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Datasets:
hyunwooChoi
/
koch_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
tutorial
Libraries:
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Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
20.5
frame_index
int64
0
614
episode_index
int64
0
4
index
int64
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2.74k
task_index
int64
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[ 20.91796875, 79.98046875, 86.8359375, 53.7890625, 13.359375, 34.013671875 ]
2.566667
77
0
77
0
[ 20.302734375, 82.177734375, 83.3203125, 48.515625, 3.515625, 34.8046875 ]
[ 20.91796875, 80.068359375, 86.8359375, 53.26171875, 10.283203125, 34.1015625 ]
2.6
78
0
78
0
[ 19.951171875, 81.826171875, 83.3203125, 48.33984375, 3.427734375, 34.62890625 ]
[ 20.830078125, 80.068359375, 86.8359375, 52.3828125, 7.55859375, 34.1015625 ]
2.633333
79
0
79
0
[ 19.3359375, 81.474609375, 83.3203125, 48.33984375, 3.427734375, 34.62890625 ]
[ 20.56640625, 80.068359375, 86.8359375, 51.591796875, 5.712890625, 34.1015625 ]
2.666667
80
0
80
0
[ 18.984375, 80.771484375, 83.3203125, 47.109375, 3.515625, 34.62890625 ]
[ 20.126953125, 79.98046875, 86.8359375, 50.9765625, 4.5703125, 34.1015625 ]
2.7
81
0
81
0
[ 18.544921875, 80.15625, 83.3203125, 45.87890625, 3.515625, 34.453125 ]
[ 19.775390625, 79.892578125, 86.8359375, 50.44921875, 4.04296875, 34.1015625 ]
2.733333
82
0
82
0
[ 17.9296875, 79.716796875, 83.3203125, 45.791015625, 3.427734375, 34.365234375 ]
[ 19.3359375, 79.716796875, 86.8359375, 49.658203125, 3.8671875, 34.1015625 ]
2.766667
83
0
83
0
[ 17.490234375, 79.453125, 83.3203125, 45.439453125, 3.33984375, 34.453125 ]
[ 18.896484375, 79.453125, 86.923828125, 48.8671875, 3.779296875, 34.1015625 ]
2.8
84
0
84
0
[ 16.962890625, 79.27734375, 83.3203125, 45.263671875, 2.98828125, 34.453125 ]
[ 18.45703125, 79.27734375, 86.8359375, 48.33984375, 3.603515625, 34.1015625 ]
2.833333
85
0
85
0
[ 16.435546875, 79.013671875, 83.49609375, 45.263671875, -0.17578125, 34.453125 ]
[ 17.841796875, 79.1015625, 86.923828125, 47.98828125, 3.515625, 34.1015625 ]
2.866667
86
0
86
0
[ 15.99609375, 79.013671875, 83.759765625, 45.791015625, -3.076171875, 34.365234375 ]
[ 17.314453125, 78.837890625, 86.8359375, 47.724609375, 2.8125, 34.1015625 ]
2.9
87
0
87
0
[ 15.46875, 79.013671875, 83.935546875, 46.58203125, -4.482421875, 34.189453125 ]
[ 16.787109375, 78.75, 86.8359375, 47.548828125, 1.318359375, 34.1015625 ]
2.933333
88
0
88
0
[ 15.1171875, 78.837890625, 84.111328125, 46.7578125, -5.2734375, 34.1015625 ]
[ 16.259765625, 78.75, 86.923828125, 47.63671875, -0.791015625, 34.1015625 ]
2.966667
89
0
89
0
[ 15.205078125, 78.046875, 84.111328125, 46.58203125, -6.15234375, 34.1015625 ]
[ 15.8203125, 78.75, 86.8359375, 47.548828125, -2.548828125, 34.1015625 ]
3
90
0
90
0
[ 15.29296875, 77.6953125, 84.287109375, 46.494140625, -8.0859375, 34.013671875 ]
[ 15.64453125, 78.3984375, 86.8359375, 47.63671875, -3.955078125, 34.1015625 ]
3.033333
91
0
91
0
[ 15.29296875, 77.51953125, 84.990234375, 46.318359375, -9.404296875, 34.013671875 ]
[ 15.64453125, 77.87109375, 86.8359375, 47.548828125, -5.361328125, 34.1015625 ]
3.066667
92
0
92
0
[ 15.380859375, 77.255859375, 85.4296875, 46.0546875, -10.01953125, 34.013671875 ]
[ 15.64453125, 77.255859375, 86.8359375, 47.548828125, -6.6796875, 34.1015625 ]
3.1
93
0
93
0
[ 15.380859375, 76.46484375, 85.517578125, 46.0546875, -10.01953125, 33.92578125 ]
[ 15.64453125, 76.904296875, 87.01171875, 47.548828125, -7.998046875, 34.1015625 ]
3.133333
94
0
94
0
[ 15.380859375, 76.2890625, 86.220703125, 46.0546875, -9.755859375, 33.92578125 ]
[ 15.556640625, 76.376953125, 87.01171875, 47.548828125, -8.876953125, 34.1015625 ]
3.166667
95
0
95
0
[ 15.380859375, 76.2890625, 87.36328125, 46.0546875, -9.052734375, 33.92578125 ]
[ 15.64453125, 76.025390625, 87.01171875, 47.548828125, -9.31640625, 34.1015625 ]
3.2
96
0
96
0
[ 15.380859375, 76.2890625, 88.2421875, 45.966796875, -8.96484375, 33.92578125 ]
[ 15.64453125, 76.025390625, 87.626953125, 47.4609375, -9.228515625, 34.1015625 ]
3.233333
97
0
97
0
[ 15.205078125, 76.2890625, 89.208984375, 45.966796875, -8.7890625, 33.92578125 ]
[ 15.64453125, 76.025390625, 88.9453125, 47.4609375, -9.052734375, 34.1015625 ]
3.266667
98
0
98
0
[ 15.205078125, 76.2890625, 89.912109375, 45.966796875, -8.701171875, 33.92578125 ]
[ 15.556640625, 75.9375, 90.3515625, 47.548828125, -8.876953125, 34.1015625 ]
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": 5,
    "total_frames": 2737,
    "total_tasks": 1,
    "total_videos": 5,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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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