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observation.state
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float32
0
5.1
frame_index
int64
0
51
episode_index
int64
0
0
index
int64
0
51
task_index
int64
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[ 98.0859375, 132.5390625, 179.47265625, 0.615234375, 81.9140625, 76.376953125 ]
[ 97.734375, 131.220703125, 176.484375, -3.779296875, 82.44140625, 84.19921875 ]
0
0
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[ 98.0859375, 132.5390625, 179.47265625, 0.615234375, 81.9140625, 76.376953125 ]
[ 97.734375, 131.220703125, 176.484375, -3.779296875, 82.44140625, 84.19921875 ]
0.1
1
0
1
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[ 98.0859375, 132.5390625, 179.47265625, 0.615234375, 81.9140625, 76.376953125 ]
[ 97.734375, 131.220703125, 176.484375, -3.779296875, 82.44140625, 84.19921875 ]
0.2
2
0
2
0
[ 98.0859375, 132.5390625, 179.47265625, 0.615234375, 81.9140625, 76.376953125 ]
[ 97.734375, 131.220703125, 176.484375, -3.779296875, 82.44140625, 84.19921875 ]
0.3
3
0
3
0
[ 98.0859375, 132.5390625, 179.47265625, 0.615234375, 81.73828125, 76.376953125 ]
[ 97.734375, 131.220703125, 176.484375, -3.779296875, 82.44140625, 84.19921875 ]
0.4
4
0
4
0
[ 98.0859375, 132.5390625, 179.47265625, 0.615234375, 81.5625, 76.376953125 ]
[ 97.734375, 131.220703125, 176.484375, -3.779296875, 82.44140625, 84.19921875 ]
0.5
5
0
5
0
[ 97.91015625, 132.802734375, 179.47265625, 0.703125, 80.068359375, 76.376953125 ]
[ 97.734375, 131.220703125, 176.484375, -3.779296875, 82.001953125, 84.19921875 ]
0.6
6
0
6
0
[ 97.91015625, 133.06640625, 177.5390625, 5.361328125, 79.541015625, 76.376953125 ]
[ 97.734375, 131.220703125, 176.484375, -3.779296875, 81.5625, 84.19921875 ]
0.7
7
0
7
0
[ 97.822265625, 133.330078125, 170.33203125, 18.369140625, 79.892578125, 76.376953125 ]
[ 97.734375, 131.220703125, 176.484375, -3.779296875, 81.123046875, 84.19921875 ]
0.8
8
0
8
0
[ 97.734375, 133.330078125, 164.70703125, 24.9609375, 79.8046875, 76.376953125 ]
[ 97.734375, 131.220703125, 167.080078125, 12.744140625, 80.859375, 84.19921875 ]
0.9
9
0
9
0
[ 97.470703125, 132.802734375, 159.609375, 30.234375, 79.8046875, 76.376953125 ]
[ 97.734375, 131.220703125, 164.1796875, 19.3359375, 80.68359375, 84.19921875 ]
1
10
0
10
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[ 96.943359375, 131.66015625, 155.126953125, 33.92578125, 79.8046875, 76.376953125 ]
[ 97.734375, 131.220703125, 160.83984375, 26.630859375, 80.595703125, 84.19921875 ]
1.1
11
0
11
0
[ 96.416015625, 129.375, 151.083984375, 35.771484375, 79.716796875, 76.376953125 ]
[ 97.3828125, 130.517578125, 157.060546875, 33.837890625, 80.5078125, 84.19921875 ]
1.2
12
0
12
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[ 96.15234375, 125.859375, 147.48046875, 35.595703125, 79.453125, 76.376953125 ]
[ 97.294921875, 128.583984375, 154.951171875, 35.947265625, 80.419921875, 84.19921875 ]
1.3
13
0
13
0
[ 96.064453125, 121.81640625, 143.7890625, 35.5078125, 79.453125, 76.376953125 ]
[ 96.85546875, 122.255859375, 148.447265625, 35.947265625, 80.33203125, 84.19921875 ]
1.4
14
0
14
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[ 96.064453125, 118.388671875, 140.537109375, 35.244140625, 79.453125, 76.376953125 ]
[ 96.6796875, 120.9375, 148.18359375, 35.859375, 80.33203125, 84.19921875 ]
1.5
15
0
15
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[ 96.15234375, 116.103515625, 138.33984375, 35.15625, 79.453125, 76.376953125 ]
[ 96.416015625, 117.7734375, 148.271484375, 35.947265625, 80.244140625, 84.19921875 ]
