Search is not available for this dataset
action
sequence | observation.state
sequence | timestamp
float32 0
9.8
| frame_index
int64 0
49
| episode_index
int64 0
0
| index
int64 0
49
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
11.6015625,
102.216796875,
135.17578125,
10.8984375,
4.5703125,
30.146484375
] |
[
9.4921875,
105.732421875,
143.7890625,
3.427734375,
1.669921875,
30.41015625
] | 0
| 0
| 0
| 0
| 0
|
[
12.392578125,
97.91015625,
127.880859375,
17.05078125,
7.294921875,
30.146484375
] |
[
10.37109375,
101.6015625,
136.318359375,
10.37109375,
3.779296875,
30.41015625
] | 0.2
| 1
| 0
| 1
| 0
|
[
12.568359375,
94.833984375,
121.904296875,
22.763671875,
10.01953125,
30.146484375
] |
[
11.6015625,
96.50390625,
128.14453125,
17.314453125,
6.6796875,
30.41015625
] | 0.4
| 2
| 0
| 2
| 0
|
[
13.359375,
92.900390625,
119.619140625,
25.400390625,
11.162109375,
30.146484375
] |
[
11.953125,
93.69140625,
122.783203125,
22.236328125,
9.66796875,
30.41015625
] | 0.6
| 3
| 0
| 3
| 0
|
[
14.23828125,
91.23046875,
117.7734375,
28.037109375,
11.953125,
30.146484375
] |
[
12.3046875,
92.98828125,
122.51953125,
22.8515625,
9.931640625,
30.41015625
] | 0.8
| 4
| 0
| 4
| 0
|
[
14.853515625,
88.857421875,
114.43359375,
30.05859375,
13.18359375,
30.146484375
] |
[
12.744140625,
91.58203125,
121.376953125,
25.224609375,
10.810546875,
30.41015625
] | 1
| 5
| 0
| 5
| 0
|
[
15.29296875,
87.275390625,
112.060546875,
30.322265625,
14.4140625,
30.146484375
] |
[
13.623046875,
90.703125,
119.619140625,
28.212890625,
10.810546875,
30.41015625
] | 1.2
| 6
| 0
| 6
| 0
|
[
15.380859375,
84.638671875,
109.6875,
30.673828125,
15.556640625,
30.05859375
] |
[
13.623046875,
87.626953125,
116.279296875,
30.146484375,
12.744140625,
30.41015625
] | 1.4
| 7
| 0
| 7
| 0
|
[
15.380859375,
82.08984375,
106.435546875,
31.81640625,
18.10546875,
29.8828125
] |
[
14.23828125,
86.66015625,
114.43359375,
30.146484375,
13.7109375,
30.41015625
] | 1.6
| 8
| 0
| 8
| 0
|
[
15.380859375,
80.244140625,
104.94140625,
34.27734375,
20.302734375,
29.267578125
] |
[
14.4140625,
83.583984375,
111.357421875,
30.146484375,
14.58984375,
30.41015625
] | 1.8
| 9
| 0
| 9
| 0
|
[
15.8203125,
77.080078125,
104.94140625,
34.27734375,
21.09375,
29.35546875
] |
[
14.4140625,
81.5625,
108.45703125,
31.025390625,
17.75390625,
29.443359375
] | 2
| 10
| 0
| 10
| 0
|
[
16.083984375,
75.146484375,
105.029296875,
34.189453125,
22.236328125,
33.310546875
] |
[
14.4140625,
79.716796875,
106.69921875,
34.1015625,
19.775390625,
29.443359375
] | 2.2
| 11
| 0
| 11
| 0
|
[
16.34765625,
74.35546875,
105.29296875,
33.662109375,
24.345703125,
34.1015625
] |
[
14.4140625,
76.640625,
106.435546875,
34.013671875,
20.654296875,
29.35546875
] | 2.4
| 12
| 0
| 12
| 0
|
[
15.732421875,
74.267578125,
106.083984375,
33.837890625,
27.509765625,
24.9609375
] |
[
15.29296875,
74.970703125,
106.171875,
34.013671875,
21.796875,
32.16796875
] | 2.6
| 13
| 0
| 13
| 0
|
[
15.732421875,
74.267578125,
106.611328125,
33.662109375,
28.30078125,
18.984375
] |
[
15.380859375,
74.267578125,
105.99609375,
33.92578125,
23.994140625,
33.22265625
] | 2.8
| 14
| 0
| 14
| 0
|
[
15.8203125,
74.970703125,
106.69921875,
31.904296875,
28.564453125,
13.447265625
] |
[
15.1171875,
74.091796875,
106.083984375,
34.013671875,
26.630859375,
24.609375
] | 3
| 15
| 0
| 15
| 0
|
[
15.99609375,
78.134765625,
107.2265625,
33.046875,
29.1796875,
13.53515625
] |
[
15.1171875,
74.091796875,
106.083984375,
34.013671875,
