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Datasets:
RobotisSW
/
koch_test_fps_10

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
18.2
frame_index
int64
0
182
episode_index
int64
0
4
index
int64
0
789
task_index
int64
0
0
[ 4.130859375, 129.287109375, 180.791015625, -10.1953125, -2.98828125, 34.716796875 ]
[ 3.955078125, 128.84765625, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
0
0
0
0
0
[ 4.130859375, 129.287109375, 180.87890625, -10.1953125, -2.98828125, 34.716796875 ]
[ 3.955078125, 128.935546875, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
0.1
1
0
1
0
[ 4.130859375, 129.287109375, 180.791015625, -10.1953125, -2.98828125, 34.716796875 ]
[ 3.955078125, 128.84765625, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
0.2
2
0
2
0
[ 4.130859375, 129.287109375, 180.791015625, -10.1953125, -2.98828125, 34.716796875 ]
[ 3.955078125, 128.935546875, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
0.3
3
0
3
0
[ 4.130859375, 129.287109375, 180.791015625, -10.1953125, -2.98828125, 34.716796875 ]
[ 3.955078125, 128.84765625, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
0.4
4
0
4
0
[ 4.130859375, 129.287109375, 180.791015625, -10.1953125, -2.900390625, 34.716796875 ]
[ 3.955078125, 128.84765625, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
0.5
5
0
5
0
[ 4.130859375, 129.287109375, 180.87890625, -10.1953125, -2.98828125, 34.716796875 ]
[ 3.955078125, 128.84765625, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
0.6
6
0
6
0
[ 4.130859375, 129.287109375, 180.87890625, -10.1953125, -2.98828125, 34.716796875 ]
[ 3.955078125, 128.935546875, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
0.7
7
0
7
0
[ 4.130859375, 129.287109375, 180.791015625, -10.1953125, -2.900390625, 34.716796875 ]
[ 3.955078125, 128.935546875, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
0.8
8
0
8
0
[ 4.130859375, 129.287109375, 180.87890625, -10.1953125, -2.900390625, 34.716796875 ]
[ 3.955078125, 128.84765625, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
0.9
9
0
9
0
[ 4.130859375, 129.287109375, 180.791015625, -10.1953125, -2.98828125, 34.716796875 ]
[ 3.955078125, 128.935546875, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
1
10
0
10
0
[ 4.130859375, 129.287109375, 180.87890625, -10.1953125, -2.98828125, 34.716796875 ]
[ 3.955078125, 128.84765625, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
1.1
11
0
11
0
[ 4.130859375, 129.287109375, 180.791015625, -10.1953125, -2.98828125, 34.716796875 ]
[ 3.955078125, 128.84765625, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
1.2
12
0
12
0
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[ 3.955078125, 128.935546875, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
1.3
13
0
13
0
[ 4.21875, 129.55078125, 180.615234375, -10.1953125, -2.724609375, 34.62890625 ]
[ 3.955078125, 128.84765625, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
1.4
14
0
14
0
[ 4.04296875, 129.990234375, 180.087890625, -10.1953125, -2.63671875, 34.62890625 ]
[ 3.955078125, 128.84765625, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
1.5
15
0
15
0
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[ 3.955078125, 128.935546875, 179.12109375, -7.03125, -1.93359375, 33.486328125 ]
1.6
16
0
16
0
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[ 3.427734375, 128.935546875, 178.857421875, -7.03125, -2.021484375, 33.486328125 ]
1.7
17
0
17
0
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[ 2.98828125, 128.935546875, 177.890625, -7.03125, -2.109375, 33.486328125 ]
