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Zhaoting123
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koch_test2

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Robotics
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action
sequence
observation.state
sequence
timestamp
float32
0
27.6
frame_index
int64
0
827
episode_index
int64
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index
int64
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task_index
int64
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75
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[ 23.02734375, 76.904296875, 159.609375, -65.478515625, -10.107421875, 12.65625 ]
[ 23.02734375, 76.2890625, 160.751953125, -61.962890625, -11.07421875, 12.3046875 ]
2.533333
76
0
76
0
[ 23.02734375, 76.9921875, 159.609375, -65.478515625, -9.84375, 12.65625 ]
[ 23.02734375, 76.2890625, 160.751953125, -61.962890625, -10.546875, 12.3046875 ]
2.566667
77
0
77
0
[ 23.02734375, 76.81640625, 159.609375, -65.478515625, -8.876953125, 12.65625 ]
[ 23.02734375, 76.2890625, 160.751953125, -61.962890625, -10.458984375, 12.3046875 ]
2.6
78
0
78
0
[ 23.02734375, 76.728515625, 159.609375, -65.478515625, -8.61328125, 12.65625 ]
[ 23.02734375, 76.2890625, 160.751953125, -61.962890625, -9.931640625, 12.3046875 ]
2.633333
79
0
79
0
[ 23.02734375, 76.640625, 159.609375, -65.478515625, -8.61328125, 12.65625 ]
[ 23.02734375, 76.2890625, 160.751953125, -61.962890625, -9.404296875, 12.3046875 ]
2.666667
80
0
80
0
[ 23.02734375, 76.640625, 159.609375, -65.478515625, -8.61328125, 12.48046875 ]
[ 23.02734375, 76.2890625, 160.751953125, -61.962890625, -9.052734375, 12.3046875 ]
2.7
81
0
81
0
[ 22.939453125, 76.728515625, 159.609375, -65.478515625, -8.4375, 11.25 ]
[ 23.02734375, 76.2890625, 160.751953125, -61.962890625, -8.876953125, 12.3046875 ]
2.733333
82
0
82
0
[ 22.939453125, 76.904296875, 159.609375, -65.478515625, -7.55859375, 8.26171875 ]
[ 23.02734375, 76.2890625, 160.751953125, -61.962890625, -8.61328125, 12.041015625 ]
2.766667
83
0
83
0
[ 22.939453125, 76.904296875, 159.2578125, -65.478515625, -5.625, 4.658203125 ]
[ 22.939453125, 76.2890625, 160.751953125, -61.962890625, -8.525390625, 10.810546875 ]
2.8
84
0
84
0
[ 22.8515625, 76.904296875, 158.642578125, -65.478515625, -2.900390625, 2.28515625 ]
[ 22.939453125, 76.2890625, 160.751953125, -61.962890625, -7.822265625, 8.701171875 ]
2.833333
85
0
85
0
[ 22.763671875, 76.904296875, 158.291015625, -65.478515625, -0.966796875, -0.966796875 ]
[ 22.8515625, 76.2890625, 160.048828125, -61.962890625, -5.009765625, 2.724609375 ]
2.866667
86
0
86
0
[ 22.32421875, 77.080078125, 158.115234375, -65.56640625, 0.3515625, -3.1640625 ]
[ 22.8515625, 76.2890625, 159.697265625, -61.962890625, -4.482421875, 1.494140625 ]
2.9
87
0
87
0
[ 21.97265625, 77.34375, 158.115234375, -65.478515625, 0.52734375, -3.251953125 ]
[ 22.67578125, 76.2890625, 159.169921875, -61.962890625, -3.1640625, -0.263671875 ]
2.933333
88
0
88
0
[ 21.884765625, 77.431640625, 158.115234375, -65.478515625, 0.52734375, -3.603515625 ]
[ 22.5, 76.2890625, 158.994140625, -61.962890625, -1.58203125, -1.40625 ]
2.966667
89
0
89
0
[ 21.796875, 77.431640625, 158.115234375, -65.478515625, 0.52734375, -4.5703125 ]
[ 22.412109375, 76.376953125, 158.994140625, -62.2265625, -0.439453125, -1.58203125 ]
3
90
0
90
0
[ 21.62109375, 77.431640625, 158.02734375, -65.478515625, 0.52734375, -4.921875 ]
[ 22.32421875, 76.376953125, 158.994140625, -62.490234375, 0.087890625, -1.845703125 ]
3.033333
91
0
91
0
[ 21.533203125, 77.431640625, 157.939453125, -65.478515625, 0.52734375, -5.009765625 ]
[ 22.32421875, 76.376953125, 158.994140625, -62.578125, 0.3515625, -2.197265625 ]
3.066667
92
0
92
0
[ 21.4453125, 77.431640625, 157.8515625, -65.478515625, 0.52734375, -5.2734375 ]
[ 22.32421875, 76.376953125, 158.994140625, -62.75390625, 0.52734375, -2.197265625 ]
3.1
93
0
93
0
[ 21.4453125, 77.431640625, 157.763671875, -65.478515625, 0.52734375, -5.9765625 ]
[ 22.236328125, 76.2890625, 158.994140625, -62.841796875, 0.52734375, -2.373046875 ]
3.133333
94
0
94
0
[ 21.4453125, 77.431640625, 157.67578125, -65.478515625, 0.703125, -6.15234375 ]
[ 22.1484375, 76.376953125, 158.994140625, -62.841796875, 0.52734375, -2.8125 ]
3.166667
95
0
95
0
[ 21.4453125, 77.431640625, 157.67578125, -65.478515625, 1.142578125, -6.328125 ]
[ 22.1484375, 76.376953125, 158.994140625, -62.841796875, 0.615234375, -3.076171875 ]
3.2
96
0
96
0
[ 21.4453125, 77.51953125, 157.67578125, -65.478515625, 1.669921875, -6.943359375 ]
[ 22.1484375, 76.376953125, 158.994140625, -62.841796875, 0.87890625, -3.1640625 ]
3.233333
97
0
97
0
[ 21.357421875, 77.6953125, 157.587890625, -65.478515625, 2.021484375, -8.0859375 ]
[ 22.060546875, 76.376953125, 158.994140625, -62.841796875, 1.142578125, -3.33984375 ]
3.266667
98
0
98
0
[ 21.005859375, 78.134765625, 157.587890625, -65.478515625, 2.021484375, -8.173828125 ]
[ 21.884765625, 76.552734375, 158.994140625, -62.841796875, 1.7578125, -3.33984375 ]
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": 828,
    "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": [
                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.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": "h264",
                "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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