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jainamit
/
koch_test_twoarms1

Tasks:
Robotics
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LeRobot
tutorial
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1
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
149
episode_index
int64
0
2
index
int64
0
449
task_index
int64
0
0
[ 6.240234375, 135.439453125, 178.76953125, -2.021484375, -2.63671875, 53.349609375, -3.69140625, 135.703125, 177.5390625, 4.5703125, 2.724609375, 23.37890625 ]
[ 6.064453125, 129.90234375, 177.802734375, -2.8125, -1.93359375, 52.55859375, -2.900390625, 131.572265625, 176.748046875, 1.93359375, 1.58203125, 25.576171875 ]
0
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[ 5.9765625, 129.90234375, 177.802734375, -2.8125, -1.93359375, 52.55859375, -2.98828125, 131.572265625, 176.748046875, 1.93359375, 1.494140625, 23.73046875 ]
0.2
1
0
1
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[ 5.9765625, 129.90234375, 177.802734375, -2.8125, -1.93359375, 52.55859375, -2.98828125, 131.572265625, 176.748046875, 1.93359375, 1.58203125, 20.7421875 ]
0.4
2
0
2
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[ 6.064453125, 134.033203125, 178.76953125, -2.021484375, -2.724609375, 53.349609375, -3.69140625, 135.791015625, 177.5390625, 4.921875, 3.33984375, 15.205078125 ]
[ 5.185546875, 129.90234375, 177.802734375, -2.8125, -2.021484375, 52.55859375, -2.98828125, 131.572265625, 176.748046875, 1.93359375, 1.58203125, 18.544921875 ]
0.6
3
0
3
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[ 5.44921875, 129.90234375, 177.802734375, -2.8125, -2.021484375, 52.55859375, -2.98828125, 131.572265625, 176.748046875, 1.845703125, 2.109375, 15.8203125 ]
0.8
4
0
4
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[ 5.09765625, 129.90234375, 177.802734375, -2.8125, -2.021484375, 52.55859375, -2.98828125, 131.572265625, 176.748046875, 1.845703125, 2.373046875, 10.634765625 ]
1
5
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[ 5.361328125, 129.90234375, 177.802734375, -2.8125, -1.93359375, 52.55859375, -2.98828125, 131.572265625, 176.748046875, 1.93359375, 2.197265625, 10.810546875 ]
1.2
6
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[ 5.361328125, 129.90234375, 177.802734375, -2.8125, -1.93359375, 52.55859375, -2.98828125, 131.572265625, 176.748046875, 1.93359375, 2.4609375, 31.2890625 ]
1.4
7
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7
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[ 5.361328125, 129.90234375, 177.802734375, -2.8125, -2.021484375, 52.55859375, -2.98828125, 131.572265625, 176.748046875, 1.93359375, 2.4609375, 32.958984375 ]
1.6
8
0
8
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[ 5.09765625, 129.90234375, 177.802734375, -2.8125, -2.021484375, 52.55859375, -2.98828125, 131.572265625, 176.748046875, 1.845703125, 2.4609375, 32.958984375 ]
1.8
9
0
9
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2
10
0
10
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[ 6.064453125, 129.90234375, 177.802734375, -2.8125, -1.845703125, 52.55859375, -2.98828125, 131.572265625, 176.748046875, 1.845703125, 2.109375, 32.958984375 ]
2.2
11
0
11
0
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[ 5.9765625, 129.90234375, 177.802734375, -2.8125, -1.845703125, 45.966796875, -3.427734375, 131.572265625, 176.748046875, 1.845703125, 2.021484375, 24.697265625 ]
2.4
12
0
12
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2.6
13
0
13
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2.8
14
0
14
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3
15
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15
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[ 5.09765625, 129.90234375, 177.802734375, -2.8125, -3.33984375, 18.984375, -3.515625, 131.572265625, 176.748046875, 2.021484375, 1.23046875, 35.595703125 ]
3.2
16
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16
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3.4
17
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17
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[ 4.130859375, 129.90234375, 177.802734375, -2.8125, -3.69140625, 13.88671875, -3.515625, 131.572265625, 176.748046875, 2.021484375, 1.23046875, 35.595703125 ]
3.6
18
0
18
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[ 4.130859375, 129.90234375, 177.802734375, -2.8125, -3.69140625, 13.88671875, -3.515625, 131.572265625, 176.748046875, 2.021484375, 1.23046875, 35.5078125 ]
3.8
19
0
19
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4
20
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20
