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ssaito
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koch_test_23

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Robotics
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LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
22.4
frame_index
int64
0
673
episode_index
int64
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0
index
int64
0
673
task_index
int64
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77
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[ 4.04296875, 95.2734375, 95.009765625, 40.166015625, 32.16796875, 10.634765625 ]
[ 1.7578125, 94.74609375, 98.173828125, 42.451171875, 31.46484375, 15.64453125 ]
2.6
78
0
78
0
[ 4.5703125, 95.2734375, 94.833984375, 39.638671875, 32.16796875, 10.634765625 ]
[ 2.63671875, 94.74609375, 97.91015625, 42.275390625, 31.46484375, 15.64453125 ]
2.633333
79
0
79
0
[ 5.09765625, 95.185546875, 94.74609375, 39.0234375, 32.16796875, 10.634765625 ]
[ 3.251953125, 94.74609375, 97.91015625, 42.1875, 31.46484375, 15.64453125 ]
2.666667
80
0
80
0
[ 5.2734375, 94.39453125, 94.482421875, 38.408203125, 32.080078125, 10.634765625 ]
[ 3.955078125, 94.74609375, 97.91015625, 42.01171875, 31.46484375, 15.64453125 ]
2.7
81
0
81
0
[ 5.44921875, 93.251953125, 93.8671875, 38.232421875, 32.080078125, 10.634765625 ]
[ 4.39453125, 94.306640625, 97.91015625, 41.66015625, 31.46484375, 15.64453125 ]
2.733333
82
0
82
0
[ 5.625, 91.7578125, 92.98828125, 37.529296875, 32.080078125, 10.634765625 ]
[ 4.39453125, 93.33984375, 97.20703125, 41.220703125, 31.46484375, 15.64453125 ]
2.766667
83
0
83
0
[ 5.712890625, 90.615234375, 92.109375, 37.353515625, 32.16796875, 10.634765625 ]
[ 4.39453125, 91.845703125, 95.80078125, 40.869140625, 31.46484375, 15.64453125 ]
2.8
84
0
84
0
[ 5.80078125, 89.82421875, 91.318359375, 37.177734375, 32.16796875, 10.634765625 ]
[ 4.39453125, 90.52734375, 95.009765625, 40.25390625, 31.46484375, 15.64453125 ]
2.833333
85
0
85
0
[ 5.888671875, 89.033203125, 90.791015625, 36.826171875, 32.431640625, 10.634765625 ]
[ 4.39453125, 89.296875, 94.482421875, 39.7265625, 31.46484375, 15.64453125 ]
2.866667
86
0
86
0
[ 6.064453125, 88.681640625, 90.703125, 35.947265625, 32.51953125, 10.634765625 ]
[ 4.482421875, 88.681640625, 93.779296875, 39.462890625, 31.46484375, 15.64453125 ]
2.9
87
0
87
0
[ 6.064453125, 88.41796875, 90.791015625, 34.716796875, 32.607421875, 10.634765625 ]
[ 4.833984375, 87.978515625, 93.603515625, 38.935546875, 31.46484375, 15.64453125 ]
2.933333
88
0
88
0
[ 6.064453125, 87.890625, 90.791015625, 33.134765625, 32.87109375, 10.634765625 ]
[ 5.09765625, 87.71484375, 93.33984375, 38.232421875, 31.46484375, 15.64453125 ]
2.966667
89
0
89
0
[ 6.064453125, 87.1875, 90.791015625, 32.16796875, 33.134765625, 10.634765625 ]
[ 5.361328125, 87.1875, 92.98828125, 37.177734375, 31.46484375, 15.64453125 ]
3
90
0
90
0
[ 6.064453125, 86.220703125, 90.791015625, 31.376953125, 33.310546875, 10.634765625 ]
[ 5.361328125, 86.748046875, 92.98828125, 36.03515625, 31.640625, 15.64453125 ]
3.033333
91
0
91
0
[ 5.9765625, 85.341796875, 90.791015625, 30.234375, 33.75, 10.634765625 ]
[ 5.361328125, 86.044921875, 92.98828125, 35.15625, 32.080078125, 15.64453125 ]
3.066667
92
0
92
0
[ 5.9765625, 84.19921875, 90.615234375, 29.091796875, 34.189453125, 10.634765625 ]
[ 5.185546875, 85.25390625, 92.98828125, 34.1015625, 32.34375, 15.64453125 ]
3.1
93
0
93
0
[ 5.888671875, 83.3203125, 89.912109375, 27.421875, 34.8046875, 10.634765625 ]
[ 5.009765625, 84.19921875, 92.98828125, 33.134765625, 32.607421875, 15.64453125 ]
3.133333
94
0
94
0
[ 5.537109375, 82.44140625, 89.033203125, 26.19140625, 35.33203125, 10.634765625 ]
[ 4.833984375, 83.232421875, 92.98828125, 31.904296875, 33.046875, 15.64453125 ]
3.166667
95
0
95
0
[ 5.09765625, 81.5625, 87.890625, 25.927734375, 35.68359375, 10.634765625 ]
[ 4.833984375, 82.001953125, 92.98828125, 30.5859375, 33.486328125, 15.64453125 ]
3.2
96
0
96
0
[ 4.5703125, 80.859375, 86.8359375, 25.751953125, 36.38671875, 10.634765625 ]
[ 4.921875, 80.947265625, 92.197265625, 29.53125, 33.92578125, 15.64453125 ]
3.233333
97
0
97
0
[ 4.04296875, 80.068359375, 85.869140625, 25.6640625, 36.9140625, 10.634765625 ]
[ 4.74609375, 79.892578125, 90.3515625, 28.916015625, 34.453125, 15.64453125 ]
3.266667
98
0
98
0
[ 3.427734375, 79.62890625, 85.166015625, 25.48828125, 37.6171875, 10.634765625 ]
[ 4.306640625, 79.541015625, 88.59375, 28.30078125, 34.98046875, 15.64453125 ]
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": 674,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
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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.side_cam": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.height": 1080,
                "video.width": 1920,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.overhead_cam": {
            "dtype": "video",
            "shape": [
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                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 1080,
                "video.width": 1920,
                "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",
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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