Search is not available for this dataset
action
sequence
observation.state
sequence
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float32
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29.3
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int64
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[ 0.791015625, 81.650390625, 93.779296875, 68.37890625, 0.087890625, 27.333984375 ]
2.3
69
0
69
0
[ 1.236191749572754, 80.15458679199219, 89.39629364013672, 69.89541625976562, -1.549734115600586, 29.058258056640625 ]
[ 0.87890625, 80.68359375, 92.8125, 68.73046875, -0.087890625, 27.333984375 ]
2.333333
70
0
70
0
[ 1.122140884399414, 79.39251708984375, 88.76150512695312, 69.74441528320312, -1.5667781829833984, 29.239742279052734 ]
[ 0.87890625, 79.892578125, 91.669921875, 68.90625, -0.3515625, 27.421875 ]
2.366667
71
0
71
0
[ 1.093618392944336, 79.0750732421875, 88.73230743408203, 69.69651794433594, -1.4721546173095703, 29.3221435546875 ]
[ 0.87890625, 79.365234375, 91.23046875, 68.90625, -0.52734375, 28.037109375 ]
2.4
72
0
72
0
[ 1.1124687194824219, 78.88398742675781, 88.55851745605469, 69.650634765625, -1.5137386322021484, 29.281108856201172 ]
[ 0.87890625, 78.837890625, 90.615234375, 68.90625, -0.703125, 28.125 ]
2.433333
73
0
73
0
[ 1.0021438598632812, 78.19373321533203, 87.89114379882812, 69.81332397460938, -1.6896858215332031, 29.558149337768555 ]
[ 0.87890625, 78.310546875, 90.263671875, 68.90625, -0.791015625, 28.125 ]
2.466667
74
0
74
0
[ 0.9833612442016602, 77.80867004394531, 87.99433898925781, 69.57728576660156, -1.4341545104980469, 29.631010055541992 ]
[ 0.87890625, 77.783203125, 90.087890625, 68.90625, -0.791015625, 28.125 ]
2.5
75
0
75
0
[ 0.8777980804443359, 77.0755615234375, 87.32807922363281, 69.71300506591797, -1.6572742462158203, 29.66629409790039 ]
[ 0.87890625, 77.34375, 89.6484375, 68.90625, -0.791015625, 28.125 ]
2.533333
76
0
76
0
[ 0.8982973098754883, 76.9517822265625, 87.19001770019531, 69.68242645263672, -1.6909866333007812, 29.699356079101562 ]
[ 0.703125, 76.81640625, 89.560546875, 68.90625, -0.791015625, 28.125 ]
2.566667
77
0
77
0
[ 0.8630762100219727, 75.88265228271484, 86.41188049316406, 69.80317687988281, -1.7806758880615234, 29.715938568115234 ]
[ 0.3515625, 76.552734375, 89.560546875, 68.90625, -0.791015625, 28.125 ]
2.6
78
0
78
0
[ 0.8160085678100586, 75.55286407470703, 86.10392761230469, 69.76896667480469, -1.9056072235107422, 29.69204330444336 ]
[ 0.17578125, 75.76171875, 89.560546875, 68.90625, -0.791015625, 28.125 ]
2.633333
79
0
79
0
[ 0.7859954833984375, 75.3681640625, 86.0567626953125, 69.7498779296875, -1.7530460357666016, 29.719907760620117 ]
[ 0.17578125, 75.05859375, 88.9453125, 68.90625, -0.791015625, 28.125 ]
2.666667
80
0
80
0
[ 0.7672080993652344, 74.54206848144531, 85.4195556640625, 69.77780151367188, -1.961324691772461, 29.740028381347656 ]
[ 0.087890625, 74.619140625, 88.59375, 68.90625, -0.791015625, 28.125 ]
2.7
81
0
81
0
[ 0.6922235488891602, 74.35195922851562, 85.42095947265625, 69.71353912353516, -1.896402359008789, 29.761545181274414 ]
[ -0.087890625, 74.35546875, 88.505859375, 68.90625, -0.791015625, 28.125 ]
2.733333
82
0
82
0
[ 0.6146717071533203, 73.33697509765625, 84.64124298095703, 69.7330322265625, -2.1245174407958984, 29.774860382080078 ]
[ -0.17578125, 73.828125, 87.626953125, 68.90625, -0.791015625, 28.125 ]
2.766667
83
0
83
0
[ 0.8188762664794922, 72.72901916503906, 84.19678497314453, 69.83119201660156, -2.3005008697509766, 29.726516723632812 ]