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4.2
21
0
21
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4.4
22
0
22
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4.6
23
0
23
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4.8
24
0
24
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5
25
0
25
0
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[ 3.69140625, 129.90234375, 177.802734375, -2.8125, -0.087890625, -5.185546875, -3.515625, 131.572265625, 176.748046875, 2.021484375, 1.318359375, 35.5078125 ]
5.2
26
0
26
0
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5.4
27
0
27
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[ 3.69140625, 129.90234375, 177.802734375, -2.8125, -0.087890625, -5.361328125, -3.515625, 131.572265625, 176.748046875, 2.021484375, 1.318359375, 35.5078125 ]
5.6
28
0
28
0
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[ 3.69140625, 129.90234375, 177.802734375, -2.8125, -0.087890625, -5.361328125, -3.515625, 131.572265625, 176.748046875, 2.021484375, 1.318359375, 35.5078125 ]
5.8
29
0
29
0
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[ 3.69140625, 129.90234375, 177.802734375, -2.8125, -0.087890625, -5.361328125, -3.515625, 131.572265625, 176.748046875, 2.021484375, 1.23046875, 35.5078125 ]
6
30
0
30
0
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[ 3.69140625, 129.90234375, 177.802734375, -2.8125, -0.087890625, -5.361328125, -3.515625, 131.572265625, 176.748046875, 2.021484375, 1.23046875, 35.5078125 ]
6.2
31
0
31
0
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[ 3.69140625, 129.90234375, 177.802734375, -2.8125, -0.087890625, -5.361328125, -3.515625, 131.572265625, 176.748046875, 2.021484375, 1.23046875, 30.498046875 ]
6.4
32
0
32
0
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[ 2.724609375, 129.90234375, 177.802734375, -2.8125, -0.17578125, -5.361328125, -3.515625, 131.572265625, 176.748046875, 2.021484375, 0.439453125, 9.404296875 ]
6.6
33
0
33
0
[ 2.373046875, 134.12109375, 178.76953125, -0.703125, -0.703125, -10.01953125, -4.74609375, 135.966796875, 173.49609375, 16.962890625, 4.5703125, -8.525390625 ]
[ 2.724609375, 129.90234375, 177.802734375, -2.8125, -0.17578125, -5.361328125, -3.515625, 131.572265625, 176.66015625, 2.021484375, 0.439453125, -4.658203125 ]
6.8
34
0
34
0
[ 2.28515625, 134.12109375, 178.76953125, -0.703125, -0.615234375, -10.01953125, -4.482421875, 135.87890625, 173.232421875, 17.05078125, 4.74609375, 31.11328125 ]
[ 2.724609375, 129.90234375, 177.802734375, -2.8125, -0.17578125, -5.361328125, -3.8671875, 131.572265625, 172.529296875, 12.12890625, 3.251953125, -4.658203125 ]
7
35
0
35
0
[ 2.28515625, 134.12109375, 178.76953125, -0.703125, -0.615234375, -10.01953125, -5.009765625, 135.87890625, 173.232421875, 17.05078125, 4.39453125, 36.650390625 ]
[ 2.724609375, 129.90234375, 177.802734375, -2.8125, -0.087890625, -5.361328125, -3.955078125, 131.572265625, 172.6171875, 12.12890625, 3.251953125, 30.146484375 ]
7.2
36
0
36
0
[ 2.28515625, 134.12109375, 178.76953125, -0.703125, -0.615234375, -10.01953125, -4.921875, 135.87890625, 173.232421875, 17.05078125, 4.482421875, 35.5078125 ]
[ 2.724609375, 129.90234375, 177.802734375, -2.8125, -0.17578125, -5.361328125, -4.306640625, 131.572265625, 172.6171875, 12.12890625, 3.33984375, 35.15625 ]
7.4
37
0
37
0
[ 2.28515625, 134.12109375, 178.76953125, -0.703125, -0.52734375, -10.01953125, -5.009765625, 135.87890625, 173.232421875, 17.05078125, 4.39453125, 35.5078125 ]
[ 2.724609375, 129.90234375, 177.802734375, -2.8125, -0.17578125, -5.361328125, -3.955078125, 131.572265625, 172.6171875, 12.216796875, 3.33984375, 34.892578125 ]
7.6
38
0
38
0
[ 2.28515625, 134.12109375, 178.76953125, -0.703125, -0.52734375, -10.01953125, -5.009765625, 135.87890625, 173.232421875, 17.05078125, 4.39453125, 35.5078125 ]
[ 2.724609375, 129.90234375, 177.802734375, -2.8125, -0.17578125, -5.361328125, -4.39453125, 131.572265625, 172.6171875, 12.216796875, 3.33984375, 34.892578125 ]
7.8
39
0
39
0
[ 2.28515625, 134.12109375, 178.76953125, -0.703125, -0.52734375, -10.01953125, -4.921875, 135.87890625, 173.232421875, 17.05078125, 4.482421875, 32.87109375 ]
[ 2.724609375, 129.90234375, 177.802734375, -2.8125, -0.17578125, -5.361328125, -4.39453125, 131.572265625, 172.6171875, 12.12890625, 3.33984375, 34.892578125 ]
8
40
0
40
0
[ 2.28515625, 134.12109375, 178.76953125, -0.703125, -0.439453125, -10.01953125, -4.5703125, 135.87890625, 173.14453125, 17.05078125, 4.658203125, 21.708984375 ]
