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
|
|---|---|---|---|---|---|---|
[
17.9296875,
104.94140625,
137.63671875,
11.07421875,
-6.328125,
29.1796875
] |
[
15.380859375,
109.6875,
142.646484375,
11.25,
-5.9765625,
29.267578125
] | 0
| 0
| 0
| 0
| 0
|
[
18.369140625,
101.6015625,
134.82421875,
11.07421875,
-5.185546875,
28.4765625
] |
[
16.787109375,
103.7109375,
138.33984375,
11.162109375,
-5.888671875,
29.267578125
] | 0.2
| 1
| 0
| 1
| 0
|
[
18.369140625,
97.55859375,
130.869140625,
11.6015625,
-2.98828125,
26.806640625
] |
[
17.666015625,
100.810546875,
135.87890625,
11.25,
-5.185546875,
28.30078125
] | 0.4
| 2
| 0
| 2
| 0
|
[
18.193359375,
95.625,
127.08984375,
14.765625,
-0.791015625,
26.103515625
] |
[
17.9296875,
96.591796875,
131.66015625,
11.25,
-2.021484375,
26.455078125
] | 0.6
| 3
| 0
| 3
| 0
|
[
17.490234375,
93.33984375,
122.255859375,
19.6875,
2.28515625,
24.43359375
] |
[
17.9296875,
94.74609375,
128.84765625,
14.23828125,
-0.17578125,
26.455078125
] | 0.8
| 4
| 0
| 4
| 0
|
[
15.732421875,
91.318359375,
115.576171875,
30.234375,
6.767578125,
24.43359375
] |
[
16.962890625,
92.8125,
123.75,
19.248046875,
1.669921875,
24.43359375
] | 1
| 5
| 0
| 5
| 0
|
[
14.4140625,
88.857421875,
111.181640625,
35.33203125,
10.107421875,
23.02734375
] |
[
15.380859375,
90.615234375,
116.3671875,
30.322265625,
5.888671875,
24.43359375
] | 1.2
| 6
| 0
| 6
| 0
|
[
14.58984375,
85.166015625,
106.962890625,
40.4296875,
11.6015625,
23.02734375
] |
[
14.150390625,
87.71484375,
112.67578125,
35.15625,
9.755859375,
23.291015625
] | 1.4
| 7
| 0
| 7
| 0
|
[
15.1171875,
79.716796875,
103.271484375,
40.341796875,
12.65625,
23.203125
] |
[
13.974609375,
84.638671875,
107.666015625,
40.078125,
10.810546875,
23.291015625
] | 1.6
| 8
| 0
| 8
| 0
|
[
16.34765625,
76.11328125,
103.271484375,
36.650390625,
14.94140625,
26.19140625
] |
[
14.501953125,
78.486328125,
104.58984375,
40.078125,
11.689453125,
23.203125
] | 1.8
| 9
| 0
| 9
| 0
|
[
17.75390625,
73.125,
103.359375,
34.453125,
18.369140625,
28.212890625
] |
[
15.380859375,
75.673828125,
104.58984375,
36.9140625,
13.7109375,
25.224609375
] | 2
| 10
| 0
| 10
| 0
|
[
18.017578125,
72.24609375,
103.798828125,
31.201171875,
21.708984375,
28.30078125
] |
[
16.34765625,
73.564453125,
104.326171875,
36.474609375,
17.666015625,
27.333984375
] | 2.2
| 11
| 0
| 11
| 0
|
[
18.28125,
72.24609375,
104.94140625,
27.24609375,
24.873046875,
34.365234375
] |
[
17.138671875,
73.037109375,
104.150390625,
35.771484375,
20.654296875,
27.333984375
] | 2.4
| 12
| 0
| 12
| 0
|
[
18.720703125,
72.24609375,
106.171875,
27.158203125,
27.7734375,
23.73046875
] |
[
17.490234375,
72.333984375,
104.23828125,
29.8828125,
23.818359375,
33.3984375
] | 2.6
| 13
| 0
| 13
| 0
|
[
18.80859375,
72.24609375,
106.5234375,
27.24609375,
30.05859375,
18.193359375
] |
[
17.666015625,
72.7734375,
106.34765625,
27.861328125,
26.982421875,
23.466796875
] | 2.8
| 14
| 0
| 14
| 0
|
[
18.720703125,
73.212890625,
106.69921875,
27.7734375,
31.640625,
13.53515625
] |
[
17.75390625,
72.7734375,
106.34765625,
27.861328125,
29.794921875,
18.80859375
] | 3
| 15
| 0
| 15
| 0
|
[
17.490234375,
79.189453125,
106.69921875,
29.70703125,
34.62890625,
9.931640625
] |
[
17.9296875,
72.94921875,
106.34765625,
27.861328125,