[ 0, 73.30078125, 87.01171875, 68.90625, -0.87890625, 28.125 ]
2.8
84
0
84
0
[ 0.6315889358520508, 72.5411376953125, 84.29750061035156, 69.80279541015625, -1.9406070709228516, 29.716964721679688 ]
[ 0.087890625, 72.509765625, 86.484375, 68.90625, -1.0546875, 28.125 ]
2.833333
85
0
85
0
[ 0.6676597595214844, 72.21980285644531, 84.06452941894531, 69.81385803222656, -2.0597267150878906, 29.78423309326172 ]
[ 0, 71.89453125, 86.220703125, 68.90625, -1.318359375, 28.125 ]
2.866667
86
0
86
0
[ 0.695124626159668, 71.19259643554688, 83.46078491210938, 69.88804626464844, -2.188383102416992, 29.68060302734375 ]
[ 0, 71.630859375, 86.30859375, 68.90625, -1.23046875, 28.125 ]
2.9
87
0
87
0
[ 0.7445392608642578, 70.41556549072266, 82.89937591552734, 69.87393188476562, -2.320117950439453, 29.678611755371094 ]
[ 0, 71.3671875, 86.30859375, 68.90625, -1.318359375, 28.125 ]
2.933333
88
0
88
0
[ 0.6742410659790039, 70.28608703613281, 82.94771575927734, 69.88938903808594, -2.1613082885742188, 29.679048538208008 ]
[ 0, 70.83984375, 86.1328125, 68.90625, -1.40625, 28.125 ]
2.966667
89
0
89
0
[ 0.6581048965454102, 69.53256225585938, 82.52099609375, 69.89796447753906, -2.4416942596435547, 29.629148483276367 ]
[ 0, 70.048828125, 84.7265625, 68.90625, -1.58203125, 28.125 ]
3
90
0
90
0
[ 0.6479635238647461, 68.99092864990234, 82.35400390625, 69.88156127929688, -2.4531898498535156, 29.59536361694336 ]
[ 0, 69.43359375, 84.111328125, 68.818359375, -1.7578125, 28.125 ]
3.033333
91
0
91
0
[ 0.7398767471313477, 68.74488067626953, 82.2713623046875, 69.89622497558594, -2.4813365936279297, 29.59844970703125 ]
[ 0, 68.73046875, 84.0234375, 68.818359375, -1.7578125, 28.125 ]
3.066667
92
0
92
0
[ 0.6416053771972656, 67.89793395996094, 81.88240814208984, 69.96440124511719, -2.4955692291259766, 29.544288635253906 ]
[ 0, 67.939453125, 84.0234375, 68.818359375, -1.7578125, 28.125 ]
3.1
93
0
93
0
[ 0.5888481140136719, 67.33354187011719, 81.74537658691406, 69.94915008544922, -2.530609130859375, 29.468679428100586 ]
[ 0, 67.236328125, 84.111328125, 68.818359375, -1.7578125, 28.125 ]
3.133333
94
0
94
0
[ 0.6969966888427734, 66.95347595214844, 81.63623046875, 69.92240142822266, -2.5704803466796875, 29.47890853881836 ]
[ 0, 66.708984375, 83.759765625, 68.818359375, -1.7578125, 28.125 ]
3.166667
95
0
95
0
[ 0.7616872787475586, 66.50135803222656, 81.48641967773438, 70.04173278808594, -2.614957809448242, 29.378847122192383 ]
[ 0, 66.4453125, 83.671875, 68.73046875, -1.7578125, 28.125 ]
3.2
96
0
96
0
[ 0.8042736053466797, 66.14035034179688, 81.39346313476562, 70.02713012695312, -2.668039321899414, 29.323230743408203 ]
[ 0, 65.91796875, 83.671875, 68.818359375, -1.7578125, 28.125 ]
3.233333
97
0
97
0
[ 0.7686777114868164, 65.77591705322266, 81.3443603515625, 70.04251098632812, -2.6712207794189453, 29.270002365112305 ]
[ 0, 65.56640625, 83.671875, 68.818359375, -1.7578125, 28.125 ]
3.266667
98
0
98
0
[ 0.8138723373413086, 65.32522583007812, 81.26828002929688, 70.0509033203125, -2.655750274658203, 29.170392990112305 ]
[ 0, 65.21484375, 83.671875, 68.818359375, -1.845703125, 28.212890625 ]
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": 4976,
    "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": [
                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": "av1",
                "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": "av1",
                "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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