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sequence | observation.state
sequence | timestamp
float32 0
9.6
| frame_index
int64 0
48
| episode_index
int64 0
0
| index
int64 0
48
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
8.7890625,
98.876953125,
98.96484375,
38.49609375,
12.48046875,
14.23828125
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[
11.25,
93.515625,
104.765625,
42.01171875,
2.900390625,
15.99609375
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[
5.712890625,
98.701171875,
97.734375,
33.486328125,
19.3359375,
14.23828125
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[
8.173828125,
96.416015625,
100.37109375,
40.078125,
11.689453125,
15.99609375
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[
3.8671875,
98.876953125,
98.26171875,
30.322265625,
22.587890625,
14.326171875
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[
5.185546875,
96.416015625,
100.458984375,
35.68359375,
18.720703125,
15.99609375
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105.29296875,
12.48046875,
25.48828125,
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[
2.98828125,
96.416015625,
100.458984375,
32.6953125,
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15.99609375
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105.8203125,
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25.48828125,
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[
2.28515625,
95.09765625,
102.744140625,
29.35546875,
22.32421875,
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[
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14.0625,
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[
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28.740234375,
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[
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90.615234375,
111.97265625,
5.712890625,
24.873046875,
15.99609375
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[
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[
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[
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112.060546875,
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[
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[
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[
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48.955078125,
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[
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[
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[
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104.58984375,
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47.8125,
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[
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105.99609375,
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[
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90,
104.58984375,
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59.58984375,
34.27734375
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[
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[
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90,
106.34765625,
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[
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[
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[
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[
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123.57421875,
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26.3671875,
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[
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143.61328125,
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35.859375
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[
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102.3046875,
132.890625,
-3.427734375,
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34.453125
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[
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35.859375
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[
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104.58984375,
145.01953125,
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35.859375
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[
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[
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156.97265625,
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34.453125
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[
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164.443359375,
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35.947265625
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[
-3.955078125,
104.501953125,
161.89453125,
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34.453125
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[
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36.03515625
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[
-4.04296875,
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164.619140625,
-20.0390625,
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34.453125
] | 4.4 | 22 | 0 | 22 | 0 |
[
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[
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168.837890625,
-21.357421875,
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] | 4.6 | 23 | 0 | 23 | 0 |
[
-5.009765625,
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177.890625,
-21.533203125,
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36.123046875
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[
-4.921875,
116.71875,
173.84765625,
-21.533203125,
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35.244140625
] | 4.8 | 24 | 0 | 24 | 0 |
[
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122.607421875,
179.47265625,
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36.123046875
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[
-5.009765625,
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[
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[
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[
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36.03515625
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[
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[
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[
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176.8359375,
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[
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[
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[
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[
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[
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[
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[
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[
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114.9609375,
175.078125,
-19.248046875,
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] | 6.4 | 32 | 0 | 32 | 0 |
[
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35.859375
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[
-6.591796875,
114.9609375,
176.396484375,
-19.423828125,
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34.98046875
] | 6.6 | 33 | 0 | 33 | 0 |
[
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[
-7.3828125,
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176.396484375,
-19.423828125,
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] | 6.8 | 34 | 0 | 34 | 0 |
[
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] |
[
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-1.40625,
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] | 7 | 35 | 0 | 35 | 0 |
[
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[
-7.3828125,
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-19.423828125,
-1.40625,
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] | 7.2 | 36 | 0 | 36 | 0 |
[
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] |
[
-7.3828125,
114.9609375,
176.748046875,
-19.423828125,
-1.40625,
34.98046875
] | 7.4 | 37 | 0 | 37 | 0 |
[
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179.47265625,
-18.720703125,
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] |
[
-7.3828125,
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176.748046875,
-19.423828125,
-1.40625,
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] | 7.6 | 38 | 0 | 38 | 0 |
[
-8.61328125,
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-18.80859375,
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] |
[
-7.3828125,
114.9609375,
176.748046875,
-19.423828125,
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] | 7.8 | 39 | 0 | 39 | 0 |
[
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[
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-19.423828125,
-1.40625,
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] | 8 | 40 | 0 | 40 | 0 |
[
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-19.072265625,
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34.62890625
] |
[
-7.470703125,
115.048828125,
177.1875,
-19.51171875,
-1.40625,
34.27734375
] | 8.2 | 41 | 0 | 41 | 0 |
[
-0.087890625,
114.78515625,
180.3515625,
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] |
[
-2.548828125,
115.048828125,
177.275390625,
-19.6875,
-1.40625,
34.27734375
] | 8.4 | 42 | 0 | 42 | 0 |
[
-0.439453125,
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180.3515625,
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] |
[
-0.615234375,
115.048828125,
177.275390625,
-19.6875,
-1.40625,
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] | 8.6 | 43 | 0 | 43 | 0 |
[
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[
-0.615234375,
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-19.6875,
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] | 8.8 | 44 | 0 | 44 | 0 |
[
-0.615234375,
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] |
[
-0.615234375,
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-19.6875,
-1.40625,
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] | 9 | 45 | 0 | 45 | 0 |
[
-0.615234375,
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[
-0.615234375,
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-19.6875,
-1.40625,
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] | 9.2 | 46 | 0 | 46 | 0 |
[
-0.615234375,
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180.3515625,
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] |
[
-0.615234375,
115.048828125,
177.275390625,
-19.6875,
-1.40625,
34.27734375
] | 9.4 | 47 | 0 | 47 | 0 |
[
-0.615234375,
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] |
[
-0.615234375,
115.048828125,
177.275390625,
-19.6875,
-1.40625,
34.27734375
] | 9.6 | 48 | 0 | 48 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 1,
"total_frames": 49,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"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.side_cam": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 5.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.overhead_cam": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 5.0,
"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",
"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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