52.119140625, 91.93359375, -59.4140625, 31.552734375 ]
4.45
89
0
89
0
[ 68.73046875, 62.841796875, 49.5703125, 92.724609375, -60.029296875, 31.2890625 ]
[ 68.642578125, 63.10546875, 52.119140625, 91.93359375, -59.4140625, 31.552734375 ]
4.5
90
0
90
0
[ 68.90625, 62.2265625, 49.658203125, 92.4609375, -60.1171875, 31.2890625 ]
[ 68.73046875, 62.578125, 52.119140625, 91.93359375, -59.4140625, 31.552734375 ]
4.55
91
0
91
0
[ 68.994140625, 61.611328125, 49.658203125, 92.197265625, -60.205078125, 31.2890625 ]
[ 68.818359375, 61.962890625, 52.119140625, 91.93359375, -59.4140625, 31.552734375 ]
4.6
92
0
92
0
[ 68.994140625, 61.171875, 49.658203125, 91.93359375, -60.29296875, 31.2890625 ]
[ 68.994140625, 61.259765625, 52.119140625, 91.93359375, -59.4140625, 31.552734375 ]
4.65
93
0
93
0
[ 68.994140625, 60.732421875, 49.658203125, 91.669921875, -60.29296875, 31.2890625 ]
[ 68.994140625, 60.8203125, 52.119140625, 91.93359375, -59.501953125, 31.552734375 ]
4.7
94
0
94
0
[ 68.994140625, 60.46875, 49.658203125, 91.318359375, -60.29296875, 31.201171875 ]
[ 68.994140625, 60.46875, 52.119140625, 91.669921875, -59.58984375, 31.552734375 ]
4.75
95
0
95
0
[ 68.994140625, 60.029296875, 49.658203125, 91.0546875, -60.29296875, 31.2890625 ]
[ 68.994140625, 60.29296875, 52.119140625, 91.58203125, -59.58984375, 31.552734375 ]
4.8
96
0
96
0
[ 68.994140625, 59.94140625, 49.658203125, 90.966796875, -60.29296875, 31.2890625 ]
[ 68.994140625, 59.853515625, 52.119140625, 91.318359375, -59.58984375, 31.552734375 ]
4.85
97
0
97
0
[ 68.994140625, 59.853515625, 49.658203125, 90.791015625, -60.29296875, 31.2890625 ]
[ 68.994140625, 59.677734375, 52.20703125, 91.142578125, -59.58984375, 31.552734375 ]
4.9
98
0
98
0
[ 68.994140625, 59.677734375, 49.658203125, 90.615234375, -60.380859375, 31.2890625 ]
[ 68.994140625, 59.677734375, 52.119140625, 91.0546875, -59.58984375, 31.552734375 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "koch",
    "total_episodes": 50,
    "total_frames": 18689,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:50"
    },
    "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.webcam_0": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.webcam_1": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "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
        }
    }
}

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