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rgarreta
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koch_pick_place_lego_test

Tasks:
Robotics
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LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
8.97
frame_index
int64
0
269
episode_index
int64
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1
index
int64
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task_index
int64
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[ -4.921875, 87.5390625, 105.1171875, 50.185546875, 11.162109375, 33.3984375 ]
2.5
75
0
75
0
[ -6.416015625, 82.265625, 97.646484375, 53.96484375, 14.58984375, 33.134765625 ]
[ -5.009765625, 85.25390625, 103.271484375, 51.416015625, 11.77734375, 33.486328125 ]
2.533333
76
0
76
0
[ -6.943359375, 80.68359375, 96.50390625, 54.66796875, 15.029296875, 33.134765625 ]
[ -5.185546875, 83.056640625, 101.337890625, 52.55859375, 12.48046875, 33.486328125 ]
2.566667
77
0
77
0
[ -7.734375, 79.27734375, 95.361328125, 55.634765625, 15.556640625, 32.958984375 ]
[ -5.537109375, 81.03515625, 99.755859375, 53.173828125, 13.095703125, 33.486328125 ]
2.6
78
0
78
0
[ -8.26171875, 77.958984375, 93.69140625, 56.953125, 16.259765625, 32.958984375 ]
[ -6.064453125, 79.453125, 98.7890625, 53.876953125, 13.623046875, 32.958984375 ]
2.633333
79
0
79
0
[ -8.701171875, 76.728515625, 91.845703125, 58.53515625, 16.962890625, 32.51953125 ]
[ -6.85546875, 77.87109375, 97.55859375, 54.580078125, 14.0625, 32.607421875 ]
2.666667
80
0
80
0
[ -9.140625, 75.76171875, 90.087890625, 59.94140625, 17.578125, 32.51953125 ]
[ -7.55859375, 76.376953125, 95.888671875, 55.986328125, 14.58984375, 32.607421875 ]
2.7
81
0
81
0
[ -9.755859375, 74.8828125, 88.59375, 61.083984375, 17.841796875, 32.34375 ]
[ -8.0859375, 75.05859375, 94.21875, 56.953125, 15.029296875, 32.607421875 ]
2.733333
82
0
82
0
[ -10.1953125, 73.916015625, 87.275390625, 61.875, 18.28125, 32.34375 ]
[ -8.525390625, 74.00390625, 92.4609375, 58.095703125, 15.46875, 32.607421875 ]
2.766667
83
0
83
0
[ -10.72265625, 73.4765625, 86.044921875, 62.490234375, 18.6328125, 32.34375 ]
[ -8.96484375, 72.94921875, 90.615234375, 59.4140625, 15.8203125, 32.51953125 ]
2.8
84
0
84
0
[ -11.07421875, 72.59765625, 84.638671875, 63.45703125, 18.896484375, 31.9921875 ]
[ -9.404296875, 72.509765625, 89.47265625, 60.380859375, 16.171875, 32.51953125 ]
2.833333
85
0
85
0
[ -11.162109375, 71.982421875, 83.056640625, 64.6875, 19.3359375, 31.640625 ]
[ -9.931640625, 71.806640625, 88.330078125, 61.259765625, 16.435546875, 32.080078125 ]
2.866667
86
0
86
0
[ -11.25, 71.015625, 81.5625, 66.005859375, 19.423828125, 31.640625 ]
[ -10.458984375, 71.015625, 86.923828125, 62.2265625, 16.787109375, 31.640625 ]
2.9
87
0
87
0
[ -11.25, 70.224609375, 80.244140625, 67.060546875, 19.599609375, 31.640625 ]
[ -10.810546875, 70.400390625, 85.4296875, 63.28125, 17.138671875, 31.640625 ]
2.933333
88
0
88
0
[ -11.162109375, 68.994140625, 79.27734375, 67.8515625, 19.599609375, 31.640625 ]
[ -10.8984375, 69.697265625, 84.0234375, 64.423828125, 17.40234375, 31.640625 ]
2.966667
89
0
89
0
[ -11.162109375, 68.203125, 79.013671875, 68.203125, 19.599609375, 31.640625 ]
[ -10.986328125, 68.73046875, 82.529296875, 65.390625, 17.490234375, 31.640625 ]
3
90
0
90
0
[ -10.8984375, 67.412109375, 78.662109375, 68.203125, 19.51171875, 31.640625 ]
[ -10.986328125, 67.763671875, 81.650390625, 66.005859375, 17.490234375, 31.640625 ]
3.033333
91
0
91
0
[ -10.546875, 66.62109375, 78.3984375, 68.203125, 19.423828125, 31.640625 ]
[ -10.8984375, 66.884765625, 81.38671875, 66.62109375, 17.578125, 31.640625 ]
3.066667
92
0
92
0
[ -10.283203125, 66.005859375, 78.134765625, 68.203125, 19.3359375, 31.640625 ]
[ -10.546875, 65.830078125, 81.38671875, 66.97265625, 17.578125, 31.640625 ]
3.1
93
0
93
0
[ -10.107421875, 65.390625, 78.134765625, 68.203125, 19.16015625, 31.640625 ]
[ -10.283203125, 65.21484375, 81.298828125, 67.1484375, 17.578125, 31.640625 ]
3.133333
94
0
94
0
[ -10.01953125, 64.6875, 78.134765625, 68.203125, 18.896484375, 31.640625 ]
[ -10.283203125, 64.6875, 81.38671875, 67.32421875, 17.578125, 31.640625 ]
3.166667
95
0
95
0
[ -9.931640625, 64.248046875, 78.134765625, 68.203125, 18.80859375, 31.640625 ]
[ -10.1953125, 63.984375, 81.298828125, 67.32421875, 17.666015625, 31.640625 ]
3.2
96
0
96
0
[ -9.931640625, 63.720703125, 78.22265625, 68.203125, 18.720703125, 31.728515625 ]
[ -9.84375, 63.45703125, 81.298828125, 67.236328125, 17.578125, 31.640625 ]
3.233333
97
0
97
0
[ -9.66796875, 63.193359375, 78.22265625, 68.203125, 18.720703125, 31.81640625 ]
[ -9.580078125, 62.75390625, 81.298828125, 67.32421875, 17.578125, 31.640625 ]
3.266667
98
0
98
0
[ -9.31640625, 62.75390625, 78.22265625, 68.203125, 18.720703125, 31.904296875 ]
[ -9.404296875, 62.40234375, 81.298828125, 67.236328125, 17.578125, 31.640625 ]
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": "v2.0",
    "robot_type": "koch",
    "total_episodes": 2,
    "total_frames": 539,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.laptop": {
            "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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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