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Datasets:
Zhaoting123
/
koch_cleanDesk

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
1K - 10K
Tags:
LeRobot
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
55.2
frame_index
int64
0
1.66k
episode_index
int64
0
0
index
int64
0
1.66k
task_index
int64
0
0
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[ 10.107421875, 73.65234375, 154.16015625, -65.390625, 6.15234375, 33.57421875 ]
[ 10.107421875, 73.30078125, 156.09375, -61.171875, 6.064453125, 34.013671875 ]
2.6
78
0
78
0
[ 10.01953125, 73.740234375, 153.544921875, -65.390625, 6.15234375, 33.57421875 ]
[ 10.107421875, 73.30078125, 156.09375, -61.171875, 6.15234375, 34.013671875 ]
2.633333
79
0
79
0
[ 9.84375, 73.740234375, 153.193359375, -65.390625, 6.15234375, 33.57421875 ]
[ 10.107421875, 73.30078125, 155.654296875, -61.171875, 6.064453125, 34.013671875 ]
2.666667
80
0
80
0
[ 9.66796875, 73.65234375, 152.9296875, -65.390625, 6.064453125, 33.57421875 ]
[ 9.84375, 73.30078125, 154.423828125, -61.171875, 6.064453125, 34.013671875 ]
2.7
81
0
81
0
[ 9.66796875, 73.564453125, 152.138671875, -65.390625, 6.064453125, 33.57421875 ]
[ 9.84375, 73.30078125, 154.16015625, -61.171875, 6.064453125, 34.013671875 ]
2.733333
82
0
82
0
[ 9.66796875, 73.564453125, 151.962890625, -65.390625, 5.9765625, 33.57421875 ]
[ 9.755859375, 73.30078125, 153.80859375, -61.171875, 6.064453125, 34.013671875 ]
2.766667
83
0
83
0
[ 9.580078125, 73.564453125, 151.875, -65.390625, 5.9765625, 33.57421875 ]
[ 9.66796875, 73.30078125, 153.6328125, -61.171875, 6.064453125, 34.013671875 ]
2.8
84
0
84
0
[ 9.580078125, 73.564453125, 151.875, -65.390625, 5.9765625, 33.57421875 ]
[ 9.66796875, 73.30078125, 153.6328125, -61.171875, 6.15234375, 34.013671875 ]
2.833333
85
0
85
0
[ 9.4921875, 73.564453125, 151.875, -65.390625, 5.9765625, 33.57421875 ]
[ 9.66796875, 73.30078125, 153.6328125, -61.171875, 6.064453125, 34.013671875 ]
2.866667
86
0
86
0
[ 9.4921875, 73.564453125, 151.875, -65.390625, 5.9765625, 33.57421875 ]
[ 9.580078125, 73.30078125, 153.6328125, -61.171875, 6.064453125, 34.013671875 ]
2.9
87
0
87
0
[ 9.404296875, 73.4765625, 151.787109375, -65.390625, 5.9765625, 33.57421875 ]
[ 9.4921875, 73.30078125, 153.6328125, -61.171875, 6.15234375, 34.013671875 ]
2.933333
88
0
88
0
[ 9.31640625, 72.59765625, 151.259765625, -65.390625, 5.9765625, 33.57421875 ]
[ 9.4921875, 73.30078125, 153.6328125, -61.171875, 6.064453125, 34.013671875 ]
2.966667
89
0
89
0
[ 9.31640625, 72.0703125, 150.732421875, -65.390625, 6.064453125, 33.57421875 ]
[ 9.4921875, 72.861328125, 153.45703125, -61.171875, 6.064453125, 34.013671875 ]
3
90
0
90
0
[ 9.31640625, 71.806640625, 150.205078125, -65.390625, 6.064453125, 33.486328125 ]
[ 9.4921875, 72.158203125, 152.9296875, -61.171875, 6.15234375, 34.013671875 ]
3.033333
91
0
91
0
[ 9.31640625, 71.71875, 149.94140625, -65.390625, 6.064453125, 33.486328125 ]
[ 9.4921875, 71.54296875, 152.2265625, -61.171875, 6.15234375, 34.013671875 ]
3.066667
92
0
92
0
[ 9.31640625, 71.630859375, 149.58984375, -65.478515625, 6.064453125, 33.486328125 ]
[ 9.4921875, 71.3671875, 151.69921875, -61.171875, 6.064453125, 34.013671875 ]
3.1
93
0
93
0
[ 9.31640625, 71.630859375, 149.4140625, -65.478515625, 6.064453125, 33.57421875 ]
[ 9.4921875, 71.3671875, 151.34765625, -61.171875, 6.15234375, 34.013671875 ]
3.133333
94
0
94
0
[ 9.31640625, 71.630859375, 149.326171875, -65.478515625, 6.15234375, 33.57421875 ]
[ 9.4921875, 71.3671875, 151.083984375, -61.171875, 6.064453125, 34.013671875 ]
3.166667
95
0
95
0
[ 9.31640625, 71.630859375, 149.0625, -65.478515625, 6.15234375, 33.57421875 ]
[ 9.4921875, 71.3671875, 151.083984375, -61.171875, 6.064453125, 34.013671875 ]
3.2
96
0
96
0
[ 9.31640625, 71.630859375, 148.974609375, -65.478515625, 6.240234375, 33.57421875 ]
[ 9.4921875, 71.3671875, 150.99609375, -61.171875, 6.15234375, 34.013671875 ]
3.233333
97
0
97
0
[ 9.31640625, 71.630859375, 148.623046875, -65.478515625, 6.240234375, 33.486328125 ]
[ 9.4921875, 71.3671875, 150.99609375, -61.171875, 6.15234375, 34.013671875 ]
3.266667
98
0
98
0
[ 9.404296875, 71.630859375, 148.53515625, -65.478515625, 6.240234375, 33.486328125 ]
[ 9.4921875, 71.3671875, 150.64453125, -61.171875, 6.15234375, 34.013671875 ]
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": 1,
    "total_frames": 1657,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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