27.421875,
18.896484375
] | 3.2
| 16
| 0
| 16
| 0
|
[
15.8203125,
81.5625,
107.490234375,
34.892578125,
30.5859375,
13.447265625
] |
[
15.1171875,
74.091796875,
106.083984375,
33.57421875,
27.509765625,
16.435546875
] | 3.4
| 17
| 0
| 17
| 0
|
[
15.029296875,
84.0234375,
107.490234375,
36.650390625,
31.9921875,
13.447265625
] |
[
14.853515625,
76.552734375,
107.490234375,
33.134765625,
28.388671875,
16.435546875
] | 3.6
| 18
| 0
| 18
| 0
|
[
13.7109375,
86.484375,
107.40234375,
37.96875,
33.662109375,
13.447265625
] |
[
14.853515625,
78.662109375,
108.10546875,
34.013671875,
29.70703125,
16.435546875
] | 3.8
| 19
| 0
| 19
| 0
|
[
11.42578125,
90.263671875,
107.40234375,
39.287109375,
36.123046875,
12.568359375
] |
[
14.853515625,
82.001953125,
108.193359375,
36.2109375,
30.76171875,
16.435546875
] | 4
| 20
| 0
| 20
| 0
|
[
8.349609375,
95.009765625,
107.40234375,
40.869140625,
38.84765625,
12.568359375
] |
[
13.0078125,
83.84765625,
108.193359375,
37.08984375,
32.783203125,
16.435546875
] | 4.2
| 21
| 0
| 21
| 0
|
[
0.615234375,
103.7109375,
104.58984375,
40.869140625,
45.087890625,
12.65625
] |
[
11.25,
88.330078125,
108.193359375,
39.19921875,
35.68359375,
16.34765625
] | 4.4
| 22
| 0
| 22
| 0
|
[
0.3515625,
104.150390625,
104.4140625,
40.869140625,
45.439453125,
12.568359375
] |
[
7.998046875,
93.427734375,
108.193359375,
40.166015625,
37.705078125,
16.259765625
] | 4.6
| 23
| 0
| 23
| 0
|
[
-1.7578125,
105.556640625,
103.7109375,
40.78125,
47.373046875,
12.65625
] |
[
6.50390625,
95.009765625,
108.193359375,
40.25390625,
39.0234375,
16.259765625
] | 4.8
| 24
| 0
| 24
| 0
|
[
-2.724609375,
105.64453125,
102.48046875,
40.078125,
48.515625,
12.65625
] |
[
0.17578125,
102.744140625,
106.34765625,
40.341796875,
44.912109375,
16.259765625
] | 5
| 25
| 0
| 25
| 0
|
[
-2.8125,
103.359375,
100.01953125,
38.49609375,
49.306640625,
12.65625
] |
[
-0.966796875,
103.447265625,
106.259765625,
40.341796875,
46.58203125,
16.259765625
] | 5.2
| 26
| 0
| 26
| 0
|
[
-3.1640625,
101.07421875,
98.0859375,
38.49609375,
50.2734375,
12.65625
] |
[
-1.93359375,
103.447265625,
106.171875,
40.341796875,
47.8125,
16.259765625
] | 5.4
| 27
| 0
| 27
| 0
|
[
-4.5703125,
96.6796875,
94.921875,
38.408203125,
52.20703125,
12.65625
] |
[
-1.93359375,
102.744140625,
104.0625,
40.25390625,
48.603515625,
16.259765625
] | 5.6
| 28
| 0
| 28
| 0
|
[
-6.328125,
93.603515625,
92.548828125,
35.33203125,
54.052734375,
12.65625
] |
[
-2.8125,
100.72265625,
101.77734375,
40.25390625,
49.482421875,
16.259765625
] | 5.8
| 29
| 0
| 29
| 0
|
[
-7.20703125,
92.4609375,
92.28515625,
31.640625,
55.458984375,
12.65625
] |
[
-3.955078125,
95.44921875,
96.591796875,
39.90234375,
51.6796875,
16.259765625
] | 6
| 30
| 0
| 30
| 0
|
[
-7.20703125,
90.52734375,
90.52734375,
28.4765625,
57.48046875,
12.65625
] |
[
-5.9765625,
92.63671875,
95.2734375,
38.232421875,
53.7890625,
16.259765625
] | 6.2
| 31
| 0
| 31
| 0
|
[
-7.119140625,
89.296875,
87.626953125,
27.509765625,
59.853515625,
12.65625
] |
[
-6.85546875,
91.494140625,
95.2734375,
34.1015625,
54.580078125,
16.259765625
] | 6.4
| 32
| 0
| 32
| 0
|
[
-6.767578125,
85.78125,
83.583984375,
27.24609375,
60.99609375,
12.744140625
] |
[
-6.943359375,
89.560546875,
93.603515625,
31.025390625,
56.689453125,
16.259765625
] | 6.6
| 33
| 0
| 33
| 0
|
[
-6.50390625,
82.79296875,
82.001953125,
27.0703125,
62.314453125,
14.0625
] |
[
-6.943359375,
88.59375,
90.52734375,
30.05859375,
58.623046875,
16.259765625
