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hannesill
/
koch_pnp_simple_50

Tasks:
Robotics
Modalities:
Tabular
Time-series
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parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
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sequence
observation.state
sequence
timestamp
float32
0
15.8
frame_index
int64
0
475
episode_index
int64
0
49
index
int64
0
13.1k
task_index
int64
0
0
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[ 1.93359375, 128.232421875, 174.90234375, -2.021484375, -0.966796875, 33.57421875 ]
2.5
75
0
75
0
[ 2.109375, 132.626953125, 177.626953125, 2.724609375, -1.40625, 34.1015625 ]
[ 1.93359375, 128.232421875, 174.90234375, -2.021484375, -0.87890625, 33.57421875 ]
2.533333
76
0
76
0
[ 1.93359375, 132.626953125, 177.626953125, 2.900390625, -1.40625, 33.837890625 ]
[ 1.93359375, 128.232421875, 174.90234375, -2.021484375, -0.87890625, 33.57421875 ]
2.566667
77
0
77
0
[ 1.7578125, 132.626953125, 177.626953125, 2.900390625, -1.494140625, 33.75 ]
[ 1.669921875, 128.232421875, 174.90234375, -2.021484375, -0.966796875, 33.22265625 ]
2.6
78
0
78
0
[ 1.669921875, 132.71484375, 177.451171875, 2.373046875, -1.494140625, 33.57421875 ]
[ 1.58203125, 128.232421875, 174.90234375, -2.021484375, -0.966796875, 33.134765625 ]
2.633333
79
0
79
0
[ 1.7578125, 132.802734375, 177.1875, 1.58203125, -1.58203125, 33.22265625 ]
[ 1.58203125, 128.232421875, 174.90234375, -2.021484375, -0.966796875, 33.134765625 ]
2.666667
80
0
80
0
[ 1.845703125, 132.802734375, 176.923828125, 0.263671875, -1.58203125, 32.783203125 ]
[ 1.494140625, 128.232421875, 174.90234375, -2.021484375, -0.966796875, 33.134765625 ]
2.7
81
0
81
0
[ 1.93359375, 132.802734375, 176.220703125, -0.263671875, -1.40625, 32.431640625 ]
[ 1.494140625, 128.232421875, 174.90234375, -2.021484375, -0.966796875, 32.6953125 ]
2.733333
82
0
82
0
[ 1.93359375, 132.802734375, 174.7265625, -0.439453125, -0.52734375, 31.904296875 ]
[ 1.23046875, 128.232421875, 174.90234375, -2.021484375, -0.966796875, 32.431640625 ]
2.766667
83
0
83
0
[ 1.494140625, 132.802734375, 172.6171875, 0.52734375, 0.703125, 31.904296875 ]
[ 1.23046875, 128.232421875, 174.462890625, -1.93359375, -0.87890625, 31.81640625 ]
2.8
84
0
84
0
[ 0.791015625, 132.802734375, 170.33203125, 1.0546875, 2.373046875, 31.904296875 ]
[ 1.142578125, 128.232421875, 173.49609375, -1.845703125, -0.703125, 31.376953125 ]
2.833333
85
0
85
0
[ 0.263671875, 132.802734375, 167.783203125, 2.4609375, 4.482421875, 31.904296875 ]
[ 0.703125, 128.232421875, 171.650390625, -1.58203125, -0.087890625, 31.376953125 ]
2.866667
86
0
86
0
[ 0.17578125, 132.802734375, 164.00390625, 5.9765625, 6.416015625, 31.81640625 ]
[ 0.439453125, 128.232421875, 170.15625, -0.17578125, 0.966796875, 31.376953125 ]
2.9
87
0
87
0
[ 0.263671875, 132.71484375, 160.13671875, 10.107421875, 7.294921875, 31.81640625 ]
[ 0.439453125, 128.232421875, 168.046875, 1.669921875, 2.724609375, 31.376953125 ]
2.933333
88
0
88
0
[ 0.439453125, 132.626953125, 156.62109375, 12.3046875, 7.3828125, 31.728515625 ]
[ 0.17578125, 128.232421875, 165.5859375, 4.39453125, 4.306640625, 31.376953125 ]
2.966667
89
0
89
0
[ 0.439453125, 132.5390625, 153.6328125, 13.447265625, 7.3828125, 31.81640625 ]
[ 0.17578125, 128.232421875, 162.24609375, 7.55859375, 5.537109375, 31.2890625 ]
3
90
0
90
0
[ 0.439453125, 132.1875, 150.99609375, 15.1171875, 7.470703125, 31.728515625 ]
[ 0.17578125, 128.232421875, 158.203125, 10.458984375, 6.240234375, 31.376953125 ]
3.033333
91
0
91
0
[ 0.52734375, 132.01171875, 148.447265625, 17.578125, 7.55859375, 31.640625 ]
[ 0.087890625, 128.232421875, 154.51171875, 12.568359375, 6.591796875, 31.376953125 ]
3.066667
92
0
92
0
[ 0.52734375, 130.869140625, 146.162109375, 18.80859375, 7.55859375, 30.234375 ]
[ 0.087890625, 128.232421875, 151.34765625, 14.4140625, 6.767578125, 31.376953125 ]
3.1
93
0
93
0
[ 0.439453125, 129.55078125, 144.404296875, 19.6875, 7.734375, 29.970703125 ]
[ 0.087890625, 128.14453125, 149.326171875, 15.99609375, 6.767578125, 30.849609375 ]
3.133333
94
0
94
0
[ 0.263671875, 127.353515625, 142.470703125, 19.775390625, 7.998046875, 28.828125 ]
[ 0.087890625, 127.96875, 147.919921875, 17.490234375, 6.767578125, 29.70703125 ]
3.166667
95
0
95
0
[ 0.087890625, 124.62890625, 140.44921875, 20.390625, 7.998046875, 28.037109375 ]
[ 0.087890625, 127.44140625, 146.77734375, 18.6328125, 6.767578125, 28.65234375 ]
3.2
96
0
96
0
[ -0.439453125, 122.080078125, 138.33984375, 21.357421875, 8.525390625, 28.037109375 ]
[ 0.087890625, 126.650390625, 145.1953125, 19.423828125, 6.767578125, 28.30078125 ]
3.233333
97
0
97
0
[ -0.52734375, 119.443359375, 136.494140625, 21.796875, 8.96484375, 28.037109375 ]
[ 0.087890625, 124.8046875, 143.173828125, 20.21484375, 6.943359375, 28.30078125 ]
3.266667
98
0
98
0
[ -0.263671875, 117.0703125, 134.6484375, 21.97265625, 9.052734375, 28.037109375 ]
[ 0.087890625, 122.080078125, 140.625, 20.91796875, 7.20703125, 28.30078125 ]
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": 50,
    "total_frames": 13101,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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