1.6
16
0
16
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[ 96.15234375, 114.2578125, 136.318359375, 34.716796875, 79.453125, 76.376953125 ]
[ 96.416015625, 116.630859375, 147.65625, 35.859375, 80.15625, 84.19921875 ]
1.7
17
0
17
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[ 96.15234375, 112.236328125, 134.12109375, 34.541015625, 79.453125, 76.376953125 ]
[ 96.328125, 114.345703125, 141.85546875, 35.771484375, 80.068359375, 84.19921875 ]
1.8
18
0
18
0
[ 96.15234375, 109.951171875, 131.923828125, 34.453125, 79.453125, 76.376953125 ]
[ 96.240234375, 112.236328125, 137.8125, 35.68359375, 80.15625, 84.19921875 ]
1.9
19
0
19
0
[ 96.15234375, 107.490234375, 129.990234375, 34.27734375, 79.453125, 76.376953125 ]
[ 96.240234375, 107.75390625, 137.548828125, 35.33203125, 80.15625, 84.19921875 ]
2
20
0
20
0
[ 96.15234375, 105.732421875, 128.759765625, 33.662109375, 79.27734375, 76.376953125 ]
[ 96.240234375, 107.490234375, 137.373046875, 35.5078125, 80.068359375, 84.19921875 ]
2.1
21
0
21
0
[ 96.15234375, 104.326171875, 127.96875, 32.6953125, 78.57421875, 76.376953125 ]
[ 96.240234375, 105.556640625, 135, 35.419921875, 80.244140625, 84.19921875 ]
2.2
22
0
22
0
[ 96.15234375, 102.568359375, 126.474609375, 32.255859375, 78.310546875, 76.376953125 ]
[ 96.240234375, 103.53515625, 133.41796875, 34.716796875, 79.98046875, 84.19921875 ]
2.3
23
0
23
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[ 96.15234375, 100.810546875, 124.98046875, 32.16796875, 78.310546875, 76.376953125 ]
[ 96.240234375, 102.392578125, 133.06640625, 34.453125, 79.62890625, 84.19921875 ]
2.4
24
0
24
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[ 96.240234375, 99.580078125, 124.013671875, 31.376953125, 78.22265625, 76.376953125 ]
[ 96.240234375, 100.107421875, 131.1328125, 34.27734375, 79.892578125, 84.19921875 ]
2.5
25
0
25
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[ 96.416015625, 98.61328125, 122.87109375, 31.11328125, 77.958984375, 76.376953125 ]
[ 96.328125, 98.26171875, 129.7265625, 34.013671875, 79.8046875, 84.19921875 ]
2.6
26
0
26
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[ 96.591796875, 97.646484375, 121.2890625, 31.201171875, 77.87109375, 76.376953125 ]
[ 96.328125, 98.173828125, 129.287109375, 33.837890625, 79.8046875, 84.19921875 ]
2.7
27
0
27
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[ 96.6796875, 96.240234375, 119.619140625, 31.2890625, 77.87109375, 76.376953125 ]
[ 96.416015625, 96.85546875, 128.056640625, 33.837890625, 79.8046875, 84.19921875 ]
2.8
28
0
28
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[ 96.6796875, 94.658203125, 117.861328125, 31.2890625, 77.87109375, 76.376953125 ]
[ 96.416015625, 94.5703125, 126.298828125, 33.92578125, 79.541015625, 84.19921875 ]
2.9
29
0
29
0
[ 96.6796875, 93.427734375, 116.279296875, 31.376953125, 77.87109375, 76.376953125 ]
[ 96.416015625, 93.076171875, 124.1015625, 33.837890625, 79.62890625, 84.19921875 ]
3
30
0
30
0
[ 96.6796875, 92.373046875, 114.609375, 31.2890625, 77.783203125, 76.376953125 ]
[ 96.416015625, 92.109375, 123.92578125, 33.837890625, 79.62890625, 84.19921875 ]
3.1
31
0
31
0
[ 96.767578125, 91.40625, 113.37890625, 31.201171875, 77.783203125, 76.376953125 ]
[ 96.50390625, 91.669921875, 123.486328125, 33.837890625, 79.716796875, 84.19921875 ]
3.2
32
0
32
0
[ 96.6796875, 90.52734375, 112.1484375, 31.201171875, 77.783203125, 76.376953125 ]
[ 96.50390625, 90.263671875, 121.728515625, 33.92578125, 79.62890625, 84.19921875 ]
3.3
33
0
33
0