] | 6.8
| 34
| 0
| 34
| 0
|
[
-6.416015625,
81.73828125,
81.9140625,
27.158203125,
62.666015625,
23.466796875
] |
[
-6.416015625,
84.462890625,
86.220703125,
29.70703125,
59.58984375,
16.259765625
] | 7
| 35
| 0
| 35
| 0
|
[
-6.6796875,
82.177734375,
82.001953125,
28.212890625,
62.578125,
30.673828125
] |
[
-5.9765625,
81.123046875,
85.78125,
29.619140625,
61.611328125,
16.259765625
] | 7.2
| 36
| 0
| 36
| 0
|
[
-6.767578125,
82.880859375,
82.880859375,
28.212890625,
61.171875,
31.376953125
] |
[
-5.9765625,
80.33203125,
84.90234375,
29.443359375,
61.69921875,
22.412109375
] | 7.4
| 37
| 0
| 37
| 0
|
[
-7.55859375,
87.01171875,
90.263671875,
27.861328125,
54.4921875,
32.87109375
] |
[
-5.9765625,
80.419921875,
84.90234375,
29.443359375,
61.69921875,
25.927734375
] | 7.6
| 38
| 0
| 38
| 0
|
[
-8.173828125,
91.318359375,
98.349609375,
26.015625,
48.69140625,
32.87109375
] |
[
-5.9765625,
80.419921875,
84.90234375,
29.35546875,
61.171875,
30.41015625
] | 7.8
| 39
| 0
| 39
| 0
|
[
-8.173828125,
94.21875,
104.501953125,
24.169921875,
44.47265625,
32.958984375
] |
[
-7.03125,
84.638671875,
92.373046875,
28.65234375,
54.140625,
31.376953125
] | 8
| 40
| 0
| 40
| 0
|
[
-8.173828125,
96.85546875,
110.302734375,
22.67578125,
42.626953125,
32.958984375
] |
[
-7.998046875,
89.033203125,
100.8984375,
27.685546875,
48.1640625,
31.376953125
] | 8.2
| 41
| 0
| 41
| 0
|
[
-8.173828125,
100.458984375,
116.806640625,
19.599609375,
39.814453125,
32.958984375
] |
[
-7.998046875,
92.197265625,
106.435546875,
25.927734375,
44.033203125,
31.376953125
] | 8.4
| 42
| 0
| 42
| 0
|
[
-7.3828125,
104.23828125,
124.541015625,
15.64453125,
34.27734375,
32.958984375
] |
[
-8.0859375,
94.39453125,
112.1484375,
23.994140625,
42.01171875,
31.376953125
] | 8.6
| 43
| 0
| 43
| 0
|
[
-5.80078125,
108.6328125,
134.560546875,
8.876953125,
24.873046875,
32.958984375
] |
[
-8.173828125,
98.4375,
118.4765625,
21.09375,
39.0234375,
31.376953125
] | 8.8
| 44
| 0
| 44
| 0
|
[
-3.955078125,
111.884765625,
143.0859375,
3.69140625,
17.138671875,
33.046875
] |
[
-7.119140625,
102.744140625,
126.650390625,
17.05078125,
33.92578125,
31.376953125
] | 9
| 45
| 0
| 45
| 0
|
[
-3.076171875,
115.576171875,
151.69921875,
-2.724609375,
10.283203125,
33.134765625
] |
[
-5.09765625,
106.962890625,
136.142578125,
10.634765625,
24.169921875,
31.376953125
] | 9.2
| 46
| 0
| 46
| 0
|
[
-3.076171875,
118.125,
158.73046875,
-8.0859375,
5.712890625,
33.3984375
] |
[
-3.251953125,
110.56640625,
144.931640625,
5.185546875,
17.05078125,
32.34375
] | 9.4
| 47
| 0
| 47
| 0
|
[
-2.900390625,
119.443359375,
164.35546875,
-12.392578125,
1.494140625,
33.3984375
] |
[
-2.900390625,
114.78515625,
152.9296875,
0.263671875,
10.01953125,
32.431640625
] | 9.6
| 48
| 0
| 48
| 0
|
[
-2.8125,
120.322265625,
169.62890625,
-16.171875,
-0.966796875,
33.662109375
] |
[
-2.900390625,
117.421875,
159.78515625,
-5.625,
5.009765625,
32.34375
] | 9.8
| 49
| 0
| 49
| 0
|
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 1,
"total_frames": 50,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"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.overhead_cam": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 5.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.side_cam": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 5.0,
"video.height": 1080,
"video.width": 1920,
"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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