Datasets:
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action list | observation.state list | timestamp float32 0 17.6 | frame_index int64 0 527 | episode_index int64 0 49 | index int64 0 21.3k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
[
5.2734375,
23.115234375,
21.708984375,
88.154296875,
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34.1015625
] | [
4.482421875,
23.818359375,
19.51171875,
87.626953125,
-187.470703125,
34.27734375
] | 0 | 0 | 0 | 0 | 0 |
[
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88.154296875,
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4.482421875,
23.818359375,
19.51171875,
87.5390625,
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34.27734375
] | 0.033333 | 1 | 0 | 1 | 0 |
[
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88.154296875,
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4.482421875,
23.818359375,
19.51171875,
87.626953125,
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34.27734375
] | 0.066667 | 2 | 0 | 2 | 0 |
[
5.361328125,
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21.708984375,
88.154296875,
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4.482421875,
23.818359375,
19.51171875,
87.626953125,
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34.27734375
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[
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88.154296875,
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23.818359375,
19.51171875,
87.626953125,
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[
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[
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23.818359375,
19.51171875,
87.626953125,
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[
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[
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87.626953125,
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[
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34.1015625
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23.818359375,
19.51171875,
87.626953125,
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34.27734375
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[
5.361328125,
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88.154296875,
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34.1015625
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4.482421875,
23.818359375,
19.51171875,
87.626953125,
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[
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[
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19.51171875,
87.626953125,
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[
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33.75
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23.818359375,
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[
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23.818359375,
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[
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4.482421875,
23.818359375,
19.51171875,
87.626953125,
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33.310546875
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[
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23.818359375,
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87.71484375,
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[
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23.818359375,
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[
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23.818359375,
19.51171875,
87.978515625,
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[
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23.818359375,
19.51171875,
88.06640625,
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[
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24.345703125,
19.51171875,
88.2421875,
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[
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24.78515625,
19.6875,
88.2421875,
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33.046875
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[
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92.021484375,
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32.51953125
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25.6640625,
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88.2421875,
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] | 0.733333 | 22 | 0 | 22 | 0 |
[
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21.357421875,
88.505859375,
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] | 0.766667 | 23 | 0 | 23 | 0 |
[
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5.625,
28.125,
21.708984375,
89.736328125,
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[
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21.884765625,
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] | 0.833333 | 25 | 0 | 25 | 0 |
[
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[
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30.76171875,
22.1484375,
93.076171875,
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[
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99.66796875,
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33.75
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32.783203125,
22.1484375,
94.306640625,
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32.783203125
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[
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35.68359375,
22.060546875,
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[
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21.97265625,
96.064453125,
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33.046875
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[
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35.15625
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22.060546875,
96.767578125,
-191.25,
33.3984375
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[
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[
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46.318359375,
22.060546875,
98.0859375,
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[
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-185.009765625,
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22.060546875,
98.525390625,
-188.7890625,
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] | 1.133333 | 34 | 0 | 34 | 0 |
[
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22.060546875,
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[
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53.0859375,
21.97265625,
99.580078125,
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34.27734375
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[
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3.251953125,
54.228515625,
21.884765625,
99.931640625,
-183.955078125,
34.27734375
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[
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100.1953125,
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[
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100.1953125,
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34.27734375
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[
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54.755859375,
21.97265625,
100.1953125,
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[
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[
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54.31640625,
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100.1953125,
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[
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[
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51.6796875,
22.060546875,
100.1953125,
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33.75
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[
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[
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33.75
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22.1484375,
100.1953125,
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[
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33.75
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50.80078125,
22.060546875,
100.1953125,
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33.57421875
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[
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33.75
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50.888671875,
22.060546875,
100.1953125,
-135.791015625,
33.57421875
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[
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50.9765625,
21.97265625,
100.1953125,
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33.57421875
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[
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50.888671875,
22.060546875,
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33.57421875
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[
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50.625,
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[
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22.060546875,
100.1953125,
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[
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50.009765625,
22.060546875,
100.1953125,
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[
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49.306640625,
21.97265625,
100.1953125,
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[
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48.603515625,
21.97265625,
100.1953125,
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[
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47.724609375,
22.060546875,
100.1953125,
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33.57421875
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[
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22.060546875,
100.1953125,
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[
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46.58203125,
22.060546875,
100.1953125,
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[
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46.318359375,
22.060546875,
100.1953125,
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[
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21.708984375,
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46.142578125,
22.060546875,
100.1953125,
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[
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45.615234375,
22.060546875,
100.01953125,
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[
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44.912109375,
22.060546875,
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43.9453125,
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[
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[
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31.11328125,
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[
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31.11328125,
22.060546875,
90.263671875,
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[
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31.11328125,
22.060546875,
90.87890625,
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23.203125
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[
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31.201171875,
22.060546875,
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[
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21.62109375,
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31.11328125,
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[
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[
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[
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[
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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": 50,
"total_frames": 21288,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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.webcam1": {
"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": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.webcam2": {
"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",
"video.pix_fmt": "yuv420p",
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"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
"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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