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kwangchaeko
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eval_act_koch_test_100000

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action
sequence
observation.state
sequence
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float32
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40.4
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int64
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1.21k
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[ -1.288407802581787, 110.3443832397461, 84.14128875732422, 72.02812194824219 ]
[ -1.23046875, 106.083984375, 82.880859375, 70.400390625 ]
3
90
0
90
0
[ -1.2142202854156494, 110.64591979980469, 84.27272033691406, 72.08600616455078 ]
[ -1.23046875, 107.138671875, 83.583984375, 70.6640625 ]
3.033333
91
0
91
0
[ -1.1853053569793701, 111.90841674804688, 85.5208511352539, 71.6142349243164 ]
[ -1.23046875, 108.45703125, 84.462890625, 71.015625 ]
3.066667
92
0
92
0
[ -1.1419930458068848, 111.37239837646484, 84.6401138305664, 71.72445678710938 ]
[ -1.23046875, 109.3359375, 84.462890625, 71.455078125 ]
3.1
93
0
93
0
[ -1.0704567432403564, 111.90481567382812, 85.24213409423828, 71.8630142211914 ]
[ -1.142578125, 110.21484375, 85.341796875, 71.54296875 ]
3.133333
94
0
94
0
[ -1.0386271476745605, 112.19671630859375, 85.78583526611328, 71.26815795898438 ]
[ -1.142578125, 110.478515625, 85.517578125, 71.54296875 ]
3.166667
95
0
95
0
[ -0.9490110874176025, 111.9107666015625, 85.849365234375, 70.46688079833984 ]
[ -1.142578125, 110.830078125, 85.517578125, 71.630859375 ]
3.2
96
0
96
0
[ -0.8683803081512451, 110.5345687866211, 84.19605255126953, 70.5754623413086 ]
[ -1.0546875, 111.181640625, 85.78125, 71.630859375 ]
3.233333
97
0
97
0
[ -0.8338937759399414, 110.54682922363281, 83.82821655273438, 70.83889770507812 ]
[ -0.966796875, 111.181640625, 86.044921875, 71.3671875 ]
3.266667
98
0
98
0
[ -0.8050426244735718, 110.49943542480469, 83.81236267089844, 71.12586975097656 ]
[ -0.87890625, 111.005859375, 85.60546875, 71.103515625 ]
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": 1,
    "total_frames": 1212,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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": [
                4
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex"
            ]
        },
        "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
            }
        },
        "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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License:
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