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Datasets:
hangwu
/
koch_pick_terminal

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
16.6
frame_index
int64
0
497
episode_index
int64
0
84
index
int64
0
24.2k
task_index
int64
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2.5
75
0
75
0
[ 4.921875, 112.763671875, 120.673828125, 43.76953125, 23.466796875, 33.75 ]
[ 3.515625, 115.48828125, 128.408203125, 41.484375, 20.21484375, 33.57421875 ]
2.533333
76
0
76
0
[ 4.921875, 111.4453125, 118.916015625, 43.9453125, 24.78515625, 33.75 ]
[ 4.04296875, 114.169921875, 125.947265625, 42.451171875, 21.796875, 33.57421875 ]
2.566667
77
0
77
0
[ 5.009765625, 109.951171875, 117.158203125, 44.296875, 26.630859375, 33.837890625 ]
[ 4.5703125, 112.67578125, 124.1015625, 42.978515625, 23.203125, 33.57421875 ]
2.6
78
0
78
0
[ 5.185546875, 108.80859375, 115.3125, 45.17578125, 28.212890625, 34.013671875 ]
[ 5.009765625, 109.51171875, 121.904296875, 44.208984375, 26.19140625, 33.57421875 ]
2.633333
79
0
79
0
[ 6.240234375, 106.611328125, 113.115234375, 45.439453125, 30.05859375, 34.013671875 ]
[ 6.240234375, 106.259765625, 117.861328125, 45.17578125, 30.05859375, 33.57421875 ]
2.666667
80
0
80
0
[ 9.755859375, 101.865234375, 108.6328125, 45.52734375, 33.92578125, 34.013671875 ]
[ 8.61328125, 103.095703125, 114.9609375, 45.791015625, 32.255859375, 33.57421875 ]
2.7
81
0
81
0
[ 11.6015625, 98.26171875, 104.765625, 45.52734375, 34.453125, 34.189453125 ]
[ 9.052734375, 102.392578125, 113.994140625, 45.3515625, 32.87109375, 33.57421875 ]
2.733333
82
0
82
0
[ 12.12890625, 96.591796875, 102.919921875, 45.52734375, 35.244140625, 34.1015625 ]
[ 11.42578125, 98.349609375, 109.6875, 45.791015625, 34.365234375, 33.57421875 ]
2.766667
83
0
83
0
[ 13.359375, 94.306640625, 100.546875, 45.439453125, 35.419921875, 34.1015625 ]
[ 11.6015625, 97.3828125, 108.10546875, 45.703125, 34.716796875, 33.57421875 ]
2.8
84
0
84
0
[ 14.23828125, 93.076171875, 99.66796875, 45.52734375, 35.5078125, 34.1015625 ]
[ 13.095703125, 93.8671875, 105.1171875, 45.615234375, 35.33203125, 33.57421875 ]
2.833333
85
0
85
0
[ 15.732421875, 91.23046875, 98.173828125, 44.82421875, 35.595703125, 34.013671875 ]
[ 13.447265625, 93.251953125, 104.765625, 45.615234375, 35.244140625, 33.57421875 ]
2.866667
86
0
86
0
[ 16.435546875, 90.263671875, 97.03125, 44.6484375, 35.595703125, 33.92578125 ]
[ 15.556640625, 90.439453125, 103.798828125, 45.615234375, 35.33203125, 33.57421875 ]
2.9
87
0
87
0
[ 17.578125, 88.857421875, 96.064453125, 43.41796875, 35.595703125, 33.837890625 ]
[ 16.875, 88.76953125, 102.392578125, 45.52734375, 35.244140625, 33.57421875 ]
2.933333
88
0
88
0
[ 18.45703125, 88.06640625, 95.2734375, 42.978515625, 35.15625, 33.837890625 ]
[ 17.578125, 87.890625, 101.42578125, 45.52734375, 35.33203125, 33.57421875 ]
2.966667
89
0
89
0
[ 19.248046875, 86.572265625, 93.8671875, 42.978515625, 34.453125, 33.837890625 ]
[ 17.75390625, 87.626953125, 100.8984375, 45.52734375, 35.33203125, 33.57421875 ]
3
90
0
90
0
[ 19.6875, 85.95703125, 93.33984375, 42.802734375, 33.75, 33.837890625 ]
[ 19.072265625, 86.044921875, 98.876953125, 45.3515625, 35.068359375, 33.57421875 ]
3.033333
91
0
91
0
[ 19.951171875, 85.078125, 93.1640625, 42.01171875, 33.837890625, 32.6953125 ]
[ 19.86328125, 84.814453125, 98.0859375, 45.087890625, 34.716796875, 33.3984375 ]
3.066667
92
0
92
0
[ 20.56640625, 84.111328125, 92.724609375, 41.923828125, 33.92578125, 32.16796875 ]
[ 20.0390625, 84.55078125, 98.0859375, 44.82421875, 34.62890625, 33.310546875 ]
3.1
93
0
93
0
[ 20.654296875, 83.49609375, 92.28515625, 42.01171875, 34.27734375, 32.080078125 ]
[ 20.478515625, 82.79296875, 97.998046875, 44.47265625, 34.365234375, 32.87109375 ]
3.133333
94
0
94
0
[ 20.830078125, 81.5625, 91.142578125, 42.01171875, 35.771484375, 32.080078125 ]
[ 20.91796875, 82.08984375, 97.91015625, 44.47265625, 34.453125, 32.87109375 ]
3.166667
95
0
95
0
[ 20.7421875, 80.15625, 90.52734375, 42.1875, 35.771484375, 31.904296875 ]
[ 21.005859375, 81.650390625, 97.646484375, 44.47265625, 34.62890625, 32.87109375 ]
3.2
96
0
96
0
[ 20.654296875, 79.453125, 90.087890625, 42.275390625, 35.595703125, 31.025390625 ]
[ 20.91796875, 79.27734375, 95.625, 44.296875, 35.33203125, 32.431640625 ]
3.233333
97
0
97
0
[ 20.390625, 78.3984375, 89.296875, 42.275390625, 35.33203125, 29.8828125 ]
[ 20.7421875, 77.255859375, 95.009765625, 44.12109375, 35.5078125, 30.5859375 ]
3.266667
98
0
98
0
[ 18.6328125, 76.376953125, 87.802734375, 42.36328125, 32.87109375, 29.970703125 ]
[ 20.7421875, 77.255859375, 95.009765625, 44.12109375, 35.419921875, 30.5859375 ]
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": 85,
    "total_frames": 24157,
    "total_tasks": 1,
    "total_videos": 255,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:85"
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    "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": {
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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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.top": {
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                "video.channels": 3,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.side": {
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            "names": [
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                "width",
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            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
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                "video.channels": 3,
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                "video.is_depth_map": false,
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        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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