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Datasets:
ssaito
/
koch_test

Tasks:
Robotics
Modalities:
Video
Tags:
LeRobot
tutorial
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -11.953125, 129.7265625, 122.87109375, 80.33203125, -0.087890625, 33.57421875 ]
2.533333
76
0
76
0
[ -12.3046875, 136.845703125, 120.05859375, 82.001953125, -0.17578125, 34.541015625 ]
[ -11.953125, 129.7265625, 122.783203125, 80.859375, -0.087890625, 33.57421875 ]
2.566667
77
0
77
0
[ -12.3046875, 136.845703125, 119.794921875, 82.001953125, -0.17578125, 34.541015625 ]
[ -11.953125, 129.7265625, 122.87109375, 80.859375, -0.087890625, 33.57421875 ]
2.6
78
0
78
0
[ -12.3046875, 136.845703125, 119.619140625, 82.08984375, -0.17578125, 34.453125 ]
[ -11.953125, 129.7265625, 122.51953125, 81.123046875, -0.087890625, 33.57421875 ]
2.633333
79
0
79
0
[ -12.216796875, 136.845703125, 119.443359375, 82.08984375, -0.17578125, 34.541015625 ]
[ -11.953125, 129.7265625, 121.904296875, 81.650390625, -0.087890625, 33.57421875 ]
2.666667
80
0
80
0
[ -12.041015625, 136.845703125, 119.267578125, 82.177734375, -0.17578125, 34.453125 ]
[ -11.953125, 129.7265625, 121.46484375, 81.650390625, -0.087890625, 33.57421875 ]
2.7
81
0
81
0
[ -11.953125, 136.845703125, 119.1796875, 82.177734375, -0.17578125, 34.453125 ]
[ -11.953125, 129.7265625, 121.376953125, 81.73828125, -0.087890625, 33.57421875 ]
2.733333
82
0
82
0
[ -11.953125, 136.845703125, 119.1796875, 82.177734375, -0.17578125, 34.453125 ]
[ -11.689453125, 129.7265625, 121.376953125, 81.826171875, -0.087890625, 33.57421875 ]
2.766667
83
0
83
0
[ -11.953125, 136.845703125, 119.091796875, 82.177734375, -0.17578125, 34.453125 ]
[ -11.337890625, 129.7265625, 121.376953125, 81.826171875, -0.087890625, 33.57421875 ]
2.8
84
0
84
0
[ -11.953125, 136.845703125, 119.091796875, 82.177734375, -0.17578125, 34.453125 ]
[ -11.25, 129.7265625, 121.376953125, 81.9140625, -0.087890625, 33.57421875 ]
2.833333
85
0
85
0
[ -11.865234375, 136.845703125, 119.091796875, 82.08984375, -0.17578125, 34.453125 ]
[ -11.07421875, 129.7265625, 121.376953125, 81.9140625, -0.087890625, 33.57421875 ]
2.866667
86
0
86
0
[ -11.865234375, 136.7578125, 119.091796875, 82.08984375, -0.17578125, 34.453125 ]
[ -10.986328125, 129.7265625, 121.376953125, 81.9140625, -0.087890625, 33.57421875 ]
2.9
87
0
87
0
[ -11.865234375, 136.7578125, 119.00390625, 82.08984375, -0.17578125, 34.453125 ]
[ -10.986328125, 129.7265625, 121.376953125, 81.9140625, -0.087890625, 33.57421875 ]
2.933333
88
0
88
0
[ -11.865234375, 136.7578125, 118.916015625, 82.08984375, -0.17578125, 34.453125 ]
[ -10.986328125, 129.7265625, 121.376953125, 81.9140625, -0.087890625, 33.57421875 ]
2.966667
89
0
89
0
[ -11.865234375, 136.7578125, 118.740234375, 82.08984375, -0.087890625, 34.453125 ]
[ -10.986328125, 129.7265625, 121.376953125, 81.9140625, -0.087890625, 33.57421875 ]
3
90
0
90
0
[ -11.865234375, 136.7578125, 118.564453125, 82.177734375, -0.17578125, 34.453125 ]
[ -10.986328125, 129.7265625, 121.376953125, 81.9140625, -0.087890625, 33.57421875 ]
3.033333
91
0
91
0
[ -11.77734375, 136.7578125, 118.212890625, 82.44140625, -0.087890625, 34.453125 ]
[ -10.986328125, 129.7265625, 121.376953125, 81.9140625, -0.087890625, 33.57421875 ]
3.066667
92
0
92
0
[ -11.865234375, 136.7578125, 118.037109375, 82.79296875, -0.17578125, 34.453125 ]
[ -10.986328125, 129.7265625, 121.376953125, 81.9140625, -0.087890625, 33.57421875 ]
3.1
93
0
93
0
[ -11.865234375, 136.7578125, 117.685546875, 83.232421875, -0.17578125, 34.453125 ]
[ -10.986328125, 129.7265625, 121.376953125, 81.9140625, -0.087890625, 33.57421875 ]
3.133333
94
0
94
0
[ -11.865234375, 136.7578125, 117.24609375, 83.49609375, -0.17578125, 34.453125 ]
[ -10.986328125, 129.7265625, 121.025390625, 82.08984375, -0.087890625, 33.57421875 ]
3.166667
95
0
95
0
[ -11.77734375, 136.7578125, 116.89453125, 83.84765625, -0.17578125, 34.453125 ]
[ -10.986328125, 129.7265625, 120.05859375, 82.44140625, -0.087890625, 33.57421875 ]
3.2
96
0
96
0
[ -11.865234375, 136.7578125, 116.455078125, 84.111328125, -0.17578125, 34.453125 ]
[ -10.986328125, 129.7265625, 118.916015625, 82.6171875, -0.087890625, 33.57421875 ]
3.233333
97
0
97
0
[ -11.865234375, 136.7578125, 116.103515625, 84.19921875, -0.087890625, 34.453125 ]
[ -10.986328125, 129.7265625, 118.212890625, 82.6171875, -0.087890625, 33.57421875 ]
3.266667
98
0
98
0
[ -11.865234375, 136.7578125, 115.83984375, 84.287109375, -0.17578125, 34.365234375 ]
[ -10.986328125, 129.7265625, 118.125, 82.96875, -0.087890625, 33.57421875 ]
3.3
99
0
99
0
End of preview.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "koch",
    "total_episodes": 2,
    "total_frames": 1781,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
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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",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            ],
            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            ],
            "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": {
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            ],
            "names": null
        },
        "index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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