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Datasets:
saber1209caoke
/
pi0417

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
< 1K
Tags:
LeRobot
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
4.83
frame_index
int64
0
145
episode_index
int64
0
0
index
int64
0
145
task_index
int64
0
0
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74
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[ -6.85546875, 128.056640625, 169.892578125, -32.431640625, 3.8671875, 30.41015625 ]
[ -6.591796875, 130.078125, 170.419921875, -33.046875, 3.1640625, 29.35546875 ]
2.5
75
0
75
0
[ -6.767578125, 127.44140625, 170.33203125, -30.673828125, 3.8671875, 30.41015625 ]
[ -6.943359375, 128.232421875, 171.298828125, -31.376953125, 3.515625, 29.35546875 ]
2.533333
76
0
76
0
[ -6.50390625, 127.44140625, 170.771484375, -26.279296875, 3.8671875, 30.41015625 ]
[ -6.85546875, 127.96875, 171.5625, -30.849609375, 3.515625, 29.267578125 ]
2.566667
77
0
77
0
[ -5.9765625, 127.6171875, 170.859375, -21.708984375, 3.8671875, 30.41015625 ]
[ -6.591796875, 127.529296875, 172.177734375, -28.65234375, 3.603515625, 29.267578125 ]
2.6
78
0
78
0
[ -5.2734375, 127.880859375, 171.123046875, -18.10546875, 3.8671875, 30.41015625 ]
[ -6.50390625, 127.529296875, 172.529296875, -25.576171875, 3.603515625, 29.35546875 ]
2.633333
79
0
79
0
[ -4.21875, 128.759765625, 171.9140625, -15.205078125, 3.69140625, 30.41015625 ]
[ -6.064453125, 127.6171875, 172.6171875, -21.884765625, 3.603515625, 29.35546875 ]
2.666667
80
0
80
0
[ -3.427734375, 129.814453125, 172.6171875, -13.7109375, 3.251953125, 30.41015625 ]
[ -5.361328125, 127.79296875, 172.705078125, -18.193359375, 3.69140625, 29.267578125 ]
2.7
81
0
81
0
[ -3.1640625, 129.90234375, 172.705078125, -12.48046875, 3.1640625, 30.41015625 ]
[ -4.5703125, 128.232421875, 173.232421875, -15.029296875, 3.603515625, 29.35546875 ]
2.733333
82
0
82
0
[ -3.1640625, 130.25390625, 172.6171875, -10.810546875, 3.1640625, 30.41015625 ]
[ -3.955078125, 128.583984375, 174.0234375, -12.65625, 3.603515625, 29.35546875 ]
2.766667
83
0
83
0
[ -3.1640625, 130.60546875, 172.529296875, -8.701171875, 3.1640625, 30.41015625 ]
[ -3.603515625, 128.935546875, 174.287109375, -10.634765625, 3.603515625, 29.267578125 ]
2.8
84
0
84
0
[ -3.251953125, 130.95703125, 172.6171875, -6.6796875, 3.1640625, 30.41015625 ]
[ -3.427734375, 129.19921875, 174.287109375, -9.052734375, 3.515625, 29.35546875 ]
2.833333
85
0
85
0
[ -3.251953125, 131.30859375, 172.880859375, -5.712890625, 3.1640625, 30.41015625 ]
[ -3.33984375, 129.638671875, 174.19921875, -7.470703125, 3.515625, 29.35546875 ]
2.866667
86
0
86
0
[ -3.251953125, 131.30859375, 173.408203125, -5.712890625, 3.251953125, 30.41015625 ]
[ -3.251953125, 130.078125, 174.287109375, -5.888671875, 3.515625, 29.267578125 ]
2.9
87
0
87
0
[ -3.33984375, 131.30859375, 174.111328125, -5.712890625, 3.33984375, 30.41015625 ]
[ -3.251953125, 130.25390625, 174.287109375, -4.833984375, 3.515625, 29.267578125 ]
2.933333
88
0
88
0
[ -3.33984375, 131.484375, 175.166015625, -5.712890625, 3.515625, 30.498046875 ]
[ -3.251953125, 130.341796875, 174.638671875, -4.74609375, 3.515625, 29.267578125 ]
2.966667
89
0
89
0
[ -3.427734375, 131.66015625, 176.044921875, -5.80078125, 3.603515625, 30.5859375 ]
[ -3.33984375, 130.4296875, 175.4296875, -4.74609375, 3.515625, 29.35546875 ]
3
90
0
90
0
[ -3.603515625, 131.748046875, 177.099609375, -6.328125, 3.076171875, 30.5859375 ]
[ -3.427734375, 130.517578125, 176.30859375, -4.39453125, 3.69140625, 29.267578125 ]
3.033333
91
0
91
0
[ -3.779296875, 132.01171875, 178.2421875, -6.6796875, 2.8125, 30.5859375 ]
[ -3.603515625, 130.693359375, 176.484375, -4.74609375, 3.515625, 29.35546875 ]
3.066667
92
0
92
0
[ -3.955078125, 132.978515625, 179.12109375, -6.591796875, 2.8125, 30.5859375 ]
[ -3.69140625, 130.78125, 176.66015625, -4.74609375, 3.515625, 29.35546875 ]
3.1
93
0
93
0
[ -4.04296875, 134.033203125, 179.736328125, -6.416015625, 2.900390625, 30.498046875 ]
[ -3.8671875, 130.95703125, 177.1875, -4.74609375, 3.515625, 29.35546875 ]
3.133333
94
0
94
0
[ -3.955078125, 134.6484375, 180.087890625, -5.9765625, 2.900390625, 30.5859375 ]
[ -3.955078125, 131.220703125, 177.1875, -4.74609375, 3.515625, 29.35546875 ]
3.166667
95
0
95
0
[ -3.515625, 134.6484375, 180.439453125, -6.064453125, 2.98828125, 30.673828125 ]
[ -3.955078125, 131.30859375, 177.1875, -4.74609375, 3.515625, 29.35546875 ]
3.2
96
0
96
0
[ -3.1640625, 134.6484375, 180.703125, -5.888671875, 3.251953125, 31.201171875 ]
[ -3.8671875, 131.30859375, 177.1875, -4.74609375, 3.427734375, 29.35546875 ]
3.233333
97
0
97
0
[ -2.8125, 134.6484375, 181.23046875, -5.888671875, 3.251953125, 32.16796875 ]
[ -3.515625, 131.30859375, 177.1875, -4.74609375, 3.427734375, 29.35546875 ]
3.266667
98
0
98
0
[ -2.4609375, 134.6484375, 181.58203125, -5.80078125, 3.251953125, 32.6953125 ]
[ -3.251953125, 131.30859375, 177.1875, -4.74609375, 3.427734375, 29.70703125 ]
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": "v2.1",
    "robot_type": "koch",
    "total_episodes": 1,
    "total_frames": 146,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.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",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Number of rows:
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