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Datasets:
shin1107
/
koch_base

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
22.3
frame_index
int64
0
669
episode_index
int64
0
159
index
int64
0
48.4k
task_index
int64
0
0
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0
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[ 17.138671875, 104.853515625, 172.08984375, -54.052734375, 84.55078125, 42.275390625 ]
2.533333
76
0
76
0
[ 19.3359375, 79.8046875, 166.640625, -91.0546875, 87.275390625, 43.154296875 ]
[ 17.666015625, 95.888671875, 169.892578125, -62.2265625, 85.517578125, 42.275390625 ]
2.566667
77
0
77
0
[ 19.423828125, 74.8828125, 165.5859375, -97.294921875, 87.451171875, 43.154296875 ]
[ 18.10546875, 89.296875, 168.3984375, -69.609375, 86.1328125, 42.275390625 ]
2.6
78
0
78
0
[ 19.423828125, 72.0703125, 164.970703125, -99.580078125, 88.330078125, 43.154296875 ]
[ 18.6328125, 79.716796875, 165.849609375, -80.5078125, 86.484375, 42.275390625 ]
2.633333
79
0
79
0
[ 19.423828125, 71.806640625, 164.970703125, -99.31640625, 88.76953125, 43.154296875 ]
[ 18.720703125, 74.70703125, 164.70703125, -86.1328125, 86.748046875, 42.275390625 ]
2.666667
80
0
80
0
[ 19.423828125, 71.19140625, 164.794921875, -99.404296875, 88.76953125, 43.154296875 ]
[ 18.80859375, 71.54296875, 164.1796875, -89.6484375, 87.099609375, 42.275390625 ]
2.7
81
0
81
0
[ 19.423828125, 70.48828125, 164.443359375, -99.404296875, 88.857421875, 43.154296875 ]
[ 18.896484375, 70.3125, 164.267578125, -90.966796875, 87.451171875, 42.275390625 ]
2.733333
82
0
82
0
[ 19.3359375, 69.43359375, 163.740234375, -99.66796875, 89.12109375, 43.154296875 ]
[ 19.072265625, 69.873046875, 164.1796875, -91.23046875, 87.451171875, 42.275390625 ]
2.766667
83
0
83
0
[ 19.51171875, 67.763671875, 162.685546875, -100.107421875, 89.736328125, 43.154296875 ]
[ 18.984375, 69.08203125, 163.916015625, -91.142578125, 87.802734375, 42.275390625 ]
2.8
84
0
84
0
[ 19.6875, 66.357421875, 161.806640625, -100.458984375, 90.3515625, 43.154296875 ]
[ 18.984375, 68.115234375, 163.30078125, -91.23046875, 88.154296875, 42.275390625 ]
2.833333
85
0
85
0
[ 20.0390625, 64.86328125, 160.48828125, -100.72265625, 90.52734375, 43.154296875 ]
[ 18.984375, 66.4453125, 161.71875, -91.40625, 88.681640625, 42.275390625 ]
2.866667
86
0
86
0
[ 20.390625, 63.80859375, 159.169921875, -100.810546875, 90.52734375, 43.154296875 ]
[ 19.3359375, 64.775390625, 160.400390625, -91.494140625, 89.208984375, 42.275390625 ]
2.9
87
0
87
0
[ 20.654296875, 63.017578125, 158.115234375, -100.810546875, 90.52734375, 43.154296875 ]
[ 19.51171875, 63.193359375, 159.609375, -91.494140625, 89.47265625, 42.275390625 ]
2.933333
88
0
88
0
[ 20.91796875, 62.05078125, 157.236328125, -100.810546875, 90.52734375, 43.154296875 ]
[ 19.599609375, 62.75390625, 159.08203125, -91.494140625, 89.560546875, 42.275390625 ]
2.966667
89
0
89
0
[ 21.181640625, 61.611328125, 156.357421875, -100.8984375, 90.52734375, 43.154296875 ]
[ 19.86328125, 62.314453125, 158.115234375, -91.58203125, 89.6484375, 42.275390625 ]
3
90
0
90
0
[ 21.26953125, 60.64453125, 155.302734375, -100.8984375, 90.615234375, 43.154296875 ]
[ 20.302734375, 61.259765625, 156.62109375, -91.58203125, 89.6484375, 42.275390625 ]
3.033333
91
0
91
0
[ 21.357421875, 60.1171875, 154.16015625, -100.8984375, 90.615234375, 43.154296875 ]
[ 20.478515625, 60.205078125, 155.56640625, -91.58203125, 89.6484375, 42.275390625 ]
3.066667
92
0
92
0
[ 21.4453125, 59.501953125, 153.28125, -100.8984375, 90.615234375, 43.154296875 ]
[ 20.56640625, 59.765625, 155.0390625, -91.58203125, 89.6484375, 42.275390625 ]
3.1
93
0
93
0
[ 21.533203125, 58.7109375, 152.2265625, -100.986328125, 90.615234375, 43.154296875 ]
[ 20.56640625, 59.23828125, 154.248046875, -91.58203125, 89.6484375, 42.275390625 ]
3.133333
94
0
94
0
[ 21.62109375, 57.919921875, 150.908203125, -100.8984375, 90.615234375, 43.06640625 ]
[ 20.654296875, 58.359375, 152.841796875, -91.58203125, 89.6484375, 42.275390625 ]
3.166667
95
0
95
0
[ 21.62109375, 57.12890625, 149.58984375, -100.8984375, 90.703125, 43.06640625 ]
[ 20.7421875, 57.12890625, 150.99609375, -91.58203125, 89.6484375, 42.275390625 ]
3.2
96
0
96
0
[ 21.708984375, 56.07421875, 148.7109375, -100.8984375, 90.703125, 43.06640625 ]
[ 20.7421875, 56.77734375, 149.853515625, -91.58203125, 89.6484375, 42.275390625 ]
3.233333
97
0
97
0
[ 21.62109375, 55.283203125, 147.83203125, -100.810546875, 90.703125, 43.06640625 ]
[ 20.830078125, 56.162109375, 148.7109375, -91.58203125, 89.6484375, 42.275390625 ]
3.266667
98
0
98
0
[ 21.62109375, 54.140625, 146.77734375, -100.810546875, 90.791015625, 43.06640625 ]
[ 20.830078125, 55.37109375, 147.919921875, -91.58203125, 89.6484375, 42.36328125 ]
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": 160,
    "total_frames": 48402,
    "total_tasks": 1,
    "total_videos": 320,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:160"
    },
    "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": [
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            ],
            "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",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "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",
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            ],
            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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