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Datasets:
Allen-488
/
koch_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
tutorial
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License:
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action
sequence
observation.state
sequence
timestamp
float32
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21.9
frame_index
int64
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656
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[ -27.59765625, 103.88671875, 106.34765625, 84.7265625, 29.619140625, -9.140625 ]
[ -21.26953125, 101.07421875, 108.193359375, 79.27734375, 18.193359375, 6.50390625 ]
2.6
78
0
78
0
[ -32.255859375, 104.23828125, 106.34765625, 85.166015625, 34.892578125, -9.140625 ]
[ -24.2578125, 101.513671875, 108.193359375, 81.123046875, 22.5, 6.50390625 ]
2.633333
79
0
79
0
[ -37.353515625, 104.326171875, 106.34765625, 85.517578125, 41.923828125, -9.140625 ]
[ -28.125, 102.12890625, 108.193359375, 82.265625, 27.24609375, 6.50390625 ]
2.666667
80
0
80
0
[ -42.978515625, 104.4140625, 106.083984375, 86.396484375, 49.921875, -9.140625 ]
[ -32.6953125, 102.48046875, 108.193359375, 82.96875, 32.431640625, 6.50390625 ]
2.7
81
0
81
0
[ -49.658203125, 103.974609375, 105.556640625, 86.484375, 58.798828125, -9.140625 ]
[ -37.705078125, 102.568359375, 108.193359375, 83.49609375, 39.0234375, 6.50390625 ]
2.733333
82
0
82
0
[ -55.107421875, 102.48046875, 103.798828125, 86.572265625, 65.21484375, -9.140625 ]
[ -43.154296875, 102.48046875, 108.193359375, 83.759765625, 46.58203125, 6.50390625 ]
2.766667
83
0
83
0
[ -60.908203125, 101.689453125, 102.919921875, 86.572265625, 73.65234375, -9.140625 ]
[ -49.658203125, 101.953125, 106.69921875, 83.935546875, 54.404296875, 6.50390625 ]
2.8
84
0
84
0
[ -66.533203125, 101.513671875, 102.744140625, 86.572265625, 81.9140625, -9.140625 ]
[ -55.283203125, 101.162109375, 104.677734375, 84.0234375, 62.138671875, 6.50390625 ]
2.833333
85
0
85
0
[ -71.630859375, 100.8984375, 101.42578125, 86.66015625, 88.76953125, -9.140625 ]
[ -61.171875, 100.810546875, 103.88671875, 84.111328125, 70.13671875, 6.50390625 ]
2.866667
86
0
86
0
[ -74.443359375, 100.107421875, 100.283203125, 86.66015625, 92.548828125, -9.140625 ]
[ -65.302734375, 100.37109375, 103.88671875, 84.111328125, 75.76171875, 6.50390625 ]
2.9
87
0
87
0
[ -78.046875, 98.525390625, 99.404296875, 86.66015625, 97.822265625, -9.140625 ]
[ -70.13671875, 99.84375, 103.271484375, 84.19921875, 82.880859375, 6.50390625 ]
2.933333
88
0
88
0
[ -81.73828125, 97.3828125, 99.84375, 86.748046875, 103.53515625, -9.140625 ]
[ -74.619140625, 98.7890625, 101.77734375, 84.19921875, 89.208984375, 6.50390625 ]
2.966667
89
0
89
0
[ -84.55078125, 96.064453125, 100.72265625, 86.66015625, 107.578125, -9.140625 ]
[ -78.134765625, 97.294921875, 100.8984375, 84.19921875, 94.833984375, 6.50390625 ]
3
90
0
90
0
[ -87.1875, 95.80078125, 101.42578125, 86.66015625, 111.62109375, -9.140625 ]
[ -81.38671875, 96.15234375, 100.8984375, 84.375, 100.458984375, 6.50390625 ]
3.033333
91
0
91
0
[ -89.6484375, 95.80078125, 101.25, 86.66015625, 114.609375, -9.140625 ]
[ -84.462890625, 95.09765625, 101.42578125, 84.375, 105.205078125, 6.50390625 ]
3.066667
92
0
92
0
[ -91.40625, 94.833984375, 100.107421875, 86.66015625, 116.3671875, -9.140625 ]
[ -87.099609375, 94.5703125, 101.6015625, 84.55078125, 109.248046875, 6.50390625 ]
3.1
93
0
93
0
[ -91.58203125, 93.69140625, 99.052734375, 86.66015625, 116.54296875, -9.140625 ]
[ -89.296875, 94.130859375, 101.6015625, 84.55078125, 112.1484375, 6.50390625 ]
3.133333
94
0
94
0
[ -91.40625, 93.515625, 98.61328125, 86.66015625, 116.455078125, -9.140625 ]
[ -90.087890625, 93.33984375, 101.337890625, 84.55078125, 113.642578125, 6.50390625 ]
3.166667
95
0
95
0
[ -90.87890625, 93.427734375, 98.349609375, 86.66015625, 116.015625, -9.140625 ]
[ -90.439453125, 92.63671875, 100.986328125, 84.55078125, 114.43359375, 6.50390625 ]
3.2
96
0
96
0
[ -90.439453125, 93.427734375, 98.0859375, 86.66015625, 115.3125, -9.140625 ]
[ -90.263671875, 92.63671875, 100.986328125, 84.55078125, 114.873046875, 6.50390625 ]
3.233333
97
0
97
0
[ -90.3515625, 93.515625, 97.91015625, 86.66015625, 114.78515625, -8.26171875 ]
[ -90.087890625, 92.724609375, 100.72265625, 84.55078125, 114.9609375, 6.50390625 ]
3.266667
98
0
98
0
[ -89.736328125, 93.515625, 97.91015625, 86.66015625, 113.73046875, 2.63671875 ]
[ -90, 92.63671875, 100.01953125, 84.55078125, 114.697265625, 6.50390625 ]
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": 2,
    "total_frames": 1305,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": {
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            "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
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
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        },
        "observation.images.phone": {
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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