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sequence | observation.state
sequence | timestamp
float32 0
0.97
| frame_index
int64 0
29
| episode_index
int64 0
0
| index
int64 0
29
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
93.779296875,
97.734375,
126.474609375,
37.353515625,
34.62890625,
58.359375
] |
[
91.318359375,
95.44921875,
127.08984375,
34.27734375,
22.763671875,
57.65625
] | 0 | 0 | 0 | 0 | 0 |
[
94.833984375,
97.822265625,
126.474609375,
38.671875,
36.73828125,
58.359375
] |
[
92.4609375,
95.44921875,
127.08984375,
34.541015625,
28.30078125,
57.65625
] | 0.033333 | 1 | 0 | 1 | 0 |
[
95.44921875,
97.822265625,
126.474609375,
39.462890625,
37.353515625,
58.359375
] |
[
93.251953125,
95.44921875,
127.08984375,
35.068359375,
30.9375,
57.65625
] | 0.066667 | 2 | 0 | 2 | 0 |
[
95.80078125,
97.822265625,
126.38671875,
39.638671875,
37.265625,
58.359375
] |
[
94.21875,
95.44921875,
127.001953125,
36.123046875,
33.662109375,
57.65625
] | 0.1 | 3 | 0 | 3 | 0 |
[
95.888671875,
97.734375,
126.38671875,
39.638671875,
36.9140625,
58.359375
] |
[
94.921875,
95.537109375,
127.001953125,
36.9140625,
35.33203125,
57.65625
] | 0.133333 | 4 | 0 | 4 | 0 |
[
95.712890625,
97.646484375,
126.2109375,
39.55078125,
36.123046875,
58.359375
] |
[
95.361328125,
95.537109375,
127.001953125,
37.529296875,
36.298828125,
57.65625
] | 0.166667 | 5 | 0 | 5 | 0 |
[
95.625,
97.646484375,
126.123046875,
39.462890625,
34.8046875,
58.359375
] |
[
95.44921875,
95.537109375,
127.001953125,
37.79296875,
36.474609375,
57.65625
] | 0.2 | 6 | 0 | 6 | 0 |
[
95.537109375,
97.646484375,
125.947265625,
39.375,
32.87109375,
58.359375
] |
[
95.44921875,
95.537109375,
127.001953125,
37.880859375,
36.2109375,
57.65625
] | 0.233333 | 7 | 0 | 7 | 0 |
[
95.44921875,
97.734375,
125.771484375,
39.19921875,
30.498046875,
58.359375
] |
[
95.537109375,
95.537109375,
127.001953125,
37.880859375,
35.5078125,
57.65625
] | 0.266667 | 8 | 0 | 8 | 0 |
[
95.361328125,
97.822265625,
125.68359375,
38.759765625,
27.94921875,
58.359375
] |
[
95.44921875,
95.537109375,
127.001953125,
37.96875,
34.453125,
57.65625
] | 0.3 | 9 | 0 | 9 | 0 |
[
95.2734375,
97.822265625,
125.68359375,
38.232421875,
25.6640625,
58.359375
] |
[
95.361328125,
95.625,
127.001953125,
37.880859375,
32.783203125,
57.65625
] | 0.333333 | 10 | 0 | 10 | 0 |
[
95.09765625,
97.734375,
125.68359375,
37.705078125,
23.73046875,
58.447265625
] |
[
95.2734375,
95.712890625,
127.001953125,
37.96875,
30.673828125,
57.65625
] | 0.366667 | 11 | 0 | 11 | 0 |
[
94.921875,
97.734375,
125.771484375,
37.265625,
22.32421875,
58.447265625
] |
[
95.185546875,
95.80078125,
127.001953125,
37.880859375,
28.4765625,
57.65625
] | 0.4 | 12 | 0 | 12 | 0 |
[
94.658203125,
97.822265625,
125.947265625,
37.177734375,
21.09375,
58.447265625
] |
[
95.09765625,
95.80078125,
127.001953125,
37.880859375,
26.3671875,
57.65625
] | 0.433333 | 13 | 0 | 13 | 0 |
[
94.482421875,
97.822265625,
125.947265625,
37.177734375,
19.86328125,
58.447265625
] |
[
94.74609375,
95.80078125,
127.001953125,
37.880859375,
24.43359375,
57.65625
] | 0.466667 | 14 | 0 | 14 | 0 |
[
94.21875,
97.734375,
126.03515625,
37.177734375,
18.544921875,
58.447265625
] |
[
94.5703125,
95.80078125,
127.001953125,
37.79296875,
22.939453125,
57.65625
] | 0.5 | 15 | 0 | 15 | 0 |
