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Datasets:
hoffnung1208
/
koch_wrist_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
18
frame_index
int64
0
899
episode_index
int64
0
5
index
int64
0
2.17k
task_index
int64
0
0
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1.54
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1.56
78
0
78
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1.58
79
0
79
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1.6
80
0
80
0
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[ 29.70703125, 65.390625, 135.3515625, -58.623046875, 188.26171875, 10.107421875 ]
1.62
81
0
81
0
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[ 29.70703125, 65.390625, 135.087890625, -58.7109375, 188.26171875, 8.525390625 ]
1.64
82
0
82
0
[ 30.234375, 66.708984375, 134.6484375, -63.80859375, 189.755859375, -1.40625 ]
[ 29.794921875, 65.390625, 135.087890625, -59.0625, 188.173828125, 6.328125 ]
1.66
83
0
83
0
[ 30.322265625, 67.1484375, 134.6484375, -63.80859375, 190.1953125, -4.5703125 ]
[ 29.794921875, 65.390625, 135.087890625, -59.501953125, 188.7890625, 4.74609375 ]
1.68
84
0
84
0
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1.7
85
0
85
0
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[ 30.05859375, 65.478515625, 135.087890625, -59.853515625, 188.61328125, 3.33984375 ]
1.72
86
0
86
0
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[ 29.970703125, 65.478515625, 135.087890625, -59.853515625, 188.61328125, 1.318359375 ]
1.74
87
0
87
0
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[ 29.970703125, 65.7421875, 135.087890625, -59.853515625, 188.701171875, 0.966796875 ]
1.76
88
0
88
0
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[ 29.970703125, 65.7421875, 135.087890625, -59.853515625, 188.7890625, 0.966796875 ]
1.78
89
0
89
0
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[ 29.970703125, 65.7421875, 135.087890625, -59.853515625, 188.876953125, 0.966796875 ]
1.8
90
0
90
0
[ 30.05859375, 69.873046875, 134.82421875, -63.369140625, 190.810546875, -7.91015625 ]
[ 29.970703125, 66.005859375, 135.087890625, -59.853515625, 188.96484375, 0.966796875 ]
1.82
91
0
91
0
[ 29.970703125, 70.751953125, 134.82421875, -63.193359375, 190.546875, -7.91015625 ]
[ 29.970703125, 66.26953125, 135.17578125, -59.853515625, 188.96484375, 0.966796875 ]
1.84
92
0
92
0
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[ 29.8828125, 66.533203125, 135.263671875, -59.765625, 188.96484375, 0.966796875 ]
1.86
93
0
93
0
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[ 29.619140625, 67.060546875, 135.3515625, -59.677734375, 188.96484375, 0.966796875 ]
1.88
94
0
94
0
[ 29.1796875, 73.65234375, 134.6484375, -61.875, 189.66796875, -7.91015625 ]
[ 29.35546875, 67.8515625, 135.439453125, -59.677734375, 188.96484375, 0.966796875 ]
1.9
95
0
95
0
[ 28.740234375, 75.234375, 134.560546875, -60.380859375, 188.876953125, -7.91015625 ]
[ 29.267578125, 68.818359375, 135.3515625, -59.58984375, 189.052734375, 0.966796875 ]
1.92
96
0
96
0
[ 28.4765625, 77.34375, 134.384765625, -58.095703125, 188.701171875, -7.91015625 ]
[ 28.916015625, 70.13671875, 135.3515625, -59.58984375, 188.96484375, 0.966796875 ]
1.94
97
0
97
0
[ 28.037109375, 79.365234375, 134.033203125, -56.162109375, 188.26171875, -7.91015625 ]
[ 28.65234375, 71.71875, 135.3515625, -58.798828125, 188.7890625, 0.966796875 ]
1.96
98
0
98
0
[ 27.685546875, 81.123046875, 133.681640625, -54.755859375, 187.20703125, -7.91015625 ]
[ 28.4765625, 73.4765625, 135.3515625, -57.12890625, 188.525390625, 0.966796875 ]
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": 6,
    "total_frames": 2168,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:6"
    },
    "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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