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action
sequence
observation.state
sequence
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float32
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29.2
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int64
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67
0
67
0
[ 15.193212509155273, 54.98001480102539, 50.93349838256836, 76.89234924316406, -13.597898483276367, 34.092750549316406 ]
[ 13.88671875, 54.931640625, 53.876953125, 75.234375, -12.83203125, 34.62890625 ]
2.266667
68
0
68
0
[ 15.206839561462402, 54.6420783996582, 50.5667724609375, 77.00131225585938, -13.534082412719727, 34.09326934814453 ]
[ 14.326171875, 54.4921875, 53.701171875, 75.234375, -12.744140625, 34.62890625 ]
2.3
69
0
69
0
[ 15.334369659423828, 54.2702751159668, 50.27531051635742, 76.85733032226562, -13.661828994750977, 34.06070327758789 ]
[ 14.58984375, 53.96484375, 53.701171875, 75.234375, -12.744140625, 34.62890625 ]
2.333333
70
0
70
0
[ 15.319811820983887, 54.07318115234375, 50.036808013916016, 76.81321716308594, -13.619823455810547, 34.0467643737793 ]
[ 14.58984375, 53.4375, 53.4375, 75.234375, -12.744140625, 34.62890625 ]
2.366667
71
0
71
0
[ 15.323511123657227, 53.53010940551758, 49.68117904663086, 76.48286437988281, -13.47314453125, 34.04805374145508 ]
[ 14.501953125, 53.26171875, 53.4375, 75.234375, -12.919921875, 34.62890625 ]
2.4
72
0
72
0
[ 15.449745178222656, 52.795894622802734, 49.198238372802734, 76.18531799316406, -13.460346221923828, 34.028873443603516 ]
[ 14.501953125, 53.173828125, 53.349609375, 75.234375, -12.744140625, 34.62890625 ]
2.433333
73
0
73
0
[ 15.517450332641602, 52.29275894165039, 48.983428955078125, 76.0524673461914, -13.453227996826172, 33.96094512939453 ]
[ 14.58984375, 52.734375, 52.734375, 75.234375, -12.744140625, 34.62890625 ]
2.466667
74
0
74
0
[ 15.572723388671875, 51.746917724609375, 48.712738037109375, 75.65299224853516, -13.495044708251953, 33.93943405151367 ]
[ 14.58984375, 52.03125, 51.591796875, 75.234375, -12.919921875, 34.62890625 ]
2.5
75
0
75
0
[ 15.617420196533203, 51.12439727783203, 48.28582763671875, 75.34141540527344, -13.499961853027344, 33.857303619384766 ]
[ 14.501953125, 51.416015625, 51.15234375, 75.234375, -12.83203125, 34.62890625 ]
2.533333
76
0
76
0
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2.566667
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0
77
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[ 14.501953125, 50.44921875, 51.064453125, 75.146484375, -12.744140625, 34.365234375 ]
2.6
78
0
78
0
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[ 14.501953125, 49.921875, 51.064453125, 75.146484375, -12.744140625, 34.365234375 ]
2.633333
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0
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2.666667
80
0
80
0
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[ 14.501953125, 48.69140625, 50.361328125, 75.05859375, -12.744140625, 34.365234375 ]
2.7
81
0
81
0
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[ 14.501953125, 47.63671875, 49.21875, 74.970703125, -13.0078125, 34.365234375 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ 14.501953125, 46.0546875, 47.900390625, 74.8828125, -12.65625, 34.189453125 ]
2.8
84
0
84
0
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[ 14.58984375, 45.439453125, 47.28515625, 74.794921875, -12.744140625, 33.75 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ 14.58984375, 44.82421875, 47.109375, 74.794921875, -12.744140625, 32.431640625 ]
2.9
87
0
87
0
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[ 14.58984375, 44.560546875, 46.845703125, 74.794921875, -12.744140625, 31.81640625 ]
2.933333
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0
88
0
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[ 14.58984375, 44.384765625, 46.93359375, 74.794921875, -12.744140625, 30.9375 ]
2.966667
89
0
89
0
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[ 14.58984375, 44.12109375, 46.845703125, 74.794921875, -12.65625, 29.794921875 ]
3
90
0
90
0
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[ 14.58984375, 43.76953125, 46.845703125, 74.794921875, -12.65625, 29.1796875 ]
3.033333
91
0
91
0
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[ 14.58984375, 43.41796875, 46.845703125, 74.794921875, -12.744140625, 28.916015625 ]
3.066667
92
0
92
0
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[ 14.58984375, 43.06640625, 46.845703125, 74.8828125, -12.65625, 28.828125 ]
3.1
93
0
93
0
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[ 14.58984375, 42.5390625, 46.7578125, 74.8828125, -12.48046875, 28.564453125 ]
3.133333
94
0
94
0
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[ 14.677734375, 42.5390625, 47.4609375, 74.794921875, -12.48046875, 28.4765625 ]
3.166667
95
0
95
0
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[ 14.765625, 42.5390625, 47.4609375, 74.794921875, -12.392578125, 28.4765625 ]
3.2
96
0
96
0
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3.233333
97
0
97
0
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3.266667
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0
98
0
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[ 14.765625, 42.36328125, 47.4609375, 75.05859375, -11.953125, 28.037109375 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "koch",
    "total_episodes": 9,
    "total_frames": 5743,
    "total_tasks": 1,
    "total_videos": 18,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:9"
    },
    "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.Camera0": {
            "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.Camera2": {
            "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": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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