[ 96.6796875, 89.6484375, 110.830078125, 31.201171875, 77.783203125, 76.376953125 ]
[ 96.50390625, 89.208984375, 119.619140625, 33.837890625, 79.62890625, 84.19921875 ]
3.4
34
0
34
0
[ 96.6796875, 88.59375, 108.720703125, 31.376953125, 77.783203125, 76.376953125 ]
[ 96.50390625, 89.208984375, 119.619140625, 33.837890625, 79.62890625, 84.19921875 ]
3.5
35
0
35
0
[ 96.6796875, 87.802734375, 106.962890625, 31.376953125, 77.783203125, 76.376953125 ]
[ 96.50390625, 87.36328125, 115.400390625, 33.837890625, 79.716796875, 84.19921875 ]
3.6
36
0
36
0
[ 96.943359375, 86.30859375, 104.150390625, 31.46484375, 77.16796875, 76.376953125 ]
[ 96.50390625, 85.693359375, 113.5546875, 33.92578125, 79.62890625, 84.19921875 ]
3.7
37
0
37
0
[ 96.943359375, 84.990234375, 102.12890625, 31.552734375, 76.728515625, 76.376953125 ]
[ 96.50390625, 84.55078125, 111.4453125, 33.92578125, 79.62890625, 84.19921875 ]
3.8
38
0
38
0
[ 96.943359375, 83.84765625, 100.986328125, 31.552734375, 76.640625, 76.376953125 ]
[ 96.50390625, 83.935546875, 110.0390625, 33.92578125, 79.541015625, 84.19921875 ]
3.9
39
0
39
0
[ 97.119140625, 82.880859375, 100.01953125, 31.2890625, 76.552734375, 76.376953125 ]
[ 96.50390625, 82.44140625, 108.6328125, 33.837890625, 79.27734375, 84.19921875 ]
4
40
0
40
0
[ 97.294921875, 81.826171875, 99.052734375, 31.201171875, 76.46484375, 76.376953125 ]
[ 96.591796875, 81.826171875, 108.017578125, 33.92578125, 79.27734375, 84.19921875 ]
4.1
41
0
41
0
[ 97.294921875, 80.859375, 97.998046875, 31.025390625, 76.46484375, 76.376953125 ]
[ 96.591796875, 81.2109375, 107.9296875, 33.837890625, 79.27734375, 84.19921875 ]
4.2
42
0
42
0
[ 97.294921875, 79.892578125, 96.85546875, 30.9375, 76.46484375, 76.376953125 ]
[ 96.591796875, 79.189453125, 106.435546875, 33.92578125, 79.27734375, 84.19921875 ]
4.3
43
0
43
0
[ 97.294921875, 77.16796875, 92.900390625, 30.9375, 76.46484375, 76.376953125 ]
[ 96.591796875, 78.3984375, 106.435546875, 33.92578125, 79.27734375, 84.19921875 ]
4.4
44
0
44
0
[ 97.294921875, 76.46484375, 91.494140625, 30.849609375, 76.46484375, 76.376953125 ]
[ 96.6796875, 76.9921875, 106.171875, 33.837890625, 79.27734375, 84.19921875 ]
4.5
45
0
45
0
[ 97.3828125, 75.41015625, 89.47265625, 30.9375, 76.46484375, 76.376953125 ]
[ 96.591796875, 75.05859375, 96.943359375, 33.837890625, 79.189453125, 84.19921875 ]
4.6
46
0
46
0
[ 97.3828125, 74.53125, 88.06640625, 30.849609375, 76.376953125, 76.376953125 ]
[ 96.6796875, 73.916015625, 96.064453125, 33.837890625, 79.1015625, 84.19921875 ]
4.7
47
0
47
0
[ 97.734375, 72.7734375, 85.341796875, 30.849609375, 75.849609375, 76.376953125 ]
[ 97.03125, 71.806640625, 94.5703125, 33.837890625, 79.1015625, 84.19921875 ]
4.8
48
0
48
0
[ 97.822265625, 70.048828125, 81.2109375, 30.9375, 75.76171875, 76.376953125 ]
[ 97.55859375, 69.609375, 94.39453125, 33.837890625, 79.013671875, 84.19921875 ]
4.9
49
0
49
0
[ 97.822265625, 68.642578125, 79.27734375, 30.9375, 75.5859375, 76.376953125 ]
[ 97.734375, 68.90625, 93.603515625, 33.837890625, 78.92578125, 84.19921875 ]
5
50
0
50
0
[ 97.91015625, 67.32421875, 77.51953125, 30.849609375, 75.498046875, 76.376953125 ]
[ 97.998046875, 66.181640625, 85.869140625, 33.837890625, 78.486328125, 84.19921875 ]
5.1
51
0
51
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "koch",
    "total_episodes": 1,
    "total_frames": 52,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "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.on_follow_arm": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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