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Datasets:
hoffnung1208
/
koch_test_lego_long_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
21.2
frame_index
int64
0
637
episode_index
int64
0
800
index
int64
0
150k
task_index
int64
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[ -48.251953125, 94.306640625, 112.5, 7.294921875, -10.01953125, -0.3515625 ]
2.5
75
0
75
0
[ -51.767578125, 96.85546875, 116.19140625, -9.931640625, -5.44921875, -7.91015625 ]
[ -48.955078125, 94.306640625, 114.2578125, 3.779296875, -8.349609375, -0.3515625 ]
2.533333
76
0
76
0
[ -52.646484375, 96.328125, 117.0703125, -12.83203125, -5.44921875, -7.91015625 ]
[ -50.009765625, 94.306640625, 117.333984375, -0.17578125, -6.767578125, -0.3515625 ]
2.566667
77
0
77
0
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[ -51.15234375, 94.21875, 119.443359375, -3.076171875, -5.888671875, -0.3515625 ]
2.6
78
0
78
0
[ -54.4921875, 94.482421875, 117.861328125, -17.314453125, -4.74609375, -7.91015625 ]
[ -52.119140625, 94.04296875, 119.794921875, -4.833984375, -5.44921875, -0.3515625 ]
2.633333
79
0
79
0
[ -55.810546875, 93.515625, 118.388671875, -18.720703125, -4.04296875, -7.91015625 ]
[ -53.0859375, 93.69140625, 119.619140625, -7.294921875, -5.2734375, -0.3515625 ]
2.666667
80
0
80
0
[ -56.865234375, 93.1640625, 119.267578125, -20.91796875, -3.955078125, -7.91015625 ]
[ -54.052734375, 92.98828125, 119.53125, -10.37109375, -4.833984375, -0.3515625 ]
2.7
81
0
81
0
[ -58.095703125, 91.669921875, 120.05859375, -23.818359375, -2.548828125, -7.91015625 ]
[ -55.107421875, 92.373046875, 120.322265625, -12.919921875, -4.39453125, -0.3515625 ]
2.733333
82
0
82
0
[ -58.974609375, 91.494140625, 121.2890625, -26.3671875, -1.494140625, -7.91015625 ]
[ -56.513671875, 91.318359375, 121.640625, -14.94140625, -3.603515625, -0.3515625 ]
2.766667
83
0
83
0
[ -59.677734375, 90.3515625, 122.255859375, -29.00390625, -0.3515625, -7.91015625 ]
[ -57.3046875, 90.439453125, 122.607421875, -17.2265625, -2.63671875, -0.3515625 ]
2.8
84
0
84
0
[ -59.853515625, 88.857421875, 123.75, -33.837890625, 0.966796875, -7.91015625 ]
[ -58.18359375, 89.736328125, 124.013671875, -19.423828125, -1.669921875, -0.3515625 ]
2.833333
85
0
85
0
[ -60.029296875, 87.890625, 124.98046875, -36.826171875, 0.87890625, -7.91015625 ]
[ -58.53515625, 88.330078125, 124.453125, -22.412109375, -0.966796875, -0.3515625 ]
2.866667
86
0
86
0
[ -60.380859375, 86.8359375, 125.68359375, -39.111328125, 0.87890625, -7.91015625 ]
[ -59.150390625, 86.923828125, 125.15625, -26.19140625, -0.615234375, -0.3515625 ]
2.9
87
0
87
0
[ -60.556640625, 86.044921875, 126.123046875, -40.60546875, 0.966796875, -7.91015625 ]
[ -59.501953125, 85.693359375, 126.5625, -29.70703125, -0.439453125, -0.3515625 ]
2.933333
88
0
88
0
[ -61.34765625, 85.166015625, 127.177734375, -43.41796875, 0.966796875, -7.91015625 ]
[ -59.677734375, 85.25390625, 127.529296875, -31.81640625, -0.439453125, -0.3515625 ]
2.966667
89
0
89
0
[ -61.962890625, 83.84765625, 127.880859375, -45.791015625, 0.966796875, -7.91015625 ]
[ -60.205078125, 84.7265625, 128.671875, -33.92578125, -0.439453125, -0.3515625 ]
3
90
0
90
0
[ -62.138671875, 82.79296875, 128.759765625, -48.1640625, 0.966796875, -7.91015625 ]
[ -60.46875, 83.3203125, 128.671875, -36.38671875, -0.3515625, -0.3515625 ]
3.033333
91
0
91
0
[ -62.138671875, 81.2109375, 129.111328125, -50.80078125, 0.87890625, -7.91015625 ]
[ -61.171875, 81.826171875, 128.935546875, -39.0234375, -0.263671875, -0.3515625 ]
3.066667
92
0
92
0
[ -62.138671875, 79.98046875, 129.462890625, -52.646484375, 0.966796875, -7.91015625 ]
[ -61.435546875, 80.595703125, 130.078125, -41.484375, -0.17578125, -0.3515625 ]
3.1
93
0
93
0
[ -62.138671875, 78.486328125, 129.55078125, -54.931640625, 0.966796875, -7.91015625 ]
[ -61.5234375, 79.189453125, 130.517578125, -43.59375, -0.17578125, -0.3515625 ]
3.133333
94
0
94
0
[ -62.2265625, 77.34375, 129.55078125, -56.25, 0.87890625, -7.91015625 ]
[ -61.5234375, 77.6953125, 130.517578125, -45.439453125, -0.17578125, -0.3515625 ]
3.166667
95
0
95
0
[ -62.490234375, 75.322265625, 129.55078125, -58.18359375, 0.703125, -7.91015625 ]
[ -61.5234375, 76.640625, 130.517578125, -47.373046875, -0.17578125, -0.3515625 ]
3.2
96
0
96
0
[ -62.75390625, 74.35546875, 129.90234375, -59.501953125, 0.615234375, -7.91015625 ]
[ -61.5234375, 75.234375, 130.517578125, -49.39453125, -0.17578125, -0.3515625 ]
3.233333
97
0
97
0
[ -62.75390625, 73.916015625, 130.341796875, -60.029296875, 0.615234375, -7.91015625 ]
[ -61.5234375, 73.740234375, 130.517578125, -51.50390625, -0.17578125, -0.3515625 ]
3.266667
98
0
98
0
[ -62.75390625, 73.828125, 130.869140625, -60.205078125, 0.615234375, -7.91015625 ]
[ -61.5234375, 72.509765625, 130.869140625, -52.822265625, -0.17578125, -0.3515625 ]
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": 50,
    "total_frames": 9296,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.realsense": {
            "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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