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ssaito
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koch_test_10

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Robotics
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LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
4.97
frame_index
int64
0
149
episode_index
int64
0
0
index
int64
0
149
task_index
int64
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76
0
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[ -17.9296875, 129.7265625, 137.109375, 31.46484375, 5.537109375, 34.189453125 ]
2.566667
77
0
77
0
[ -19.3359375, 135.791015625, 134.296875, 35.859375, 7.3828125, 34.1015625 ]
[ -18.193359375, 129.7265625, 137.197265625, 32.6953125, 5.712890625, 34.189453125 ]
2.6
78
0
78
0
[ -19.248046875, 136.0546875, 134.296875, 37.353515625, 7.822265625, 34.189453125 ]
[ -18.80859375, 129.7265625, 137.197265625, 33.92578125, 5.888671875, 34.189453125 ]
2.633333
79
0
79
0
[ -19.16015625, 136.23046875, 134.296875, 39.111328125, 8.7890625, 34.189453125 ]
[ -18.80859375, 129.7265625, 137.197265625, 35.33203125, 6.15234375, 34.189453125 ]
2.666667
80
0
80
0
[ -18.896484375, 136.318359375, 134.296875, 40.95703125, 9.580078125, 34.189453125 ]
[ -18.896484375, 129.7265625, 137.109375, 36.9140625, 6.6796875, 34.189453125 ]
2.7
81
0
81
0
[ -18.544921875, 136.318359375, 134.384765625, 42.71484375, 9.66796875, 34.189453125 ]
[ -18.80859375, 129.7265625, 137.197265625, 38.583984375, 7.294921875, 34.189453125 ]
2.733333
82
0
82
0
[ -18.017578125, 136.318359375, 134.47265625, 44.033203125, 10.107421875, 34.189453125 ]
[ -18.28125, 129.7265625, 137.197265625, 40.166015625, 7.998046875, 34.189453125 ]
2.766667
83
0
83
0
[ -17.40234375, 136.318359375, 134.6484375, 45.087890625, 10.72265625, 34.27734375 ]
[ -18.193359375, 129.7265625, 137.197265625, 41.923828125, 8.61328125, 34.189453125 ]
2.8
84
0
84
0
[ -17.05078125, 136.318359375, 134.82421875, 46.0546875, 11.337890625, 34.27734375 ]
[ -17.75390625, 129.7265625, 137.197265625, 43.505859375, 9.052734375, 34.189453125 ]
2.833333
85
0
85
0
[ -16.611328125, 136.318359375, 135, 46.93359375, 12.041015625, 34.27734375 ]
[ -17.314453125, 129.7265625, 137.197265625, 45.087890625, 9.66796875, 34.189453125 ]
2.866667
86
0
86
0
[ -16.083984375, 136.318359375, 135.615234375, 47.373046875, 12.568359375, 34.27734375 ]
[ -16.962890625, 129.7265625, 137.197265625, 46.0546875, 10.37109375, 34.189453125 ]
2.9
87
0
87
0
[ -15.380859375, 136.318359375, 136.669921875, 47.373046875, 12.568359375, 34.27734375 ]
[ -16.435546875, 129.7265625, 137.109375, 46.58203125, 11.07421875, 34.189453125 ]
2.933333
88
0
88
0
[ -14.58984375, 136.318359375, 137.724609375, 47.28515625, 12.568359375, 34.27734375 ]
[ -15.99609375, 129.7265625, 137.197265625, 47.109375, 11.42578125, 34.189453125 ]
2.966667
89
0
89
0
[ -13.7109375, 136.318359375, 138.779296875, 47.021484375, 12.568359375, 34.27734375 ]
[ -15.029296875, 129.7265625, 137.4609375, 47.021484375, 11.689453125, 34.189453125 ]
3
90
0
90
0
[ -12.83203125, 136.318359375, 139.74609375, 46.845703125, 12.568359375, 34.27734375 ]
[ -14.150390625, 129.7265625, 138.251953125, 46.93359375, 11.689453125, 34.189453125 ]
3.033333
91
0
91
0
[ -11.953125, 136.23046875, 140.712890625, 46.58203125, 12.568359375, 34.27734375 ]
[ -13.095703125, 129.7265625, 139.658203125, 47.021484375, 11.689453125, 34.189453125 ]
3.066667
92
0
92
0
[ -10.810546875, 136.142578125, 141.767578125, 46.23046875, 12.568359375, 34.27734375 ]
[ -12.216796875, 129.7265625, 140.888671875, 47.109375, 11.689453125, 34.189453125 ]
3.1
93
0
93
0
[ -9.580078125, 136.0546875, 142.734375, 45.17578125, 12.392578125, 34.27734375 ]
[ -11.162109375, 129.7265625, 141.767578125, 47.021484375, 11.689453125, 34.189453125 ]
3.133333
94
0
94
0
[ -8.349609375, 136.0546875, 143.701171875, 44.033203125, 11.953125, 34.27734375 ]
[ -10.107421875, 129.7265625, 142.55859375, 46.93359375, 11.689453125, 34.189453125 ]
3.166667
95
0
95
0
[ -7.03125, 136.0546875, 144.84375, 42.71484375, 11.513671875, 34.27734375 ]
[ -9.140625, 129.7265625, 143.525390625, 46.494140625, 11.513671875, 34.189453125 ]
3.2
96
0
96
0
[ -5.625, 136.0546875, 145.810546875, 41.572265625, 10.810546875, 34.27734375 ]
[ -8.0859375, 129.7265625, 144.755859375, 45.703125, 11.42578125, 34.189453125 ]
3.233333
97
0
97
0
[ -4.04296875, 136.0546875, 146.6015625, 40.78125, 10.01953125, 34.27734375 ]
[ -6.943359375, 129.7265625, 145.72265625, 44.912109375, 10.986328125, 34.189453125 ]
3.266667
98
0
98
0
[ -2.900390625, 136.0546875, 147.12890625, 40.341796875, 9.140625, 34.365234375 ]
[ -5.2734375, 129.7265625, 146.77734375, 43.681640625, 10.634765625, 34.189453125 ]
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": 150,
    "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": [
                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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "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
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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