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sequence | observation.state
sequence | timestamp
float32 0
34.3
| frame_index
int64 0
1.03k
| episode_index
int64 0
9
| index
int64 0
8.41k
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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34.1015625
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[
-2.4609375,
43.59375,
123.75,
-85.078125,
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34.189453125
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[
-2.548828125,
43.857421875,
122.958984375,
-86.923828125,
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34.1015625
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[
-2.4609375,
43.59375,
123.75,
-85.078125,
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34.189453125
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[
-2.63671875,
44.296875,
123.92578125,
-86.923828125,
-4.306640625,
34.1015625
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[
-2.4609375,
43.59375,
123.75,
-85.078125,
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[
-2.724609375,
44.6484375,
125.5078125,
-86.923828125,
-4.39453125,
34.1015625
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[
-2.4609375,
43.59375,
123.92578125,
-85.078125,
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34.189453125
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[
-2.724609375,
47.28515625,
127.705078125,
-86.923828125,
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34.013671875
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[
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43.681640625,
124.189453125,
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[
-2.548828125,
50.537109375,
130.60546875,
-86.8359375,
-4.482421875,
33.310546875
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[
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44.208984375,
125.771484375,
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[
-2.109375,
54.4921875,
133.59375,
-86.66015625,
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32.34375
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[
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45.703125,
128.056640625,
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33.92578125
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[
-1.318359375,
58.359375,
136.23046875,
-85.693359375,
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32.34375
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[
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47.8125,
131.572265625,
-85.166015625,
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33.134765625
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[
0.087890625,
61.962890625,
138.515625,
-85.166015625,
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32.34375
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[
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50.625,
135.791015625,
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140.009765625,
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32.34375
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[
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53.7890625,
139.21875,
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[
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142.119140625,
-79.892578125,
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32.255859375
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[
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57.392578125,
140.625,
-83.935546875,
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[
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144.140625,
-75.41015625,
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32.255859375
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[
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61.34765625,
141.6796875,
-82.001953125,
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[
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145.1953125,
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[
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66.4453125,
143.61328125,
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[
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145.72265625,
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[
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[
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[
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32.34375
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[
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[
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[
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145.37109375,
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[
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32.34375
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[
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[
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1.0546875,
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[
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[
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6.416015625,
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[
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114.43359375,
139.21875,
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[
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133.505859375,
10.458984375,
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[
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116.3671875,
137.548828125,
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[
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120.9375,
133.154296875,
13.7109375,
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[
9.31640625,
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136.494140625,
3.603515625,
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[
9.84375,
121.640625,
132.890625,
16.259765625,
-1.845703125,
32.431640625
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[
9.31640625,
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136.23046875,
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[
10.107421875,
121.904296875,
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18.45703125,
-1.845703125,
32.431640625
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[
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136.23046875,
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[
10.546875,
122.080078125,
132.5390625,
20.390625,
-1.845703125,
32.431640625
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[
9.404296875,
119.794921875,
136.23046875,
15.908203125,
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[
11.07421875,
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132.451171875,
21.884765625,
-1.845703125,
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[
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120.146484375,
136.23046875,
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-1.93359375,
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[
11.953125,
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132.451171875,
22.939453125,
-1.669921875,
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[
10.1953125,
120.234375,
136.23046875,
20.7421875,
-1.93359375,
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] | 3.033333 | 91 | 0 | 91 | 0 |
[
12.919921875,
121.9921875,
132.451171875,
23.642578125,
-1.494140625,
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[
10.810546875,
120.234375,
136.23046875,
22.32421875,
-1.93359375,
32.6953125
] | 3.066667 | 92 | 0 | 92 | 0 |
[
13.7109375,
121.904296875,
132.451171875,
23.90625,
-1.0546875,
32.34375
] |
[
11.689453125,
120.234375,
136.23046875,
23.642578125,
-1.93359375,
32.6953125
] | 3.1 | 93 | 0 | 93 | 0 |
[
14.4140625,
121.640625,
132.451171875,
24.08203125,
-0.615234375,
32.34375
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[
12.744140625,
120.234375,
136.23046875,
24.43359375,
-1.845703125,
32.6953125
] | 3.133333 | 94 | 0 | 94 | 0 |
[
15.1171875,
121.201171875,
132.451171875,
24.169921875,
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32.34375
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[
13.623046875,
120.234375,
136.23046875,
24.43359375,
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[
15.8203125,
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132.451171875,
24.169921875,
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32.34375
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[
14.23828125,
120.234375,
136.23046875,
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[
16.5234375,
120.849609375,
132.451171875,
24.08203125,
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32.34375
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[
14.853515625,
120.234375,
136.23046875,
24.521484375,
-1.0546875,
32.6953125
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[
17.138671875,
119.970703125,
132.451171875,
23.818359375,
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32.34375
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[
15.556640625,
120.234375,
136.23046875,
24.521484375,
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[
17.9296875,
119.443359375,
132.275390625,
23.642578125,
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32.34375
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[
16.34765625,
120.05859375,
136.23046875,
24.521484375,
-0.791015625,
32.6953125
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 10,
"total_frames": 8411,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
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],
"names": null
},
"frame_index": {
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],
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},
"episode_index": {
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"shape": [
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],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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