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Datasets:
rgarreta
/
koch_pick_place_lego_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
timestamp
float32
0
12.9
frame_index
int64
0
388
episode_index
int64
0
49
index
int64
0
15.9k
task_index
int64
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0
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0
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[ 4.306640625, 126.73828125, 161.3671875, 15.1171875, -12.12890625, 33.57421875 ]
2.533333
76
0
76
0
[ 4.04296875, 117.685546875, 144.66796875, 30.5859375, -4.39453125, 35.419921875 ]
[ 4.130859375, 124.1015625, 156.005859375, 19.599609375, -9.931640625, 34.013671875 ]
2.566667
77
0
77
0
[ 3.33984375, 114.345703125, 139.04296875, 35.68359375, -2.373046875, 35.859375 ]
[ 4.04296875, 121.11328125, 149.853515625, 23.994140625, -7.822265625, 34.365234375 ]
2.6
78
0
78
0
[ 2.8125, 111.181640625, 133.681640625, 41.220703125, -0.52734375, 36.2109375 ]
[ 3.515625, 117.7734375, 143.701171875, 28.125, -5.537109375, 34.365234375 ]
2.633333
79
0
79
0
[ 2.63671875, 108.6328125, 128.935546875, 45.791015625, 0.966796875, 36.650390625 ]
[ 2.8125, 114.609375, 137.98828125, 32.783203125, -3.603515625, 34.892578125 ]
2.666667
80
0
80
0
[ 2.373046875, 106.962890625, 125.244140625, 49.04296875, 2.197265625, 36.650390625 ]
[ 2.373046875, 111.4453125, 132.890625, 37.44140625, -1.93359375, 35.15625 ]
2.7
81
0
81
0
[ 2.021484375, 105.99609375, 122.51953125, 51.591796875, 3.076171875, 36.650390625 ]
[ 2.197265625, 108.6328125, 128.408203125, 42.01171875, -0.615234375, 35.15625 ]
2.733333
82
0
82
0
[ 1.845703125, 105.380859375, 120.76171875, 53.701171875, 3.69140625, 36.650390625 ]
[ 2.021484375, 106.34765625, 125.244140625, 46.0546875, 0.703125, 35.15625 ]
2.766667
83
0
83
0
[ 1.58203125, 105.1171875, 119.619140625, 55.1953125, 4.306640625, 36.650390625 ]
[ 1.58203125, 105.205078125, 123.486328125, 49.39453125, 1.93359375, 35.15625 ]
2.8
84
0
84
0
[ 1.58203125, 104.94140625, 119.00390625, 56.77734375, 4.74609375, 36.474609375 ]
[ 1.318359375, 104.765625, 122.51953125, 52.119140625, 2.4609375, 35.15625 ]
2.833333
85
0
85
0
[ 1.669921875, 104.853515625, 118.30078125, 58.53515625, 5.361328125, 36.474609375 ]
[ 1.142578125, 104.501953125, 121.9921875, 54.052734375, 3.076171875, 35.244140625 ]
2.866667
86
0
86
0
[ 1.845703125, 104.677734375, 117.7734375, 60.380859375, 6.15234375, 36.474609375 ]
[ 1.0546875, 104.0625, 121.640625, 55.810546875, 3.603515625, 35.244140625 ]
2.9
87
0
87
0
[ 2.109375, 104.150390625, 117.421875, 61.875, 6.767578125, 36.474609375 ]
[ 0.966796875, 103.88671875, 121.201171875, 57.48046875, 4.306640625, 35.244140625 ]
2.933333
88
0
88
0
[ 2.98828125, 103.623046875, 116.806640625, 63.720703125, 7.470703125, 36.5625 ]
[ 1.318359375, 103.974609375, 120.5859375, 59.0625, 4.74609375, 35.244140625 ]
2.966667
89
0
89
0
[ 3.779296875, 103.18359375, 116.19140625, 65.478515625, 8.26171875, 36.5625 ]
[ 1.58203125, 103.53515625, 119.53125, 60.64453125, 5.537109375, 35.244140625 ]
3
90
0
90
0
[ 4.833984375, 102.65625, 115.83984375, 66.97265625, 9.228515625, 36.5625 ]
[ 2.197265625, 103.0078125, 118.828125, 62.05078125, 6.240234375, 35.244140625 ]
3.033333
91
0
91
0
[ 6.240234375, 102.041015625, 114.873046875, 68.5546875, 10.634765625, 36.5625 ]
[ 2.900390625, 102.3046875, 118.4765625, 63.544921875, 7.03125, 35.244140625 ]
3.066667
92
0
92
0
[ 7.3828125, 101.337890625, 113.994140625, 70.48828125, 12.3046875, 36.38671875 ]
[ 4.130859375, 101.865234375, 117.685546875, 65.21484375, 7.91015625, 35.244140625 ]
3.1
93
0
93
0
[ 8.525390625, 100.634765625, 113.466796875, 71.806640625, 13.7109375, 36.474609375 ]
[ 5.625, 101.337890625, 116.806640625, 67.060546875, 9.31640625, 35.244140625 ]
3.133333
94
0
94
0
[ 9.580078125, 100.546875, 113.466796875, 72.685546875, 14.853515625, 36.5625 ]
[ 6.85546875, 100.634765625, 115.83984375, 68.642578125, 10.634765625, 35.244140625 ]
3.166667
95
0
95
0
[ 10.283203125, 100.283203125, 113.466796875, 73.4765625, 15.64453125, 36.5625 ]
[ 7.822265625, 100.01953125, 115.48828125, 69.9609375, 11.77734375, 35.244140625 ]
3.2
96
0
96
0
[ 10.8984375, 99.84375, 113.37890625, 74.1796875, 16.435546875, 36.650390625 ]
[ 8.876953125, 99.755859375, 115.48828125, 70.927734375, 12.83203125, 35.244140625 ]
3.233333
97
0
97
0
[ 11.42578125, 99.580078125, 113.291015625, 74.35546875, 17.138671875, 36.9140625 ]
[ 9.404296875, 99.4921875, 115.48828125, 72.0703125, 14.0625, 35.244140625 ]
3.266667
98
0
98
0
[ 12.392578125, 99.228515625, 113.115234375, 74.35546875, 17.841796875, 37.44140625 ]
[ 9.931640625, 99.052734375, 115.48828125, 73.125, 14.853515625, 35.244140625 ]
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": 50,
    "total_frames": 15901,
    "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": {
        "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,
                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
            }
        },
        "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",
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                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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