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koch_test_4_12_12

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action
sequence
observation.state
sequence
timestamp
float32
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21.8
frame_index
int64
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653
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int64
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16
index
int64
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task_index
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75
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[ 64.423828125, 81.73828125, 76.904296875, 11.162109375, 3.8671875, 34.98046875 ]
[ 64.3359375, 77.16796875, 75.41015625, 10.283203125, 4.04296875, 34.98046875 ]
2.533333
76
0
76
0
[ 64.423828125, 84.0234375, 78.046875, 11.513671875, 3.8671875, 34.98046875 ]
[ 64.3359375, 79.1015625, 77.16796875, 11.07421875, 3.955078125, 34.98046875 ]
2.566667
77
0
77
0
[ 64.423828125, 86.396484375, 78.837890625, 12.041015625, 3.779296875, 34.98046875 ]
[ 64.51171875, 81.298828125, 78.310546875, 11.513671875, 3.955078125, 34.98046875 ]
2.6
78
0
78
0
[ 64.3359375, 88.330078125, 79.8046875, 13.095703125, 3.8671875, 34.98046875 ]
[ 64.51171875, 83.759765625, 79.1015625, 11.953125, 3.955078125, 34.98046875 ]
2.633333
79
0
79
0
[ 64.3359375, 89.912109375, 80.771484375, 14.501953125, 3.8671875, 34.98046875 ]
[ 64.51171875, 85.95703125, 80.068359375, 12.919921875, 3.955078125, 34.98046875 ]
2.666667
80
0
80
0
[ 64.248046875, 91.40625, 81.650390625, 16.171875, 3.8671875, 34.98046875 ]
[ 64.51171875, 87.978515625, 81.03515625, 14.326171875, 3.955078125, 34.98046875 ]
2.7
81
0
81
0
[ 64.248046875, 93.515625, 82.265625, 18.10546875, 3.8671875, 34.98046875 ]
[ 64.3359375, 89.384765625, 82.001953125, 15.908203125, 3.955078125, 34.98046875 ]
2.733333
82
0
82
0
[ 64.248046875, 95.888671875, 82.353515625, 20.0390625, 3.779296875, 34.98046875 ]
[ 64.423828125, 91.23046875, 82.529296875, 17.666015625, 4.04296875, 34.98046875 ]
2.766667
83
0
83
0
[ 64.16015625, 97.998046875, 82.353515625, 21.884765625, 3.8671875, 34.98046875 ]
[ 64.423828125, 93.515625, 82.6171875, 19.599609375, 3.8671875, 34.98046875 ]
2.8
84
0
84
0
[ 64.248046875, 99.66796875, 82.353515625, 23.818359375, 3.8671875, 34.98046875 ]
[ 64.423828125, 95.712890625, 82.6171875, 21.357421875, 3.955078125, 34.98046875 ]
2.833333
85
0
85
0
[ 64.248046875, 100.72265625, 82.529296875, 25.927734375, 3.8671875, 34.98046875 ]
[ 64.248046875, 97.822265625, 82.6171875, 23.5546875, 3.955078125, 34.98046875 ]
2.866667
86
0
86
0
[ 64.16015625, 101.513671875, 82.96875, 28.125, 3.8671875, 34.98046875 ]
[ 64.16015625, 99.052734375, 82.79296875, 25.400390625, 3.955078125, 34.98046875 ]
2.9
87
0
87
0
[ 64.16015625, 102.041015625, 83.408203125, 30.146484375, 3.779296875, 34.98046875 ]
[ 64.248046875, 99.931640625, 83.232421875, 27.509765625, 4.04296875, 34.98046875 ]
2.933333
88
0
88
0
[ 64.16015625, 102.919921875, 83.671875, 31.904296875, 3.8671875, 34.98046875 ]
[ 64.248046875, 100.458984375, 83.671875, 29.619140625, 3.955078125, 34.98046875 ]
2.966667
89
0
89
0
[ 63.984375, 104.23828125, 83.671875, 33.046875, 3.8671875, 34.98046875 ]
[ 64.248046875, 101.162109375, 83.935546875, 31.376953125, 3.955078125, 34.98046875 ]
3
90
0
90
0
[ 63.6328125, 106.083984375, 83.583984375, 33.3984375, 3.8671875, 34.98046875 ]
[ 64.16015625, 102.3046875, 83.935546875, 32.6953125, 3.955078125, 34.98046875 ]
3.033333
91
0
91
0
[ 62.9296875, 108.017578125, 83.583984375, 33.310546875, 3.8671875, 34.98046875 ]
[ 63.984375, 103.974609375, 83.935546875, 33.310546875, 3.8671875, 34.98046875 ]
3.066667
92
0
92
0
[ 61.5234375, 109.423828125, 83.49609375, 33.134765625, 3.8671875, 34.98046875 ]
[ 63.369140625, 105.908203125, 83.935546875, 33.3984375, 3.8671875, 34.98046875 ]
3.1
93
0
93
0
[ 59.150390625, 110.56640625, 83.49609375, 32.87109375, 3.8671875, 34.98046875 ]
[ 62.05078125, 107.578125, 83.935546875, 33.310546875, 3.955078125, 34.98046875 ]
3.133333
94
0
94
0
[ 55.283203125, 111.09375, 83.49609375, 31.9921875, 3.8671875, 34.98046875 ]
[ 59.765625, 108.984375, 83.935546875, 33.310546875, 3.955078125, 34.98046875 ]
3.166667
95
0
95
0
[ 50.44921875, 111.005859375, 83.49609375, 30.41015625, 3.8671875, 34.98046875 ]
[ 56.25, 109.6875, 83.84765625, 32.51953125, 3.955078125, 34.98046875 ]
3.2
96
0
96
0
[ 45.17578125, 110.830078125, 83.49609375, 27.7734375, 3.8671875, 34.98046875 ]
[ 51.943359375, 109.86328125, 83.84765625, 31.11328125, 3.955078125, 34.98046875 ]
3.233333
97
0
97
0
[ 40.166015625, 110.390625, 83.49609375, 24.08203125, 3.8671875, 34.98046875 ]
[ 47.021484375, 109.86328125, 83.935546875, 28.916015625, 3.955078125, 34.98046875 ]
3.266667
98
0
98
0
[ 35.68359375, 109.423828125, 83.49609375, 19.775390625, 3.8671875, 34.98046875 ]
[ 42.01171875, 109.775390625, 83.935546875, 25.6640625, 3.955078125, 34.98046875 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "koch",
    "total_episodes": 2,
    "total_frames": 419,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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