1.8
18
0
18
0
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[ 2.98828125, 128.935546875, 177.01171875, -7.03125, -2.197265625, 33.486328125 ]
1.9
19
0
19
0
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[ 2.28515625, 128.935546875, 176.1328125, -7.03125, -2.197265625, 33.486328125 ]
2
20
0
20
0
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[ 1.40625, 128.935546875, 174.814453125, -7.119140625, -2.28515625, 33.486328125 ]
2.1
21
0
21
0
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[ 0.439453125, 128.935546875, 173.84765625, -7.119140625, -2.197265625, 33.486328125 ]
2.2
22
0
22
0
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[ 0, 128.935546875, 171.474609375, -4.5703125, -2.109375, 33.22265625 ]
2.3
23
0
23
0
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[ 0.17578125, 128.935546875, 168.837890625, -0.263671875, -2.109375, 33.22265625 ]
2.4
24
0
24
0
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[ -0.087890625, 128.935546875, 164.794921875, 5.185546875, -2.109375, 33.22265625 ]
2.5
25
0
25
0
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[ -0.615234375, 128.935546875, 159.697265625, 12.48046875, -2.109375, 33.22265625 ]
2.6
26
0
26
0
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[ -0.966796875, 128.935546875, 151.962890625, 22.67578125, -2.109375, 33.22265625 ]
2.7
27
0
27
0
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[ -1.7578125, 128.935546875, 144.580078125, 33.57421875, -2.109375, 33.22265625 ]
2.8
28
0
28
0
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[ -2.724609375, 128.935546875, 138.515625, 44.47265625, -2.109375, 33.22265625 ]
2.9
29
0
29
0
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[ -3.779296875, 128.935546875, 132.01171875, 52.91015625, -2.109375, 33.22265625 ]
3
30
0
30
0
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[ -4.658203125, 128.935546875, 127.08984375, 58.271484375, -2.109375, 33.22265625 ]
3.1
31
0
31
0
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[ -5.712890625, 128.49609375, 121.2890625, 63.28125, -2.109375, 33.22265625 ]
3.2
32
0
32
0
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[ -6.064453125, 126.826171875, 113.994140625, 69.08203125, -2.197265625, 33.22265625 ]
3.3
33
0
33
0
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[ -6.6796875, 123.486328125, 106.69921875, 74.70703125, -2.197265625, 33.22265625 ]
3.4
34
0
34
0
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[ -6.943359375, 118.30078125, 99.931640625, 79.013671875, -2.021484375, 33.22265625 ]
3.5
35
0
35
0
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[ -7.646484375, 112.236328125, 92.63671875, 81.826171875, -0.615234375, 33.22265625 ]
3.6
36
0
36
0
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[ -7.998046875, 105.8203125, 85.60546875, 84.0234375, 1.669921875, 33.22265625 ]
3.7
37
0
37
0
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[ -8.525390625, 98.96484375, 79.62890625, 85.25390625, 3.69140625, 33.22265625 ]
3.8
38
0
38
0
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[ -9.404296875, 90.87890625, 73.564453125, 86.396484375, 6.50390625, 33.22265625 ]
3.9
39
0
39
0
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[ -9.755859375, 81.9140625, 67.32421875, 86.8359375, 8.7890625, 33.22265625 ]
4
40
0
40
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[ -9.755859375, 74.970703125, 64.423828125, 87.099609375, 10.107421875, 33.22265625 ]
4.1
41
0
41
0
