Koch Robot Dataset Collection
Collection
3 items
•
Updated
Datasets:
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observation.state
sequence | action
sequence | episode_index
int64 0
49
| frame_index
int64 0
955
| timestamp
float32 0
31.8
| next.done
bool 2
classes | index
int64 0
38.1k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 50,
"total_frames": 38106,
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": {
"motors": [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
"gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": {
"motors": [
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"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
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}
},
"observation.images.nexigo_webcam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
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},
"observation.images.realsense": {
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640,
3
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"width",
"channels"
],
"video_info": {
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"video.codec": "av1",
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}
},
"episode_index": {
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"shape": [
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"names": null
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"frame_index": {
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"next.done": {
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"shape": [
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"names": null
},
"index": {
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"shape": [
1
],
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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License:
apache-2.0
Size of downloaded dataset files:
1.99 MB
Size of the auto-converted Parquet files:
1.99 MB
Number of rows:
38,106