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Datasets:
thewisp
/
koch_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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sequence
observation.state
sequence
timestamp
float32
0
11.9
frame_index
int64
0
357
episode_index
int64
0
49
index
int64
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17.7k
task_index
int64
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2.5
75
0
75
0
[ 96.591796875, 97.3828125, 108.6328125, 62.138671875, 3.8671875, 32.34375 ]
[ 96.064453125, 102.744140625, 117.24609375, 59.94140625, 4.04296875, 32.958984375 ]
2.533333
76
0
76
0
[ 96.767578125, 94.130859375, 104.94140625, 63.720703125, 3.779296875, 32.34375 ]
[ 96.240234375, 100.458984375, 114.78515625, 60.556640625, 4.130859375, 32.958984375 ]
2.566667
77
0
77
0
[ 96.85546875, 90.615234375, 100.986328125, 65.390625, 3.779296875, 32.34375 ]
[ 96.328125, 97.55859375, 111.181640625, 61.34765625, 4.130859375, 32.958984375 ]
2.6
78
0
78
0
[ 97.03125, 87.1875, 96.50390625, 67.5, 3.955078125, 32.34375 ]
[ 96.416015625, 94.306640625, 106.875, 62.490234375, 4.04296875, 32.958984375 ]
2.633333
79
0
79
0
[ 97.20703125, 83.49609375, 91.58203125, 70.13671875, 4.306640625, 32.255859375 ]
[ 96.6796875, 90.87890625, 102.041015625, 63.80859375, 4.04296875, 32.958984375 ]
2.666667
80
0
80
0
[ 97.294921875, 79.892578125, 86.30859375, 72.59765625, 4.74609375, 32.080078125 ]
[ 96.767578125, 87.451171875, 97.119140625, 65.56640625, 4.04296875, 32.958984375 ]
2.7
81
0
81
0
[ 97.470703125, 75.9375, 80.33203125, 75.322265625, 5.185546875, 31.376953125 ]
[ 96.943359375, 83.84765625, 92.109375, 67.763671875, 4.130859375, 32.958984375 ]
2.733333
82
0
82
0
[ 97.734375, 71.806640625, 74.267578125, 78.57421875, 5.185546875, 30.673828125 ]
[ 97.03125, 79.98046875, 86.8359375, 70.048828125, 4.306640625, 32.87109375 ]
2.766667
83
0
83
0
[ 98.0859375, 68.02734375, 68.466796875, 81.298828125, 5.625, 30.673828125 ]
[ 97.119140625, 76.025390625, 81.03515625, 72.59765625, 4.482421875, 31.9921875 ]
2.8
84
0
84
0
[ 98.525390625, 64.423828125, 63.369140625, 84.0234375, 5.712890625, 30.673828125 ]
[ 97.3828125, 72.0703125, 74.70703125, 75.322265625, 4.74609375, 31.640625 ]
2.833333
85
0
85
0
[ 99.052734375, 60.908203125, 58.798828125, 86.572265625, 5.712890625, 30.673828125 ]
[ 97.646484375, 68.115234375, 68.818359375, 78.046875, 4.921875, 31.640625 ]
2.866667
86
0
86
0
[ 99.755859375, 57.919921875, 54.755859375, 88.505859375, 5.712890625, 30.673828125 ]
[ 98.0859375, 64.3359375, 63.45703125, 80.5078125, 5.09765625, 31.640625 ]
2.9
87
0
87
0
[ 100.283203125, 54.931640625, 51.328125, 90.087890625, 5.625, 30.673828125 ]
[ 98.7890625, 60.99609375, 59.150390625, 82.79296875, 5.2734375, 31.640625 ]
2.933333
88
0
88
0
[ 100.8984375, 52.3828125, 48.427734375, 91.318359375, 5.44921875, 30.673828125 ]
[ 99.4921875, 57.568359375, 55.546875, 84.90234375, 5.361328125, 31.640625 ]
2.966667
89
0
89
0
[ 101.513671875, 50.2734375, 46.142578125, 92.197265625, 5.009765625, 30.673828125 ]
[ 100.1953125, 54.66796875, 52.646484375, 86.66015625, 5.361328125, 31.640625 ]
3
90
0
90
0
[ 102.12890625, 48.69140625, 44.912109375, 92.63671875, 4.482421875, 30.673828125 ]
[ 100.72265625, 51.943359375, 50.2734375, 87.978515625, 5.2734375, 31.640625 ]
3.033333
91
0
91
0
[ 102.744140625, 47.724609375, 44.47265625, 92.63671875, 4.04296875, 30.673828125 ]
[ 101.337890625, 49.74609375, 48.779296875, 88.857421875, 5.185546875, 31.640625 ]
3.066667
92
0
92
0
[ 103.271484375, 47.109375, 44.208984375, 92.63671875, 3.69140625, 30.673828125 ]
[ 101.953125, 48.076171875, 47.900390625, 89.384765625, 5.009765625, 31.640625 ]
3.1
93
0
93
0
[ 103.623046875, 46.58203125, 43.857421875, 92.63671875, 3.33984375, 30.673828125 ]
[ 102.568359375, 46.93359375, 47.8125, 89.47265625, 4.658203125, 31.640625 ]
3.133333
94
0
94
0
[ 103.88671875, 46.23046875, 43.2421875, 92.63671875, 3.1640625, 30.673828125 ]
[ 103.0078125, 46.0546875, 47.63671875, 89.47265625, 4.306640625, 31.640625 ]
3.166667
95
0
95
0
[ 103.974609375, 45.966796875, 42.451171875, 92.63671875, 3.1640625, 30.673828125 ]
[ 103.359375, 45.615234375, 47.63671875, 89.47265625, 3.955078125, 31.640625 ]
3.2
96
0
96
0
[ 103.974609375, 45.703125, 41.484375, 92.724609375, 3.1640625, 30.673828125 ]
[ 103.623046875, 45.439453125, 47.63671875, 89.47265625, 3.69140625, 31.640625 ]
3.233333
97
0
97
0
[ 103.974609375, 45.3515625, 40.78125, 92.724609375, 3.251953125, 30.673828125 ]
[ 103.798828125, 45.17578125, 46.93359375, 89.560546875, 3.603515625, 31.640625 ]
3.266667
98
0
98
0
[ 103.974609375, 44.736328125, 39.814453125, 92.8125, 3.427734375, 30.673828125 ]
[ 103.974609375, 45, 45.263671875, 89.560546875, 3.427734375, 31.640625 ]
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": 10,
    "total_frames": 3519,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.webcam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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