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[ -9.755859375, 69.697265625, 59.23828125, 87.626953125, 10.283203125, 33.22265625 ]
4.2
42
0
42
0
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[ -9.755859375, 64.072265625, 52.3828125, 87.626953125, 10.986328125, 33.310546875 ]
4.3
43
0
43
0
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[ -9.84375, 59.58984375, 50.185546875, 87.802734375, 13.623046875, 33.22265625 ]
4.4
44
0
44
0
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[ -9.84375, 57.041015625, 46.845703125, 87.890625, 15.1171875, 33.22265625 ]
4.5
45
0
45
0
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[ -9.755859375, 54.580078125, 43.2421875, 87.890625, 15.205078125, 33.22265625 ]
4.6
46
0
46
0
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[ -9.84375, 51.416015625, 41.572265625, 87.890625, 15.205078125, 33.22265625 ]
4.7
47
0
47
0
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[ -9.84375, 49.306640625, 38.583984375, 87.890625, 16.435546875, 33.22265625 ]
4.8
48
0
48
0
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[ -9.84375, 47.28515625, 36.9140625, 87.890625, 17.490234375, 33.22265625 ]
4.9
49
0
49
0
[ -10.810546875, 48.076171875, 34.013671875, 87.978515625, 20.0390625, 33.57421875 ]
[ -9.84375, 46.93359375, 37.001953125, 87.890625, 17.75390625, 33.22265625 ]
5
50
0
50
0
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[ -9.84375, 46.93359375, 36.9140625, 87.890625, 17.841796875, 33.22265625 ]
5.1
51
0
51
0
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[ -9.84375, 46.669921875, 36.9140625, 87.890625, 18.984375, 33.22265625 ]
5.2
52
0
52
0
[ -10.634765625, 45.3515625, 34.013671875, 87.978515625, 20.21484375, 33.662109375 ]
[ -9.84375, 45.439453125, 36.9140625, 87.890625, 18.984375, 33.22265625 ]
5.3
53
0
53
0
[ -10.546875, 45.17578125, 34.189453125, 87.978515625, 20.126953125, 33.662109375 ]
[ -9.84375, 44.47265625, 36.9140625, 87.890625, 18.984375, 33.22265625 ]
5.4
54
0
54
0
[ -10.634765625, 44.560546875, 34.1015625, 87.978515625, 20.0390625, 33.662109375 ]
[ -9.84375, 44.296875, 36.9140625, 87.890625, 18.984375, 33.22265625 ]
5.5
55
0
55
0
[ -10.546875, 43.681640625, 34.1015625, 87.978515625, 19.951171875, 33.57421875 ]
[ -9.84375, 43.330078125, 36.9140625, 87.890625, 18.984375, 33.22265625 ]
5.6
56
0
56
0
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[ -9.84375, 42.36328125, 36.9140625, 87.890625, 18.984375, 33.22265625 ]
5.7
57
0
57
0
[ -10.37109375, 42.451171875, 34.013671875, 87.890625, 19.951171875, 33.57421875 ]
[ -9.84375, 41.30859375, 36.9140625, 87.890625, 19.072265625, 33.22265625 ]
5.8
58
0
58
0
[ -10.37109375, 42.36328125, 34.013671875, 87.978515625, 20.0390625, 33.3984375 ]
[ -9.84375, 41.30859375, 36.9140625, 87.890625, 18.984375, 33.22265625 ]
5.9
59
0
59
0
[ -10.37109375, 42.1875, 34.013671875, 87.890625, 19.951171875, 33.3984375 ]
[ -9.84375, 41.220703125, 36.9140625, 87.890625, 18.984375, 33.22265625 ]
6
60
0
60
0
[ -10.37109375, 41.748046875, 34.013671875, 87.890625, 19.86328125, 33.3984375 ]
[ -9.84375, 41.220703125, 36.9140625, 87.890625, 18.984375, 33.22265625 ]
6.1
61
0
61
0
[ -10.283203125, 41.66015625, 34.1015625, 87.890625, 19.86328125, 33.310546875 ]
[ -9.84375, 40.60546875, 36.650390625, 87.890625, 19.16015625, 33.22265625 ]
6.2
62
0
62
0
[ -10.37109375, 41.572265625, 34.189453125, 87.978515625, 20.0390625, 31.376953125 ]
[ -9.84375, 40.60546875, 36.650390625, 87.890625, 19.16015625, 33.22265625 ]
6.3
63
0
63
0
[ -10.458984375, 41.1328125, 34.27734375, 87.978515625, 20.0390625, 27.421875 ]
