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shin1107
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eval_koch_base_pi0fast_pretrained_100000

Tasks:
Robotics
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action
sequence
observation.state
sequence
timestamp
float32
0
16.2
frame_index
int64
0
81
episode_index
int64
0
0
index
int64
0
81
task_index
int64
0
0
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0
0
0
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0.2
1
0
1
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2
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0.6
3
0
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5.2
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6
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8
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8.2
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8.6
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8.8
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9
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9.2
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9.4
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9.6
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9.8
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10
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10.2
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10.4
52
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10.6
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10.8
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11
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11.2
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11.4
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11.6
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11.8
59
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12
60
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12.2
61
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12.4
62
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12.6
63
0
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12.8
64
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13
65
0
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13.2
66
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66
0
[ -1.6782599687576294, 120.91134643554688, 146.6959686279297, 10.606440544128418, 41.257301330566406, 33.60715103149414 ]
[ 2.548828125, 119.53125, 147.744140625, 11.07421875, 40.869140625, 34.453125 ]
13.4
67
0
67
0
[ -6.065507411956787, 122.24349975585938, 146.6959686279297, 10.606440544128418, 30.114856719970703, 36.07411575317383 ]
[ -1.40625, 119.970703125, 147.744140625, 11.07421875, 41.1328125, 34.453125 ]
13.6
68
0
68
0
[ 1.033207893371582, 120.0880355834961, 146.6959686279297, 10.606440544128418, 30.114856719970703, 36.07411575317383 ]
[ -5.712890625, 121.46484375, 147.83203125, 11.07421875, 30.76171875, 35.15625 ]
13.8
69
0
69
0
[ -4.252119541168213, 122.55797576904297, 146.6959686279297, 1.0990321636199951, 35.68607711791992, 35.25179672241211 ]
[ 0.615234375, 119.970703125, 147.83203125, 11.07421875, 30.41015625, 35.15625 ]
14
70
0
70
0
[ 4.621274471282959, 118.2470474243164, 150.11569213867188, 1.0990321636199951, 44.042911529541016, 31.962505340576172 ]
[ 0.703125, 119.970703125, 147.83203125, 11.07421875, 30.41015625, 35.15625 ]
14.2
71
0
71
0
[ -0.862784743309021, 120.91134643554688, 150.11569213867188, 1.0990321636199951, 44.042911529541016, 31.962505340576172 ]
[ 4.21875, 118.212890625, 151.787109375, 3.955078125, 43.681640625, 33.046875 ]
14.4
72
0
72
0
[ -6.346843719482422, 123.57565307617188, 146.6959686279297, 1.0990321636199951, 35.68607711791992, 35.25179672241211 ]
[ -0.615234375, 120.05859375, 151.875, 3.251953125, 43.857421875, 33.046875 ]
14.6
73
0
73
0
[ 2.526550054550171, 119.26472473144531, 146.6959686279297, 1.0990321636199951, 35.68607711791992, 35.25179672241211 ]
[ -5.9765625, 122.783203125, 149.150390625, 3.1640625, 36.2109375, 34.27734375 ]
14.8
74
0
74
0
[ -0.460134357213974, 119.9208984375, 139.8565216064453, -0.8024495244026184, 35.68607711791992, 31.55134391784668 ]
[ 2.197265625, 119.091796875, 148.88671875, 3.076171875, 36.123046875, 34.27734375 ]
15
75
0
75
0
[ -5.784170627593994, 119.9208984375, 143.2762451171875, -0.8024495244026184, 38.4716911315918, 30.729022979736328 ]
[ 2.548828125, 119.091796875, 148.974609375, 3.076171875, 36.123046875, 34.27734375 ]
15.2
76
0
76
0
[ -2.4937353134155273, 119.9208984375, 143.2762451171875, -0.8024495244026184, 38.4716911315918, 30.729022979736328 ]
[ -5.361328125, 119.267578125, 145.634765625, 1.7578125, 38.232421875, 31.728515625 ]
15.4
77
0
77
0
[ 0.796700119972229, 119.9208984375, 139.8565216064453, -0.8024495244026184, 35.68607711791992, 31.55134391784668 ]
[ -2.8125, 119.267578125, 145.634765625, 1.7578125, 38.3203125, 31.728515625 ]
15.6
78
0
78
0
[ -4.527336120605469, 119.9208984375, 139.8565216064453, -0.8024495244026184, 35.68607711791992, 31.55134391784668 ]
[ 0.439453125, 119.267578125, 142.822265625, 1.7578125, 36.123046875, 31.728515625 ]
15.8
79
0
79
0
[ -3.7220354080200195, 119.9208984375, 138.14666748046875, 1.0990321636199951, 32.90046691894531, 30.729022979736328 ]
[ -4.130859375, 119.267578125, 142.822265625, 1.669921875, 36.123046875, 31.728515625 ]
16
80
0
80
0
[ -9.046072006225586, 119.9208984375, 138.14666748046875, 4.901995658874512, 41.257301330566406, 29.906700134277344 ]
[ -4.306640625, 119.267578125, 142.822265625, 1.669921875, 36.123046875, 31.728515625 ]
16.200001
81
0
81
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "koch",
    "total_episodes": 1,
    "total_frames": 136,
    "total_tasks": 1,
    "total_videos": 2,
    "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.top": {
            "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.front": {
            "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": [
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            ],
            "names": null
        },
        "index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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