[ 2.724609375, 129.90234375, 177.802734375, -2.8125, -0.17578125, -5.361328125, -3.955078125, 131.572265625, 172.6171875, 12.12890625, 3.33984375, 32.783203125 ]
8.2
41
0
41
0
[ 2.28515625, 134.12109375, 178.76953125, -0.703125, -0.439453125, -10.01953125, -4.5703125, 135.87890625, 173.14453125, 17.05078125, 4.5703125, 22.587890625 ]
[ 2.724609375, 129.90234375, 177.802734375, -2.8125, -0.087890625, -5.361328125, -3.955078125, 131.572265625, 172.6171875, 12.12890625, 3.33984375, 21.4453125 ]
8.4
42
0
42
0
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8.6
43
0
43
0
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8.8
44
0
44
0
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9
45
0
45
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9.2
46
0
46
0
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9.4
47
0
47
0
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9.6
48
0
48
0
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9.8
49
0
49
0
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10
50
0
50
0
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10.2
51
0
51
0
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10.4
52
0
52
0
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10.6
53
0
53
0
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10.8
54
0
54
0
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11
55
0
55
0
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11.2
56
0
56
0
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11.4
57
0
57
0
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11.6
58
0
58
0
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11.8
59
0
59
0
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12
60
0
60
0
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12.2
61
0
61
0
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12.4
62
0
62
0
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12.6
63
0
63
0
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12.8
64
0
64
0
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13
65
0
65
0
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13.2
66
0
66
0
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13.4
67
0
67
0
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13.6
68
0
68
0
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13.8
69
0
69
0
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14
70
0
70
0
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14.2
71
0
71
0
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14.4
72
0
72
0
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14.6
73
0
73
0
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14.8
74
0
74
0
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15
75
0
75
0
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15.2
76
0
76
0
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15.4
77
0
77
0
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15.6
78
0
78
0
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15.8
79
0
79
0
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16
80
0
80
0
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16.200001
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81
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16.4
82
0
82
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16.6
83
0
83
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16.799999
84
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84
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17
85
0
85
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17.200001
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86
0
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[ 1.669921875, 129.90234375, 177.802734375, -2.8125, -0.17578125, -5.361328125, -38.056640625, 115.400390625, 122.431640625, 39.462890625, -50.9765625, 34.62890625 ]
17.4
87
0
87
0
[ 1.58203125, 135.703125, 177.802734375, -0.791015625, -0.703125, -10.107421875, -38.14453125, 106.435546875, 106.171875, 61.259765625, -53.701171875, 35.15625 ]
[ 1.669921875, 129.90234375, 177.802734375, -2.8125, -0.17578125, -5.361328125, -37.44140625, 108.369140625, 110.302734375, 53.525390625, -52.998046875, 34.716796875 ]
17.6
88
0
88
0
[ 1.58203125, 135.703125, 177.890625, -0.791015625, -0.703125, -10.01953125, -37.79296875, 106.259765625, 106.259765625, 64.51171875, -55.634765625, 35.15625 ]
[ 1.669921875, 129.90234375, 177.01171875, -2.548828125, -0.17578125, -5.361328125, -37.96875, 105.8203125, 108.193359375, 61.171875, -52.91015625, 34.716796875 ]
17.799999
89
0
89
0
[ 1.58203125, 135.703125, 177.978515625, -0.791015625, -0.52734375, -10.01953125, -37.96875, 106.171875, 105.732421875, 68.291015625, -56.162109375, 34.98046875 ]
