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TFBOT2025
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koch_test4

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Robotics
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action
sequence
observation.state
sequence
timestamp
float32
0
9.87
frame_index
int64
0
296
episode_index
int64
0
9
index
int64
0
2.81k
task_index
int64
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[ 80.68359375, 69.521484375, 65.7421875, 74.35546875, -40.078125, 36.474609375 ]
[ 78.57421875, 69.43359375, 67.236328125, 75.41015625, -38.759765625, 34.8046875 ]
2.566667
77
0
77
0
[ 80.595703125, 69.08203125, 65.7421875, 74.267578125, -40.341796875, 36.9140625 ]
[ 78.57421875, 68.642578125, 67.32421875, 75.322265625, -38.935546875, 35.595703125 ]
2.6
78
0
78
0
[ 80.595703125, 68.73046875, 65.830078125, 74.267578125, -40.60546875, 37.08984375 ]
[ 78.57421875, 68.291015625, 67.587890625, 75.322265625, -39.287109375, 35.771484375 ]
2.633333
79
0
79
0
[ 80.5078125, 68.203125, 65.7421875, 74.1796875, -40.693359375, 37.177734375 ]
[ 78.57421875, 67.939453125, 67.5, 75.322265625, -39.638671875, 36.03515625 ]
2.666667
80
0
80
0
[ 80.5078125, 67.763671875, 65.830078125, 74.1796875, -40.869140625, 37.177734375 ]
[ 78.662109375, 67.67578125, 67.32421875, 75.322265625, -39.814453125, 36.474609375 ]
2.7
81
0
81
0
[ 80.419921875, 67.32421875, 65.830078125, 73.740234375, -41.220703125, 37.177734375 ]
[ 78.662109375, 67.32421875, 67.32421875, 75.322265625, -39.990234375, 36.474609375 ]
2.733333
82
0
82
0
[ 80.33203125, 67.236328125, 66.181640625, 73.037109375, -41.572265625, 37.177734375 ]
[ 78.75, 66.708984375, 67.412109375, 75.234375, -40.078125, 36.474609375 ]
2.766667
83
0
83
0
[ 80.15625, 67.236328125, 66.97265625, 71.3671875, -41.748046875, 37.177734375 ]
[ 78.662109375, 66.533203125, 67.587890625, 74.970703125, -40.4296875, 36.474609375 ]
2.8
84
0
84
0
[ 80.068359375, 67.412109375, 68.115234375, 68.90625, -41.748046875, 37.177734375 ]
[ 78.662109375, 66.4453125, 67.587890625, 74.443359375, -40.693359375, 36.474609375 ]
2.833333
85
0
85
0
[ 79.98046875, 67.939453125, 69.345703125, 66.005859375, -41.748046875, 37.177734375 ]
[ 78.662109375, 66.533203125, 68.203125, 72.94921875, -40.869140625, 36.474609375 ]
2.866667
86
0
86
0
[ 79.892578125, 68.291015625, 70.751953125, 63.28125, -41.748046875, 37.177734375 ]
[ 78.662109375, 66.62109375, 69.521484375, 70.83984375, -40.869140625, 36.474609375 ]
2.9
87
0
87
0
[ 79.892578125, 68.818359375, 72.158203125, 60.908203125, -41.923828125, 37.265625 ]
[ 78.57421875, 66.62109375, 70.927734375, 68.466796875, -40.95703125, 36.474609375 ]
2.933333
88
0
88
0
[ 79.8046875, 68.994140625, 73.212890625, 59.326171875, -42.099609375, 37.265625 ]
[ 78.57421875, 66.533203125, 72.861328125, 65.91796875, -40.869140625, 36.474609375 ]
2.966667
89
0
89
0
[ 79.892578125, 69.169921875, 74.00390625, 58.623046875, -42.1875, 37.265625 ]
[ 78.57421875, 66.533203125, 74.443359375, 63.720703125, -41.044921875, 36.474609375 ]
3
90
0
90
0
[ 79.892578125, 69.2578125, 74.35546875, 58.623046875, -42.275390625, 37.265625 ]
[ 78.57421875, 66.62109375, 75.146484375, 61.787109375, -41.396484375, 36.474609375 ]
3.033333
91
0
91
0
[ 79.892578125, 69.2578125, 74.35546875, 58.359375, -42.1875, 37.265625 ]
[ 78.57421875, 66.62109375, 75.498046875, 60.64453125, -41.66015625, 36.474609375 ]
3.066667
92
0
92
0
[ 79.8046875, 69.2578125, 74.35546875, 58.271484375, -41.923828125, 37.265625 ]
[ 78.57421875, 66.708984375, 75.41015625, 60.029296875, -41.748046875, 36.474609375 ]
3.1
93
0
93
0
[ 79.716796875, 69.521484375, 74.35546875, 58.18359375, -41.66015625, 37.177734375 ]
[ 78.57421875, 66.708984375, 75.41015625, 59.677734375, -41.572265625, 36.474609375 ]
3.133333
94
0
94
0
[ 79.62890625, 69.697265625, 74.35546875, 58.095703125, -41.66015625, 37.177734375 ]
[ 78.57421875, 66.708984375, 75.41015625, 59.677734375, -41.396484375, 36.474609375 ]
3.166667
95
0
95
0
[ 79.62890625, 69.9609375, 74.443359375, 58.095703125, -41.66015625, 37.177734375 ]
[ 78.57421875, 66.708984375, 75.498046875, 59.677734375, -41.1328125, 36.474609375 ]
3.2
96
0
96
0
[ 79.541015625, 70.3125, 74.70703125, 57.919921875, -41.572265625, 37.08984375 ]
[ 78.57421875, 66.708984375, 75.41015625, 59.677734375, -40.95703125, 36.474609375 ]
3.233333
97
0
97
0
[ 79.541015625, 70.400390625, 74.794921875, 57.48046875, -41.1328125, 36.73828125 ]
[ 78.57421875, 66.97265625, 75.498046875, 59.58984375, -40.95703125, 36.474609375 ]
3.266667
98
0
98
0
[ 79.541015625, 70.400390625, 74.794921875, 57.041015625, -39.90234375, 35.947265625 ]
[ 78.57421875, 66.97265625, 75.41015625, 59.326171875, -40.95703125, 36.38671875 ]
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": "v2.0",
    "robot_type": "koch",
    "total_episodes": 10,
    "total_frames": 2808,
    "total_tasks": 1,
    "total_videos": 10,
    "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
            }
        },
        "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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