30.76171875,
16.435546875
] | 3.2
| 16
| 0
| 16
| 0
|
[
14.853515625,
85.517578125,
105.380859375,
34.62890625,
40.25390625,
10.01953125
] |
[
16.962890625,
77.080078125,
106.875,
29.00390625,
33.662109375,
15.8203125
] | 3.4
| 17
| 0
| 17
| 0
|
[
10.37109375,
89.296875,
103.0078125,
35.859375,
43.76953125,
10.01953125
] |
[
14.23828125,
83.14453125,
106.875,
34.453125,
39.814453125,
15.8203125
] | 3.6
| 18
| 0
| 18
| 0
|
[
6.328125,
94.5703125,
101.77734375,
36.03515625,
48.33984375,
10.01953125
] |
[
10.1953125,
87.1875,
105.556640625,
35.15625,
42.71484375,
15.8203125
] | 3.8
| 19
| 0
| 19
| 0
|
[
3.33984375,
96.064453125,
100.634765625,
36.03515625,
51.416015625,
10.107421875
] |
[
6.240234375,
92.4609375,
103.798828125,
36.2109375,
47.8125,
15.8203125
] | 4
| 20
| 0
| 20
| 0
|
[
-2.63671875,
96.064453125,
98.173828125,
35.68359375,
55.986328125,
10.810546875
] |
[
2.900390625,
94.306640625,
103.798828125,
36.2109375,
50.80078125,
15.8203125
] | 4.2
| 21
| 0
| 21
| 0
|
[
-4.74609375,
97.294921875,
96.767578125,
35.68359375,
58.271484375,
10.8984375
] |
[
-1.58203125,
94.306640625,
101.162109375,
36.123046875,
54.140625,
15.8203125
] | 4.4
| 22
| 0
| 22
| 0
|
[
-6.85546875,
97.734375,
94.130859375,
35.771484375,
60.380859375,
11.689453125
] |
[
-3.779296875,
95.185546875,
99.4921875,
36.2109375,
57.568359375,
15.8203125
] | 4.6
| 23
| 0
| 23
| 0
|
[
-7.734375,
94.74609375,
92.28515625,
33.3984375,
61.875,
11.865234375
] |
[
-5.9765625,
95.2734375,
96.767578125,
36.298828125,
59.58984375,
15.8203125
] | 4.8
| 24
| 0
| 24
| 0
|
[
-8.173828125,
85.341796875,
85.166015625,
31.552734375,
64.423828125,
12.568359375
] |
[
-6.943359375,
93.603515625,
95.185546875,
36.03515625,
60.556640625,
15.8203125
] | 5
| 25
| 0
| 25
| 0
|
[
-8.349609375,
82.529296875,
82.177734375,
31.552734375,
64.86328125,
12.568359375
] |
[
-7.55859375,
86.1328125,
86.748046875,
34.189453125,
62.578125,
15.8203125
] | 5.2
| 26
| 0
| 26
| 0
|
[
-8.96484375,
79.27734375,
78.662109375,
31.728515625,
66.796875,
17.05078125
] |
[
-7.998046875,
81.123046875,
85.517578125,
33.3984375,
63.80859375,
15.8203125
] | 5.4
| 27
| 0
| 27
| 0
|
[
-9.228515625,
79.453125,
79.365234375,
31.9921875,
67.763671875,
35.5078125
] |
[
-7.998046875,
78.3984375,
80.419921875,
33.046875,
65.56640625,
17.138671875
] | 5.6
| 28
| 0
| 28
| 0
|
[
-9.580078125,
80.68359375,
79.716796875,
35.244140625,
67.763671875,
35.33203125
] |
[
-8.96484375,
78.22265625,
80.5078125,
32.958984375,
66.708984375,
34.365234375
] | 5.8
| 29
| 0
| 29
| 0
|
[
-10.1953125,
83.408203125,
81.123046875,
41.220703125,
64.6875,
34.892578125
] |
[
-8.96484375,
78.310546875,
80.5078125,
35.33203125,
66.708984375,
34.453125
] | 6
| 30
| 0
| 30
| 0
|
[
-10.107421875,
88.2421875,
86.748046875,
42.01171875,
59.501953125,
34.716796875
] |
[
-9.931640625,
80.5078125,
82.44140625,
41.484375,
64.072265625,
34.013671875
] | 6.2
| 31
| 0
| 31
| 0
|
[
-9.931640625,
91.58203125,
92.197265625,
41.572265625,
55.546875,
34.716796875
] |
[
-9.84375,
85.341796875,
88.06640625,
42.099609375,
59.58984375,
34.013671875
] | 6.4
| 32
| 0
| 32
| 0
|
[
-9.052734375,
95.712890625,
100.37109375,
39.462890625,
49.306640625,
34.892578125
] |
[
-9.228515625,
89.12109375,
93.603515625,
42.01171875,
55.01953125,