[ 1.669921875, 129.990234375, 177.01171875, -2.4609375, -0.17578125, -5.361328125, -37.265625, 105.732421875, 108.28125, 63.984375, -54.931640625, 34.716796875 ]
18
90
0
90
0
[ 1.669921875, 135.703125, 177.626953125, -0.791015625, -0.17578125, -10.01953125, -39.375, 104.94140625, 105.29296875, 71.015625, -56.07421875, 35.068359375 ]
[ 1.669921875, 129.90234375, 176.923828125, -2.4609375, -0.17578125, -5.361328125, -37.001953125, 105.732421875, 108.10546875, 67.939453125, -55.810546875, 34.189453125 ]
18.200001
91
0
91
0
[ 1.669921875, 135.703125, 177.978515625, -0.791015625, -0.17578125, -10.01953125, -41.30859375, 104.501953125, 105.46875, 71.103515625, -55.546875, 34.98046875 ]
[ 1.669921875, 129.90234375, 177.01171875, -2.4609375, -0.17578125, -5.361328125, -38.935546875, 103.798828125, 107.666015625, 70.83984375, -55.72265625, 34.62890625 ]
18.4
92
0
92
0
[ 1.58203125, 135.615234375, 178.06640625, -0.791015625, -0.17578125, -10.01953125, -43.41796875, 107.2265625, 105.205078125, 72.421875, -54.228515625, 34.98046875 ]
[ 1.669921875, 129.90234375, 176.923828125, -2.4609375, -0.17578125, -5.361328125, -40.78125, 103.798828125, 107.666015625, 70.83984375, -55.107421875, 34.1015625 ]
18.6
93
0
93
0
[ 1.58203125, 135.703125, 178.06640625, -0.791015625, -0.17578125, -9.931640625, -43.41796875, 111.357421875, 105.46875, 68.994140625, -53.701171875, 34.98046875 ]
[ 1.669921875, 129.90234375, 177.5390625, -2.548828125, -0.17578125, -5.361328125, -42.890625, 105.908203125, 107.666015625, 71.89453125, -54.052734375, 34.1015625 ]
18.799999
94
0
94
0
[ 1.58203125, 135.703125, 178.06640625, -0.791015625, -0.087890625, -9.931640625, -40.78125, 112.32421875, 107.05078125, 57.83203125, -53.7890625, 34.98046875 ]
[ 1.669921875, 129.990234375, 177.626953125, -2.548828125, -0.17578125, -5.361328125, -42.978515625, 109.951171875, 107.666015625, 68.73046875, -53.173828125, 34.1015625 ]
19
95
0
95
0
[ 1.58203125, 135.703125, 178.154296875, -0.791015625, 0.087890625, -9.931640625, -37.353515625, 108.28125, 107.578125, 48.076171875, -55.810546875, 34.98046875 ]
[ 1.58203125, 129.90234375, 177.626953125, -2.548828125, -0.17578125, -5.361328125, -39.90234375, 110.7421875, 108.017578125, 58.271484375, -53.173828125, 34.1015625 ]
19.200001
96
0
96
0
[ 1.58203125, 135.703125, 178.41796875, -0.791015625, 0.087890625, -10.01953125, -34.98046875, 103.271484375, 107.40234375, 44.296875, -57.65625, 34.892578125 ]
[ 1.669921875, 129.90234375, 177.626953125, -2.548828125, -0.17578125, -5.361328125, -37.08984375, 107.841796875, 108.193359375, 49.39453125, -54.931640625, 34.1015625 ]
19.4
97
0
97
0
[ 1.58203125, 135.615234375, 178.505859375, -0.791015625, 0, -10.01953125, -34.541015625, 101.42578125, 107.314453125, 46.318359375, -59.23828125, 34.892578125 ]
[ 1.669921875, 129.90234375, 177.626953125, -2.548828125, -0.17578125, -5.361328125, -34.013671875, 102.65625, 108.28125, 45.791015625, -56.689453125, 34.013671875 ]
19.6
98
0
98
0
[ 1.58203125, 135.703125, 178.41796875, -0.791015625, 0.17578125, -10.01953125, -34.62890625, 101.42578125, 108.017578125, 47.4609375, -59.94140625, 34.892578125 ]
[ 1.669921875, 129.90234375, 177.626953125, -2.548828125, -0.17578125, -5.361328125, -33.92578125, 100.72265625, 108.369140625, 45.966796875, -58.7109375, 34.013671875 ]
19.799999
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_bimanual",
    "total_episodes": 3,
    "total_frames": 450,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
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    "splits": {
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    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
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                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
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        },
        "observation.state": {
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            "names": [
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                "left_shoulder_lift",
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                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
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        "observation.images.laptop": {
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            ],
            "info": {
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        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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