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Datasets:
shin1107
/
koch_block

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
24.9
frame_index
int64
0
748
episode_index
int64
0
1
index
int64
0
1.5k
task_index
int64
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0
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2.5
75
0
75
0
[ -18.984375, 44.912109375, 133.9453125, -95.625, 94.482421875, 33.046875 ]
[ -17.314453125, 45.3515625, 135.263671875, -87.451171875, 93.33984375, 32.431640625 ]
2.533333
76
0
76
0
[ -18.984375, 44.736328125, 133.59375, -95.537109375, 94.482421875, 33.310546875 ]
[ -17.40234375, 44.560546875, 134.208984375, -87.451171875, 93.33984375, 32.51953125 ]
2.566667
77
0
77
0
[ -18.896484375, 44.296875, 133.154296875, -95.537109375, 94.482421875, 33.57421875 ]
[ -17.314453125, 43.9453125, 133.857421875, -87.36328125, 93.33984375, 32.51953125 ]
2.6
78
0
78
0
[ -18.544921875, 43.76953125, 132.5390625, -95.537109375, 94.39453125, 33.75 ]
[ -17.314453125, 43.681640625, 133.857421875, -87.451171875, 93.33984375, 32.51953125 ]
2.633333
79
0
79
0
[ -18.193359375, 43.41796875, 132.099609375, -95.537109375, 94.39453125, 33.75 ]
[ -17.40234375, 43.154296875, 133.41796875, -87.451171875, 93.33984375, 32.51953125 ]
2.666667
80
0
80
0
[ -18.017578125, 43.330078125, 132.01171875, -95.44921875, 94.306640625, 33.837890625 ]
[ -17.314453125, 42.71484375, 133.06640625, -87.451171875, 93.33984375, 32.51953125 ]
2.7
81
0
81
0
[ -17.841796875, 43.330078125, 131.8359375, -95.44921875, 94.21875, 34.013671875 ]
[ -17.40234375, 42.71484375, 133.06640625, -87.451171875, 93.33984375, 32.51953125 ]
2.733333
82
0
82
0
[ -17.578125, 43.2421875, 131.572265625, -95.44921875, 94.130859375, 34.453125 ]
[ -17.314453125, 42.71484375, 132.626953125, -87.451171875, 93.33984375, 33.046875 ]
2.766667
83
0
83
0
[ -17.578125, 43.06640625, 131.1328125, -95.44921875, 93.955078125, 35.244140625 ]
[ -17.314453125, 42.71484375, 132.275390625, -87.451171875, 93.33984375, 33.134765625 ]
2.8
84
0
84
0
[ -17.490234375, 42.5390625, 130.341796875, -95.361328125, 93.427734375, 35.33203125 ]
[ -17.314453125, 42.71484375, 132.01171875, -87.451171875, 93.33984375, 34.013671875 ]
2.833333
85
0
85
0
[ -17.40234375, 42.01171875, 128.935546875, -95.2734375, 92.8125, 35.595703125 ]
[ -17.314453125, 42.099609375, 131.572265625, -87.451171875, 93.33984375, 34.189453125 ]
2.866667
86
0
86
0
[ -17.314453125, 41.748046875, 128.14453125, -95.185546875, 92.8125, 35.68359375 ]
[ -17.314453125, 41.748046875, 130.4296875, -87.451171875, 93.251953125, 34.189453125 ]
2.9
87
0
87
0
[ -17.05078125, 41.748046875, 127.6171875, -95.009765625, 92.8125, 35.771484375 ]
[ -17.314453125, 41.396484375, 129.111328125, -87.451171875, 93.076171875, 34.189453125 ]
2.933333
88
0
88
0
[ -16.69921875, 41.748046875, 127.177734375, -94.74609375, 92.8125, 35.859375 ]
[ -17.314453125, 41.044921875, 128.232421875, -87.451171875, 92.724609375, 34.189453125 ]
2.966667
89
0
89
0
[ -16.171875, 41.66015625, 126.650390625, -94.74609375, 92.724609375, 36.03515625 ]
[ -16.962890625, 40.78125, 127.79296875, -87.451171875, 92.4609375, 34.189453125 ]
3
90
0
90
0
[ -15.64453125, 41.30859375, 126.123046875, -94.74609375, 92.724609375, 36.03515625 ]
[ -16.69921875, 40.78125, 127.6171875, -87.451171875, 92.4609375, 34.62890625 ]
3.033333
91
0
91
0
[ -15.1171875, 40.78125, 125.595703125, -94.74609375, 92.724609375, 36.03515625 ]
[ -16.083984375, 40.78125, 127.001953125, -87.451171875, 92.4609375, 34.98046875 ]
3.066667
92
0
92
0
[ -14.677734375, 40.60546875, 125.15625, -94.74609375, 92.8125, 36.03515625 ]
[ -15.556640625, 40.25390625, 126.298828125, -87.451171875, 92.4609375, 34.98046875 ]
3.1
93
0
93
0
[ -14.150390625, 40.341796875, 124.716796875, -94.74609375, 92.724609375, 36.03515625 ]
[ -14.94140625, 39.7265625, 125.947265625, -87.451171875, 92.373046875, 35.068359375 ]
3.133333
94
0
94
0
[ -13.53515625, 40.25390625, 124.453125, -94.658203125, 92.724609375, 36.03515625 ]
[ -14.4140625, 39.7265625, 125.5078125, -87.451171875, 92.373046875, 34.98046875 ]
3.166667
95
0
95
0
[ -13.0078125, 40.166015625, 124.013671875, -94.658203125, 92.724609375, 36.123046875 ]
[ -14.0625, 39.7265625, 125.068359375, -87.451171875, 92.373046875, 35.068359375 ]
3.2
96
0
96
0
[ -12.392578125, 39.55078125, 123.134765625, -94.658203125, 92.724609375, 36.123046875 ]
[ -13.7109375, 39.7265625, 124.98046875, -87.451171875, 92.373046875, 35.068359375 ]
3.233333
97
0
97
0
[ -12.041015625, 38.935546875, 122.34375, -94.74609375, 92.724609375, 36.03515625 ]
[ -13.18359375, 39.111328125, 124.453125, -87.451171875, 92.373046875, 35.068359375 ]
3.266667
98
0
98
0
[ -12.041015625, 38.84765625, 121.2890625, -94.658203125, 92.724609375, 35.244140625 ]
[ -12.83203125, 38.056640625, 123.310546875, -87.451171875, 92.373046875, 35.068359375 ]
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": 2,
    "total_frames": 1496,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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                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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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