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Datasets:
ssaito
/
koch_test_63

Tasks:
Robotics
Modalities:
Tabular
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Size:
1K - 10K
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LeRobot
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
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3
index
int64
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2.1k
task_index
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[ -2.900390625, 96.328125, 144.580078125, -14.23828125, -11.25, 33.3984375 ]
2.566667
77
0
77
0
[ -5.361328125, 99.4921875, 148.0078125, -22.32421875, -10.458984375, 34.541015625 ]
[ -3.33984375, 96.85546875, 146.689453125, -16.083984375, -11.07421875, 33.3984375 ]
2.6
78
0
78
0
[ -5.888671875, 99.66796875, 148.974609375, -22.412109375, -9.84375, 34.541015625 ]
[ -3.955078125, 97.20703125, 148.359375, -17.2265625, -10.72265625, 33.3984375 ]
2.633333
79
0
79
0
[ -6.328125, 99.755859375, 149.853515625, -22.412109375, -9.580078125, 34.453125 ]
[ -4.39453125, 97.3828125, 149.23828125, -18.10546875, -10.283203125, 33.3984375 ]
2.666667
80
0
80
0
[ -6.6796875, 99.931640625, 150.64453125, -22.412109375, -9.31640625, 34.453125 ]
[ -4.921875, 97.470703125, 149.326171875, -18.544921875, -9.84375, 33.3984375 ]
2.7
81
0
81
0
[ -7.03125, 100.01953125, 151.34765625, -22.412109375, -9.140625, 34.365234375 ]
[ -5.361328125, 97.470703125, 149.94140625, -19.248046875, -9.4921875, 33.3984375 ]
2.733333
82
0
82
0
[ -7.20703125, 100.1953125, 152.05078125, -22.5, -8.525390625, 34.365234375 ]
[ -5.9765625, 97.998046875, 151.34765625, -19.51171875, -9.31640625, 33.3984375 ]
2.766667
83
0
83
0
[ -7.55859375, 100.458984375, 152.9296875, -22.5, -7.91015625, 34.27734375 ]
[ -6.416015625, 98.349609375, 152.578125, -19.599609375, -8.96484375, 33.3984375 ]
2.8
84
0
84
0
[ -7.822265625, 100.72265625, 153.896484375, -22.587890625, -7.734375, 34.27734375 ]
[ -6.591796875, 98.525390625, 153.193359375, -19.51171875, -8.4375, 33.3984375 ]
2.833333
85
0
85
0
[ -7.998046875, 100.8984375, 154.775390625, -22.587890625, -7.119140625, 34.27734375 ]
[ -6.767578125, 98.61328125, 153.28125, -19.599609375, -7.91015625, 33.3984375 ]
2.866667
86
0
86
0
[ -8.173828125, 101.07421875, 155.654296875, -22.587890625, -6.591796875, 34.27734375 ]
[ -6.85546875, 98.701171875, 153.896484375, -19.775390625, -7.55859375, 33.3984375 ]
2.9
87
0
87
0
[ -8.26171875, 101.25, 156.357421875, -22.587890625, -6.240234375, 34.27734375 ]
[ -7.20703125, 99.140625, 155.302734375, -19.6875, -7.119140625, 33.3984375 ]
2.933333
88
0
88
0
[ -8.4375, 101.6015625, 156.97265625, -22.587890625, -5.9765625, 34.27734375 ]
[ -7.55859375, 99.4921875, 156.533203125, -19.6875, -6.6796875, 33.3984375 ]
2.966667
89
0
89
0
[ -8.525390625, 101.865234375, 157.5, -22.587890625, -5.712890625, 34.27734375 ]
[ -7.646484375, 99.84375, 156.796875, -19.6875, -6.15234375, 33.3984375 ]
3
90
0
90
0
[ -8.61328125, 102.3046875, 158.02734375, -22.587890625, -5.44921875, 34.27734375 ]
[ -7.734375, 100.01953125, 157.060546875, -19.6875, -5.625, 33.3984375 ]
3.033333
91
0
91
0
[ -8.525390625, 102.83203125, 158.73046875, -22.587890625, -5.185546875, 34.27734375 ]
[ -7.822265625, 100.458984375, 158.115234375, -19.775390625, -5.361328125, 33.3984375 ]
3.066667
92
0
92
0
[ -8.525390625, 103.271484375, 159.43359375, -22.587890625, -4.921875, 34.27734375 ]
[ -7.822265625, 100.8984375, 158.73046875, -19.775390625, -5.185546875, 33.3984375 ]
3.1
93
0
93
0
[ -8.4375, 103.7109375, 160.13671875, -22.587890625, -4.658203125, 34.27734375 ]
[ -7.91015625, 101.337890625, 158.994140625, -19.775390625, -4.833984375, 33.3984375 ]
3.133333
94
0
94
0
[ -8.173828125, 104.501953125, 160.927734375, -22.587890625, -4.39453125, 34.27734375 ]
[ -7.822265625, 101.77734375, 160.048828125, -20.0390625, -4.39453125, 33.3984375 ]
3.166667
95
0
95
0
[ -7.822265625, 105.1171875, 161.630859375, -22.587890625, -3.955078125, 34.27734375 ]
[ -7.822265625, 102.48046875, 160.6640625, -20.21484375, -4.21875, 33.3984375 ]
3.2
96
0
96
0
[ -7.294921875, 105.908203125, 162.421875, -22.587890625, -3.69140625, 34.189453125 ]
[ -7.646484375, 103.18359375, 160.927734375, -20.302734375, -3.955078125, 33.3984375 ]
3.233333
97
0
97
0
[ -6.943359375, 106.435546875, 163.037109375, -22.587890625, -3.603515625, 33.92578125 ]
[ -7.3828125, 103.798828125, 162.0703125, -20.478515625, -3.603515625, 33.3984375 ]
3.266667
98
0
98
0
[ -6.591796875, 107.138671875, 163.65234375, -22.587890625, -3.603515625, 33.75 ]
[ -6.943359375, 104.501953125, 163.30078125, -20.7421875, -3.1640625, 33.134765625 ]
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": "v2.1",
    "robot_type": "koch",
    "total_episodes": 4,
    "total_frames": 2097,
    "total_tasks": 1,
    "total_videos": 8,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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": {
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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",
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            "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": [
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            "names": [
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        "observation.images.side_cam": {
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            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
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                "has_audio": false
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        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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