[ -9.84375, 40.60546875, 36.650390625, 87.890625, 19.16015625, 31.81640625 ]
6.4
64
0
64
0
[ -10.634765625, 40.341796875, 34.189453125, 88.06640625, 19.6875, 20.654296875 ]
[ -9.84375, 40.60546875, 36.650390625, 87.890625, 19.16015625, 27.94921875 ]
6.5
65
0
65
0
[ -10.810546875, 40.341796875, 34.1015625, 87.978515625, 19.951171875, 8.96484375 ]
[ -9.84375, 39.814453125, 35.947265625, 87.802734375, 18.984375, 21.62109375 ]
6.6
66
0
66
0
[ -10.810546875, 40.4296875, 34.013671875, 87.978515625, 19.86328125, 1.7578125 ]
[ -9.66796875, 39.7265625, 35.5078125, 86.923828125, 18.896484375, 11.162109375 ]
6.7
67
0
67
0
[ -10.810546875, 40.341796875, 34.1015625, 87.890625, 19.86328125, 1.0546875 ]
[ -9.66796875, 39.7265625, 35.5078125, 86.8359375, 18.984375, 9.755859375 ]
6.8
68
0
68
0
[ -10.810546875, 40.341796875, 34.013671875, 87.890625, 19.775390625, 1.0546875 ]
[ -9.66796875, 39.7265625, 35.5078125, 86.8359375, 18.896484375, 9.755859375 ]
6.9
69
0
69
0
[ -10.810546875, 40.4296875, 34.013671875, 87.890625, 19.599609375, 1.0546875 ]
[ -9.66796875, 39.7265625, 35.5078125, 86.8359375, 18.896484375, 9.755859375 ]
7
70
0
70
0
[ -10.810546875, 40.4296875, 34.013671875, 87.890625, 19.599609375, 1.0546875 ]
[ -9.66796875, 39.7265625, 35.5078125, 86.8359375, 18.896484375, 9.755859375 ]
7.1
71
0
71
0
[ -10.8984375, 40.517578125, 34.013671875, 88.06640625, 19.775390625, 1.0546875 ]
[ -9.66796875, 39.7265625, 35.5078125, 86.8359375, 18.896484375, 9.755859375 ]
7.2
72
0
72
0
[ -11.513671875, 41.484375, 34.365234375, 89.82421875, 20.0390625, 1.0546875 ]
[ -9.66796875, 39.7265625, 35.5078125, 86.8359375, 18.984375, 9.755859375 ]
7.3
73
0
73
0
[ -13.095703125, 49.921875, 34.189453125, 96.416015625, 20.126953125, 1.142578125 ]
[ -10.01953125, 39.7265625, 35.5078125, 86.923828125, 18.984375, 9.755859375 ]
7.4
74
0
74
0
[ -13.447265625, 58.18359375, 34.716796875, 103.359375, 20.126953125, 1.23046875 ]
[ -11.953125, 42.802734375, 35.771484375, 90.703125, 19.16015625, 9.755859375 ]
7.5
75
0
75
0
[ -14.4140625, 63.45703125, 34.716796875, 107.9296875, 20.126953125, 1.318359375 ]
[ -12.744140625, 47.021484375, 35.859375, 97.470703125, 19.16015625, 9.755859375 ]
7.6
76
0
76
0
[ -14.765625, 69.08203125, 35.15625, 111.708984375, 20.126953125, 1.318359375 ]
[ -13.359375, 53.701171875, 35.771484375, 101.337890625, 19.16015625, 9.755859375 ]
7.7
77
0
77
0
[ -15.380859375, 75.05859375, 37.44140625, 114.2578125, 20.126953125, 1.40625 ]
[ -13.623046875, 61.34765625, 35.947265625, 104.58984375, 19.16015625, 9.755859375 ]
7.8
78
0
78
0
[ -16.875, 83.759765625, 44.912109375, 114.2578125, 20.126953125, 1.40625 ]
[ -14.4140625, 69.169921875, 38.3203125, 107.9296875, 19.16015625, 9.755859375 ]
7.9
79
0
79
0
[ -18.720703125, 93.1640625, 54.66796875, 114.169921875, 20.390625, 1.40625 ]
[ -15.46875, 77.16796875, 46.318359375, 108.984375, 19.16015625, 9.66796875 ]
8
80
0
80
0
[ -18.896484375, 101.07421875, 62.666015625, 114.08203125, 21.97265625, 1.40625 ]
[ -17.314453125, 86.044921875, 57.041015625, 110.390625, 19.16015625, 9.66796875 ]
8.1
81
0
81
0
[ -19.86328125, 107.841796875, 68.37890625, 114.08203125, 22.412109375, 1.40625 ]
[ -17.490234375, 95.712890625, 64.51171875, 111.005859375, 19.16015625, 9.66796875 ]
8.2
82
0
82
0
[ -21.708984375, 113.203125, 73.828125, 114.08203125, 23.02734375, 1.40625 ]
[ -18.369140625, 103.7109375, 69.697265625, 111.26953125, 20.654296875, 9.66796875 ]
8.3
83
0
83
0
[ -24.78515625, 117.861328125, 77.783203125, 114.169921875, 23.466796875, 1.40625 ]
