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Datasets:
rgarreta
/
koch_pick_place_lego_v3

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
15.9
frame_index
int64
0
478
episode_index
int64
0
49
index
int64
0
15.2k
task_index
int64
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[ -3.515625, 110.0390625, 169.8046875, -21.533203125, -4.921875, 34.453125 ]
2.5
75
0
75
0
[ 1.40625, 117.0703125, 156.97265625, 3.1640625, -4.306640625, 34.27734375 ]
[ -1.845703125, 112.236328125, 166.9921875, -15.46875, -4.658203125, 34.27734375 ]
2.533333
76
0
76
0
[ 2.724609375, 117.0703125, 151.5234375, 11.07421875, -4.21875, 34.27734375 ]
[ -0.439453125, 114.169921875, 162.7734375, -8.4375, -4.482421875, 34.189453125 ]
2.566667
77
0
77
0
[ 4.04296875, 116.89453125, 146.07421875, 18.720703125, -4.130859375, 34.27734375 ]
[ 0.791015625, 115.13671875, 157.5, -0.791015625, -4.21875, 34.189453125 ]
2.6
78
0
78
0
[ 5.09765625, 116.71875, 141.240234375, 25.224609375, -3.779296875, 34.27734375 ]
[ 2.109375, 115.3125, 151.611328125, 6.591796875, -4.04296875, 34.189453125 ]
2.633333
79
0
79
0
[ 6.240234375, 116.630859375, 137.109375, 30.05859375, -3.076171875, 34.27734375 ]
[ 3.515625, 115.3125, 145.810546875, 13.88671875, -4.04296875, 34.189453125 ]
2.666667
80
0
80
0
[ 7.20703125, 116.71875, 133.505859375, 34.189453125, -2.63671875, 34.189453125 ]
[ 4.833984375, 115.3125, 141.240234375, 20.654296875, -3.779296875, 34.189453125 ]
2.7
81
0
81
0
[ 8.4375, 116.630859375, 130.166015625, 37.6171875, -2.63671875, 34.189453125 ]
[ 5.888671875, 115.3125, 137.373046875, 26.455078125, -3.515625, 34.189453125 ]
2.733333
82
0
82
0
[ 9.66796875, 116.103515625, 126.9140625, 40.517578125, -2.63671875, 34.189453125 ]
[ 6.943359375, 115.3125, 134.560546875, 31.552734375, -3.076171875, 34.189453125 ]
2.766667
83
0
83
0
[ 10.634765625, 115.751953125, 124.365234375, 42.802734375, -2.63671875, 34.1015625 ]
[ 7.822265625, 115.3125, 131.8359375, 35.595703125, -2.63671875, 34.189453125 ]
2.8
84
0
84
0
[ 11.953125, 115.751953125, 123.134765625, 43.857421875, -2.63671875, 34.189453125 ]
[ 8.7890625, 114.9609375, 128.84765625, 39.0234375, -2.28515625, 34.189453125 ]
2.833333
85
0
85
0
[ 13.53515625, 115.751953125, 122.607421875, 44.47265625, -2.63671875, 34.27734375 ]
[ 9.66796875, 114.873046875, 126.5625, 41.396484375, -2.109375, 34.189453125 ]
2.866667
86
0
86
0
[ 15.556640625, 115.751953125, 122.607421875, 44.384765625, -2.8125, 34.27734375 ]
[ 10.986328125, 114.873046875, 125.33203125, 43.06640625, -2.109375, 34.189453125 ]
2.9
87
0
87
0
[ 17.9296875, 115.751953125, 121.9921875, 44.384765625, -2.900390625, 34.189453125 ]
[ 12.744140625, 114.873046875, 125.15625, 44.208984375, -2.021484375, 34.189453125 ]
2.933333
88
0
88
0
[ 19.951171875, 115.400390625, 120.9375, 44.47265625, -3.076171875, 34.013671875 ]
[ 14.501953125, 114.78515625, 125.244140625, 44.47265625, -1.93359375, 34.189453125 ]
2.966667
89
0
89
0
[ 21.4453125, 113.5546875, 119.619140625, 44.47265625, -3.779296875, 33.837890625 ]
[ 16.611328125, 114.78515625, 125.068359375, 44.47265625, -1.93359375, 34.189453125 ]
3
90
0
90
0
[ 23.02734375, 111.181640625, 117.59765625, 45.087890625, -4.21875, 33.662109375 ]
[ 18.544921875, 114.2578125, 124.365234375, 44.560546875, -2.021484375, 33.75 ]
3.033333
91
0
91
0
[ 24.521484375, 108.28125, 114.609375, 46.7578125, -4.39453125, 33.662109375 ]
[ 20.478515625, 112.8515625, 122.6953125, 44.82421875, -2.109375, 33.486328125 ]
3.066667
92
0
92
0
[ 26.279296875, 104.326171875, 110.478515625, 49.5703125, -4.833984375, 33.662109375 ]
[ 22.1484375, 110.7421875, 119.970703125, 45.615234375, -2.373046875, 33.486328125 ]
3.1
93
0
93
0
[ 28.212890625, 100.37109375, 105.64453125, 52.91015625, -5.09765625, 33.662109375 ]
[ 23.73046875, 107.841796875, 116.279296875, 46.93359375, -2.4609375, 33.486328125 ]
3.133333
94
0
94
0
[ 29.794921875, 96.240234375, 100.458984375, 56.42578125, -5.537109375, 33.75 ]
[ 25.48828125, 104.23828125, 111.533203125, 48.955078125, -2.724609375, 33.486328125 ]
3.166667
95
0
95
0
[ 31.11328125, 92.197265625, 95.185546875, 59.677734375, -5.712890625, 33.75 ]
[ 27.158203125, 100.283203125, 106.171875, 51.50390625, -2.98828125, 33.486328125 ]
3.2
96
0
96
0
[ 32.34375, 88.505859375, 90, 63.193359375, -6.240234375, 33.75 ]
[ 28.65234375, 96.416015625, 100.72265625, 54.4921875, -3.251953125, 33.486328125 ]
3.233333
97
0
97
0
[ 33.22265625, 85.25390625, 85.341796875, 66.357421875, -6.50390625, 33.75 ]
[ 30.234375, 92.197265625, 95.44921875, 57.65625, -3.603515625, 33.486328125 ]
3.266667
98
0
98
0
[ 34.365234375, 82.880859375, 81.73828125, 68.73046875, -6.591796875, 33.75 ]
[ 31.376953125, 88.154296875, 90.3515625, 60.908203125, -3.8671875, 33.486328125 ]
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": 15214,
    "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": {
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                "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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