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Datasets:
ssaito
/
koch_test_26

Tasks:
Robotics
Modalities:
Tabular
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Video
Formats:
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Size:
< 1K
Tags:
LeRobot
tutorial
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License:
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action
sequence
observation.state
sequence
timestamp
float32
0
11.1
frame_index
int64
0
166
episode_index
int64
0
0
index
int64
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166
task_index
int64
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0
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[ 26.982421875, 54.755859375, 66.97265625, 65.7421875, 36.474609375, 15.1171875 ]
5.266667
79
0
79
0
[ 26.279296875, 66.181640625, 67.060546875, 71.71875, 38.935546875, 7.20703125 ]
[ 26.54296875, 56.6015625, 67.8515625, 66.796875, 37.001953125, 15.029296875 ]
5.333333
80
0
80
0
[ 25.400390625, 71.103515625, 67.1484375, 74.70703125, 39.55078125, 7.119140625 ]
[ 26.3671875, 60.556640625, 68.203125, 69.43359375, 37.6171875, 15.029296875 ]
5.4
81
0
81
0
[ 24.521484375, 75.673828125, 67.5, 76.552734375, 39.90234375, 7.03125 ]
[ 25.751953125, 65.390625, 68.115234375, 72.158203125, 38.232421875, 15.029296875 ]
5.466667
82
0
82
0
[ 23.5546875, 80.771484375, 69.873046875, 76.640625, 40.078125, 7.03125 ]
[ 24.78515625, 70.48828125, 68.115234375, 74.8828125, 38.583984375, 15.029296875 ]
5.533333
83
0
83
0
[ 22.939453125, 85.166015625, 72.94921875, 76.2890625, 40.078125, 7.03125 ]
[ 23.642578125, 75.322265625, 70.048828125, 76.11328125, 39.0234375, 15.029296875 ]
5.6
84
0
84
0
[ 22.32421875, 89.033203125, 76.201171875, 75.5859375, 39.990234375, 7.03125 ]
[ 22.587890625, 80.419921875, 73.388671875, 76.11328125, 39.55078125, 15.029296875 ]
5.666667
85
0
85
0
[ 21.62109375, 91.7578125, 76.904296875, 74.443359375, 39.90234375, 7.03125 ]
[ 22.236328125, 85.25390625, 77.34375, 75.849609375, 39.19921875, 15.029296875 ]
5.733333
86
0
86
0
[ 20.654296875, 94.39453125, 76.904296875, 72.59765625, 39.7265625, 7.03125 ]
[ 21.62109375, 88.154296875, 77.607421875, 75.498046875, 39.19921875, 15.029296875 ]
5.8
87
0
87
0
[ 18.6328125, 97.3828125, 76.2890625, 72.509765625, 39.55078125, 7.03125 ]
[ 20.7421875, 90.966796875, 77.607421875, 74.443359375, 39.0234375, 15.029296875 ]
5.866667
88
0
88
0
[ 16.259765625, 100.72265625, 76.2890625, 72.509765625, 39.462890625, 7.03125 ]
[ 18.984375, 93.8671875, 77.607421875, 73.828125, 38.935546875, 15.029296875 ]
5.933333
89
0
89
0
[ 14.150390625, 104.501953125, 78.046875, 72.509765625, 39.287109375, 7.03125 ]
[ 16.875, 97.119140625, 77.607421875, 73.65234375, 38.935546875, 15.029296875 ]
6
90
0
90
0
[ 12.12890625, 108.45703125, 82.44140625, 72.509765625, 39.287109375, 7.03125 ]
[ 15.1171875, 100.810546875, 79.1015625, 73.65234375, 38.935546875, 15.029296875 ]
6.066667
91
0
91
0
[ 10.72265625, 111.796875, 87.802734375, 72.509765625, 39.375, 7.119140625 ]
[ 13.0078125, 104.94140625, 83.3203125, 73.30078125, 38.935546875, 15.029296875 ]
6.133333
92
0
92
0
[ 8.876953125, 114.345703125, 93.779296875, 72.24609375, 39.7265625, 7.03125 ]
[ 10.986328125, 108.45703125, 88.59375, 73.125, 38.935546875, 15.029296875 ]
6.2
93
0
93
0
[ 5.9765625, 115.751953125, 100.107421875, 70.400390625, 40.341796875, 7.119140625 ]
[ 9.052734375, 111.708984375, 94.658203125, 72.94921875, 38.935546875, 15.029296875 ]
6.266667
94
0
94
0
[ 3.515625, 115.83984375, 106.259765625, 64.51171875, 40.78125, 7.119140625 ]
[ 6.328125, 113.642578125, 101.689453125, 71.806640625, 39.111328125, 15.029296875 ]
6.333333
95
0
95
0
[ 1.142578125, 115.400390625, 111.005859375, 58.271484375, 41.484375, 7.119140625 ]
[ 3.955078125, 113.994140625, 108.193359375, 69.08203125, 39.375, 15.029296875 ]
6.4
96
0
96
0
[ -1.23046875, 114.2578125, 114.697265625, 51.591796875, 42.451171875, 7.119140625 ]
[ 1.845703125, 113.994140625, 112.67578125, 63.720703125, 39.814453125, 15.029296875 ]
6.466667
97
0
97
0
[ -2.8125, 113.466796875, 118.212890625, 44.47265625, 43.154296875, 7.119140625 ]
[ 0, 113.90625, 115.48828125, 57.3046875, 40.95703125, 15.029296875 ]
6.533333
98
0
98
0
[ -4.306640625, 113.466796875, 121.81640625, 37.529296875, 43.76953125, 7.119140625 ]
[ -1.494140625, 113.203125, 119.35546875, 50.009765625, 42.01171875, 15.029296875 ]
6.6
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": 167,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "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": [
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                "width",
                "channels"
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            "info": {
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                "video.height": 1080,
                "video.width": 1920,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
            }
        },
        "observation.images.overhead_cam": {
            "dtype": "video",
            "shape": [
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                1920,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 15.0,
                "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",
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                1
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        },
        "task_index": {
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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