[ -20.302734375, 109.86328125, 74.970703125, 111.533203125, 22.060546875, 9.66796875 ]
8.4
84
0
84
0
[ -29.794921875, 122.16796875, 79.8046875, 114.169921875, 24.169921875, 1.40625 ]
[ -23.115234375, 114.609375, 78.662109375, 111.62109375, 22.67578125, 9.66796875 ]
8.5
85
0
85
0
[ -35.859375, 124.541015625, 80.068359375, 114.169921875, 27.509765625, 1.40625 ]
[ -27.685546875, 119.35546875, 80.33203125, 111.62109375, 22.939453125, 9.66796875 ]
8.6
86
0
86
0
[ -44.208984375, 125.771484375, 79.98046875, 114.169921875, 32.958984375, 1.40625 ]
[ -33.837890625, 122.51953125, 80.595703125, 111.62109375, 25.3125, 9.755859375 ]
8.7
87
0
87
0
[ -52.822265625, 125.595703125, 80.068359375, 114.169921875, 41.8359375, 1.40625 ]
[ -42.01171875, 123.486328125, 80.595703125, 111.62109375, 30.05859375, 9.755859375 ]
8.8
88
0
88
0
[ -62.05078125, 125.244140625, 79.98046875, 114.08203125, 51.6796875, 1.494140625 ]
[ -50.537109375, 123.486328125, 80.595703125, 111.62109375, 37.705078125, 9.66796875 ]
8.9
89
0
89
0
[ -69.169921875, 125.244140625, 79.98046875, 114.08203125, 61.69921875, 1.494140625 ]
[ -59.94140625, 123.57421875, 80.595703125, 111.62109375, 47.109375, 9.66796875 ]
9
90
0
90
0
[ -75.76171875, 125.244140625, 79.892578125, 113.994140625, 69.873046875, 1.494140625 ]
[ -67.763671875, 123.57421875, 80.595703125, 111.62109375, 57.12890625, 9.66796875 ]
9.1
91
0
91
0
[ -81.123046875, 125.15625, 79.892578125, 113.90625, 77.34375, 1.58203125 ]
[ -74.00390625, 123.57421875, 80.595703125, 111.62109375, 65.7421875, 9.66796875 ]
9.2
92
0
92
0
[ -86.748046875, 125.068359375, 79.8046875, 113.5546875, 84.287109375, 1.58203125 ]
[ -79.892578125, 123.57421875, 80.595703125, 111.62109375, 73.740234375, 9.66796875 ]
9.3
93
0
93
0
[ -92.021484375, 124.62890625, 79.62890625, 112.412109375, 90.615234375, 1.58203125 ]
[ -85.166015625, 123.57421875, 80.595703125, 111.62109375, 81.03515625, 9.755859375 ]
9.4
94
0
94
0
[ -96.85546875, 122.51953125, 79.365234375, 111.005859375, 96.064453125, 1.669921875 ]
[ -90.87890625, 123.57421875, 80.595703125, 111.62109375, 87.5390625, 9.66796875 ]
9.5
95
0
95
0
[ -100.72265625, 120.322265625, 79.27734375, 110.0390625, 100.546875, 1.7578125 ]
[ -95.2734375, 122.958984375, 80.595703125, 111.26953125, 93.427734375, 9.755859375 ]
9.6
96
0
96
0
[ -103.53515625, 117.59765625, 79.1015625, 108.28125, 103.447265625, 1.7578125 ]
[ -99.140625, 121.2890625, 80.595703125, 111.181640625, 97.91015625, 9.755859375 ]
9.7
97
0
97
0
[ -104.58984375, 115.751953125, 79.1015625, 106.171875, 104.501953125, 1.7578125 ]
[ -102.3046875, 118.30078125, 80.595703125, 110.302734375, 101.337890625, 9.66796875 ]
9.8
98
0
98
0
[ -104.765625, 114.2578125, 79.1015625, 104.0625, 104.501953125, 1.7578125 ]
[ -103.53515625, 115.83984375, 80.595703125, 108.984375, 102.919921875, 9.66796875 ]
9.9
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": 5,
    "total_frames": 790,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:5"
    },
    "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": [
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            ],
            "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"
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            "info": {
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                "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.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 10.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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