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action
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float32
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[ -26.982421875, 71.630859375, 76.728515625, 87.5390625, -55.634765625, 33.134765625 ]
2.233333
67
0
67
0
[ -28.339359283447266, 70.6178970336914, 76.16181182861328, 86.24744415283203, -57.08640670776367, 33.379249572753906 ]
[ -27.158203125, 71.103515625, 76.640625, 87.451171875, -55.634765625, 33.134765625 ]
2.266667
68
0
68
0
[ -28.402334213256836, 70.33670043945312, 76.32572937011719, 86.2279281616211, -57.17842483520508, 33.414241790771484 ]
[ -27.158203125, 70.400390625, 76.728515625, 87.275390625, -55.634765625, 33.134765625 ]
2.3
69
0
69
0
[ -28.420207977294922, 69.90553283691406, 76.32916259765625, 85.79765319824219, -56.97750473022461, 33.36613464355469 ]
[ -27.158203125, 69.697265625, 76.9921875, 86.923828125, -55.72265625, 33.134765625 ]
2.333333
70
0
70
0
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2.366667
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0
71
0
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[ -27.24609375, 69.169921875, 77.255859375, 86.484375, -55.634765625, 33.134765625 ]
2.4
72
0
72
0
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[ -27.158203125, 68.466796875, 77.16796875, 86.1328125, -55.634765625, 33.134765625 ]
2.433333
73
0
73
0
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[ -27.158203125, 67.939453125, 77.431640625, 85.60546875, -55.72265625, 33.134765625 ]
2.466667
74
0
74
0
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[ -27.24609375, 67.5, 77.783203125, 85.078125, -55.634765625, 33.134765625 ]
2.5
75
0
75
0
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[ -27.24609375, 67.412109375, 78.134765625, 84.462890625, -55.634765625, 33.134765625 ]
2.533333
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0
76
0
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2.566667
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77
0
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2.6
78
0
78
0
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2.633333
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0
79
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2.666667
80
0
80
0
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[ -27.158203125, 66.4453125, 78.486328125, 83.14453125, -55.634765625, 33.134765625 ]
2.7
81
0
81
0
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2.733333
82
0
82
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2.766667
83
0
83
0
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[ -27.158203125, 65.56640625, 78.486328125, 82.353515625, -55.546875, 33.134765625 ]
2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
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0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ -27.158203125, 64.423828125, 79.013671875, 81.03515625, -54.931640625, 31.46484375 ]
3
90
0
90
0
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[ -27.158203125, 64.16015625, 79.013671875, 80.68359375, -54.228515625, 30.9375 ]
3.033333
91
0
91
0
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[ -27.158203125, 63.720703125, 79.27734375, 80.33203125, -53.61328125, 29.970703125 ]
3.066667
92
0
92
0
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[ -27.158203125, 63.720703125, 79.62890625, 79.98046875, -53.173828125, 28.4765625 ]
3.1
93
0
93
0
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[ -27.158203125, 63.720703125, 79.716796875, 79.62890625, -53.173828125, 26.89453125 ]
3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
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3.233333
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0
97
0
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3.266667
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0
98
0
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[ -27.24609375, 63.720703125, 80.419921875, 78.92578125, -53.173828125, 17.40234375 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "koch",
    "total_episodes": 25,
    "total_frames": 9416,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:25"
    },
    "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": [
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            "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"
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            "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": {
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            "shape": [
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                640,
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            ],
            "names": [
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                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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