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action
sequence
observation.state
sequence
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float32
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25.2
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int64
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[ -75.322265625, 74.1796875, 92.4609375, 53.876953125, 76.9921875, 33.57421875 ]
2.233333
67
0
67
0
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2.266667
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0
68
0
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[ -75.146484375, 73.564453125, 91.93359375, 54.052734375, 76.904296875, 33.3984375 ]
2.3
69
0
69
0
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2.333333
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0
70
0
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2.366667
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71
0
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[ -74.970703125, 72.59765625, 91.58203125, 54.404296875, 76.11328125, 33.3984375 ]
2.4
72
0
72
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2.433333
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0
73
0
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[ -74.970703125, 71.71875, 90.966796875, 54.66796875, 76.025390625, 33.310546875 ]
2.466667
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0
74
0
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[ -74.970703125, 71.630859375, 90.52734375, 54.66796875, 76.025390625, 33.310546875 ]
2.5
75
0
75
0
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2.533333
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76
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2.6
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78
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2.633333
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80
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2.7
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2.733333
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82
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2.766667
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2.8
84
0
84
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2.833333
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0
85
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2.9
87
0
87
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2.933333
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2.966667
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89
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3
90
0
90
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3.033333
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0
91
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3.066667
92
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92
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[ -73.916015625, 67.67578125, 88.2421875, 55.1953125, 75.146484375, 33.22265625 ]
3.1
93
0
93
0
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3.133333
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0
94
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3.166667
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0
95
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3.2
96
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3.233333
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3.266667
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[ -73.916015625, 66.796875, 87.5390625, 55.1953125, 75.5859375, 33.22265625 ]
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": 10,
    "total_frames": 4979,
    "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": [
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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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.side": {
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            "shape": [
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                640,
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            "names": [
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.top": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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