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Datasets:
hoffnung1208
/
koch_wrist

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
14.9
frame_index
int64
0
744
episode_index
int64
0
199
index
int64
0
46.2k
task_index
int64
0
0
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[ 49.39453125, 64.86328125, 118.564453125, -40.4296875, 186.943359375, 34.189453125 ]
1.56
78
0
78
0
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[ 49.39453125, 63.45703125, 116.982421875, -40.4296875, 186.943359375, 34.189453125 ]
1.58
79
0
79
0
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[ 49.39453125, 62.578125, 115.751953125, -40.517578125, 186.85546875, 34.189453125 ]
1.6
80
0
80
0
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[ 49.39453125, 61.875, 115.13671875, -40.4296875, 186.943359375, 34.189453125 ]
1.62
81
0
81
0
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[ 49.39453125, 60.99609375, 114.521484375, -40.517578125, 186.85546875, 34.189453125 ]
1.64
82
0
82
0
[ 49.921875, 60.99609375, 110.21484375, -45.17578125, 187.55859375, 34.1015625 ]
[ 49.306640625, 59.677734375, 112.939453125, -40.517578125, 186.85546875, 34.189453125 ]
1.66
83
0
83
0
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1.68
84
0
84
0
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1.7
85
0
85
0
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[ 49.130859375, 58.88671875, 112.236328125, -40.693359375, 186.767578125, 33.662109375 ]
1.72
86
0
86
0
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[ 49.04296875, 58.53515625, 111.796875, -40.95703125, 186.767578125, 33.3984375 ]
1.74
87
0
87
0
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1.76
88
0
88
0
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1.78
89
0
89
0
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[ 48.515625, 57.568359375, 110.7421875, -41.1328125, 186.767578125, 32.431640625 ]
1.8
90
0
90
0
[ 48.1640625, 57.919921875, 107.75390625, -45.17578125, 187.294921875, 28.125 ]
[ 48.427734375, 56.953125, 110.21484375, -41.1328125, 186.85546875, 31.904296875 ]
1.82
91
0
91
0
[ 47.98828125, 57.744140625, 107.75390625, -45.263671875, 187.294921875, 24.43359375 ]
[ 48.1640625, 56.513671875, 109.599609375, -41.220703125, 186.6796875, 30.498046875 ]
1.84
92
0
92
0
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[ 47.8125, 56.42578125, 109.3359375, -41.30859375, 186.767578125, 28.4765625 ]
1.86
93
0
93
0
[ 47.63671875, 57.48046875, 107.75390625, -45.263671875, 187.3828125, 12.392578125 ]
[ 47.4609375, 56.42578125, 109.248046875, -41.396484375, 186.767578125, 25.048828125 ]
1.88
94
0
94
0
[ 47.373046875, 57.48046875, 107.75390625, -45.263671875, 187.3828125, 8.61328125 ]
[ 47.28515625, 56.42578125, 109.248046875, -41.396484375, 186.6796875, 21.884765625 ]
1.9
95
0
95
0
[ 47.109375, 57.48046875, 107.666015625, -45.263671875, 187.3828125, 5.712890625 ]
[ 47.021484375, 56.42578125, 109.248046875, -41.484375, 186.767578125, 17.40234375 ]
1.92
96
0
96
0
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1.94
97
0
97
0
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[ 46.845703125, 56.42578125, 109.16015625, -41.66015625, 186.591796875, 7.998046875 ]
1.96
98
0
98
0
[ 46.669921875, 57.392578125, 107.05078125, -45.17578125, 187.470703125, 0.703125 ]
[ 46.845703125, 56.42578125, 109.16015625, -41.8359375, 186.767578125, 5.625 ]
1.98
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": 12352,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "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.uvc": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 50.0,
                "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": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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