34.013671875
] | 6.6
| 33
| 0
| 33
| 0
|
[
-7.03125,
100.37109375,
111.884765625,
32.51953125,
38.84765625,
34.892578125
] |
[
-9.140625,
93.251953125,
102.65625,
40.341796875,
49.04296875,
34.013671875
] | 6.8
| 34
| 0
| 34
| 0
|
[
-5.9765625,
105.908203125,
127.880859375,
22.8515625,
30.05859375,
34.892578125
] |
[
-7.294921875,
98.4375,
113.37890625,
33.92578125,
38.056640625,
33.92578125
] | 7
| 35
| 0
| 35
| 0
|
[
-5.537109375,
111.09375,
138.779296875,
16.5234375,
21.533203125,
34.892578125
] |
[
-5.09765625,
104.501953125,
129.111328125,
24.2578125,
30.146484375,
33.92578125
] | 7.2
| 36
| 0
| 36
| 0
|
[
-5.625,
115.48828125,
149.765625,
9.404296875,
12.48046875,
34.892578125
] |
[
-4.833984375,
110.56640625,
139.833984375,
17.578125,
21.181640625,
33.92578125
] | 7.4
| 37
| 0
| 37
| 0
|
[
-6.240234375,
117.24609375,
158.37890625,
2.28515625,
6.328125,
34.8046875
] |
[
-4.658203125,
114.2578125,
149.765625,
10.458984375,
12.12890625,
33.92578125
] | 7.6
| 38
| 0
| 38
| 0
|
[
-5.888671875,
117.333984375,
164.619140625,
-3.1640625,
0.17578125,
34.62890625
] |
[
-5.888671875,
116.54296875,
159.345703125,
3.076171875,
6.064453125,
33.837890625
] | 7.8
| 39
| 0
| 39
| 0
|
[
-5.009765625,
117.7734375,
169.453125,
-8.701171875,
-5.9765625,
34.62890625
] |
[
-4.921875,
116.982421875,
164.443359375,
-2.98828125,
0.263671875,
33.837890625
] | 8
| 40
| 0
| 40
| 0
|
[
-4.74609375,
118.388671875,
174.7265625,
-16.787109375,
-8.61328125,
34.62890625
] |
[
-4.921875,
117.24609375,
169.1015625,
-8.349609375,
-4.306640625,
33.837890625
] | 8.2
| 41
| 0
| 41
| 0
|
[
-4.658203125,
118.564453125,
178.41796875,
-18.80859375,
-8.701171875,
34.716796875
] |
[
-4.21875,
117.94921875,
174.0234375,
-16.435546875,
-7.55859375,
33.837890625
] | 8.4
| 42
| 0
| 42
| 0
|
[
-5.009765625,
118.30078125,
178.9453125,
-19.072265625,
-8.701171875,
34.716796875
] |
[
-4.04296875,
117.94921875,
176.8359375,
-17.75390625,
-7.55859375,
33.837890625
] | 8.6
| 43
| 0
| 43
| 0
|
[
-4.833984375,
117.7734375,
179.47265625,
-19.6875,
-9.052734375,
34.716796875
] |
[
-4.74609375,
117.861328125,
176.8359375,
-18.28125,
-7.646484375,
33.837890625
] | 8.8
| 44
| 0
| 44
| 0
|
[
-3.955078125,
117.7734375,
180.087890625,
-20.830078125,
-9.052734375,
34.716796875
] |
[
-4.04296875,
117.59765625,
176.8359375,
-18.45703125,
-8.525390625,
33.837890625
] | 9
| 45
| 0
| 45
| 0
|
[
-2.373046875,
117.685546875,
180.087890625,
-20.7421875,
-9.755859375,
34.716796875
] |
[
-3.427734375,
117.421875,
177.36328125,
-19.072265625,
-8.525390625,
33.837890625
] | 9.2
| 46
| 0
| 46
| 0
|
[
-0.966796875,
117.7734375,
180.087890625,
-19.775390625,
-10.458984375,
34.716796875
] |
[
-2.109375,
117.333984375,
177.36328125,
-19.072265625,
-8.4375,
33.837890625
] | 9.4
| 47
| 0
| 47
| 0
|
[
-1.142578125,
116.3671875,
180.17578125,
-20.126953125,
-10.283203125,
34.716796875
] |
[
-0.439453125,
117.333984375,
177.36328125,
-18.984375,
-9.580078125,
33.837890625
] | 9.6
| 48
| 0
| 48
| 0
|
[
-0.791015625,
113.642578125,
180.3515625,
-22.587890625,
-9.931640625,
34.716796875
] |
[
-0.966796875,
116.54296875,
177.451171875,
-19.599609375,
-9.66796875,
33.837890625
] | 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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