[
94.04296875,
97.646484375,
126.03515625,
37.177734375,
17.05078125,
58.447265625
] |
[
94.39453125,
95.888671875,
127.001953125,
37.79296875,
21.533203125,
57.65625
] | 0.533333 | 16 | 0 | 16 | 0 |
[
93.8671875,
97.646484375,
126.03515625,
37.08984375,
15.64453125,
58.359375
] |
[
94.130859375,
95.888671875,
127.001953125,
37.79296875,
20.126953125,
57.65625
] | 0.566667 | 17 | 0 | 17 | 0 |
[
93.69140625,
97.646484375,
126.123046875,
37.08984375,
14.326171875,
58.359375
] |
[
93.955078125,
95.888671875,
127.001953125,
37.705078125,
18.6328125,
57.65625
] | 0.6 | 18 | 0 | 18 | 0 |
[
93.515625,
97.734375,
126.123046875,
37.001953125,
13.18359375,
58.359375
] |
[
93.779296875,
95.888671875,
127.001953125,
37.705078125,
17.2265625,
57.65625
] | 0.633333 | 19 | 0 | 19 | 0 |
[
93.427734375,
97.734375,
126.2109375,
36.826171875,
12.3046875,
58.359375
] |
[
93.603515625,
95.888671875,
127.001953125,
37.705078125,
15.908203125,
57.65625
] | 0.666667 | 20 | 0 | 20 | 0 |
[
93.427734375,
97.734375,
126.298828125,
36.73828125,
11.77734375,
58.359375
] |
[
93.33984375,
95.888671875,
127.001953125,
37.705078125,
14.677734375,
57.65625
] | 0.7 | 21 | 0 | 21 | 0 |
[
93.33984375,
97.734375,
126.298828125,
36.73828125,
11.513671875,
58.359375
] |
[
93.33984375,
95.888671875,
127.001953125,
37.705078125,
13.623046875,
57.65625
] | 0.733333 | 22 | 0 | 22 | 0 |
[
93.251953125,
97.734375,
126.298828125,
36.73828125,
11.513671875,
58.359375
] |
[
93.33984375,
95.888671875,
127.001953125,
37.705078125,
12.83203125,
57.65625
] | 0.766667 | 23 | 0 | 23 | 0 |
[
93.251953125,
97.734375,
126.298828125,
36.73828125,
11.513671875,
58.359375
] |
[
93.33984375,
95.888671875,
127.001953125,
37.705078125,
12.392578125,
57.65625
] | 0.8 | 24 | 0 | 24 | 0 |
[
93.251953125,
97.646484375,
126.298828125,
36.73828125,
11.513671875,
58.359375
] |
[
93.1640625,
95.888671875,
127.001953125,
37.705078125,
12.041015625,
57.65625
] | 0.833333 | 25 | 0 | 25 | 0 |
[
93.251953125,
97.646484375,
126.298828125,
36.73828125,
11.513671875,
58.359375
] |
[
93.251953125,
95.888671875,
127.001953125,
37.705078125,
11.953125,
57.65625
] | 0.866667 | 26 | 0 | 26 | 0 |
[
93.251953125,
97.646484375,
126.298828125,
36.73828125,
11.513671875,
58.359375
] |
[
93.251953125,
95.888671875,
127.001953125,
37.705078125,
11.865234375,
57.65625
] | 0.9 | 27 | 0 | 27 | 0 |
[
93.251953125,
97.646484375,
126.298828125,
36.73828125,
11.513671875,
58.359375
] |
[
93.251953125,
95.888671875,
127.001953125,
37.705078125,
11.865234375,
57.65625
] | 0.933333 | 28 | 0 | 28 | 0 |
[
93.251953125,
97.646484375,
126.298828125,
36.73828125,
11.513671875,
58.359375
] |
[
93.251953125,
95.888671875,
127.001953125,
37.705078125,
11.865234375,
57.65625
] | 0.966667 | 29 | 0 | 29 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 1,
"total_frames": 30,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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.laptop": {
"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": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"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": "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",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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