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action
sequence | observation.state
sequence | timestamp
float32 0
15.4
| frame_index
int64 0
463
| episode_index
int64 0
4
| index
int64 0
1.65k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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33.046875
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-0.52734375,
74.53125,
82.96875,
79.98046875,
7.998046875,
31.640625
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[
-1.93359375,
74.794921875,
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80.33203125,
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-0.52734375,
74.267578125,
82.44140625,
80.244140625,
7.998046875,
32.080078125
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[
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-0.52734375,
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81.5625,
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[
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-0.87890625,
73.65234375,
81.38671875,
79.8046875,
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[
-2.197265625,
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-1.142578125,
73.65234375,
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[
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-1.23046875,
73.65234375,
81.298828125,
80.068359375,
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34.98046875
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[
-2.109375,
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-1.318359375,
73.65234375,
81.123046875,
80.068359375,
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[
-2.109375,
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-1.40625,
73.30078125,
80.947265625,
79.98046875,
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37.001953125
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[
-2.021484375,
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80.419921875,
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-1.40625,
72.94921875,
80.859375,
80.068359375,
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[
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-1.40625,
72.685546875,
80.859375,
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[
-2.021484375,
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-1.40625,
72.59765625,
80.947265625,
80.068359375,
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37.001953125
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[
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-1.40625,
72.685546875,
80.859375,
80.068359375,
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[
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80.859375,
80.068359375,
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[
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[
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72.685546875,
80.859375,
80.068359375,
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[
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80.859375,
80.068359375,
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[
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80.5078125,
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72.685546875,
80.947265625,
80.068359375,
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37.265625
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[
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80.5078125,
80.5078125,
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-0.966796875,
72.685546875,
80.859375,
80.068359375,
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37.44140625
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[
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-0.966796875,
72.685546875,
80.859375,
80.068359375,
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[
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72.59765625,
80.859375,
80.068359375,
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37.44140625
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[
-1.58203125,
73.828125,
80.595703125,
80.5078125,
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-0.966796875,
72.59765625,
80.947265625,
80.068359375,
8.7890625,
37.44140625
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[
-1.58203125,
73.740234375,
80.595703125,
80.5078125,
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-0.966796875,
72.685546875,
80.859375,
80.068359375,
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37.44140625
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[
-1.669921875,
73.65234375,
80.68359375,
80.5078125,
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-0.966796875,
72.59765625,
80.947265625,
80.068359375,
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37.44140625
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[
-1.669921875,
73.564453125,
80.947265625,
80.5078125,
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-0.966796875,
72.685546875,
80.947265625,
80.068359375,
8.26171875,
37.44140625
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[
-1.58203125,
73.564453125,
81.2109375,
80.5078125,
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38.3203125
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-0.966796875,
72.685546875,
80.859375,
80.068359375,
8.0859375,
37.44140625
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[
-1.58203125,
73.564453125,
81.5625,
80.5078125,
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-0.966796875,
72.685546875,
81.298828125,
79.892578125,
7.998046875,
37.44140625
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[
-1.58203125,
73.564453125,
81.73828125,
80.5078125,
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38.3203125
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-0.966796875,
72.685546875,
81.73828125,
80.15625,
8.0859375,
37.44140625
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[
-1.58203125,
73.65234375,
81.73828125,
80.5078125,
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38.3203125
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-0.966796875,
72.685546875,
81.826171875,
80.244140625,
8.173828125,
37.44140625
] | 3.1 | 93 | 0 | 93 | 0 |
[
-1.58203125,
73.828125,
81.73828125,
80.5078125,
9.052734375,
38.232421875
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-0.966796875,
72.685546875,
81.826171875,
80.068359375,
8.349609375,
37.44140625
] | 3.133333 | 94 | 0 | 94 | 0 |
[
-1.58203125,
74.1796875,
81.650390625,
80.5078125,
9.052734375,
38.3203125
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-0.966796875,
72.59765625,
81.826171875,
80.15625,
8.525390625,
37.44140625
] | 3.166667 | 95 | 0 | 95 | 0 |
[
-1.58203125,
74.267578125,
81.650390625,
80.5078125,
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38.3203125
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-0.966796875,
72.685546875,
81.826171875,
80.15625,
8.701171875,
37.44140625
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[
-1.494140625,
74.1796875,
81.650390625,
80.5078125,
9.052734375,
38.3203125
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-0.966796875,
72.685546875,
81.826171875,
80.15625,
8.7890625,
37.44140625
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[
-1.40625,
74.00390625,
81.650390625,
80.5078125,
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38.3203125
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-0.966796875,
72.685546875,
81.826171875,
80.15625,
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37.44140625
] | 3.266667 | 98 | 0 | 98 | 0 |
[
-1.40625,
73.916015625,
81.73828125,
80.5078125,
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-0.966796875,
72.685546875,
81.826171875,
80.15625,
8.876953125,
37.44140625
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Dataset Viewer.
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 5,
"total_frames": 1651,
"total_tasks": 1,
"total_videos": 5,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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": [
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.front_camera": {
"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": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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