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Datasets:
ssaito
/
koch_test_57

Tasks:
Robotics
Modalities:
Tabular
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< 1K
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LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
446
episode_index
int64
0
1
index
int64
0
884
task_index
int64
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0
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76
0
[ -8.701171875, 98.26171875, 90.3515625, 27.333984375, -10.546875, 16.787109375 ]
[ -6.943359375, 95.537109375, 94.658203125, 27.861328125, -9.580078125, 17.9296875 ]
2.566667
77
0
77
0
[ -9.228515625, 98.349609375, 90.3515625, 27.333984375, -10.458984375, 16.787109375 ]
[ -7.3828125, 95.80078125, 94.658203125, 27.861328125, -9.66796875, 17.9296875 ]
2.6
78
0
78
0
[ -9.580078125, 98.4375, 90.3515625, 27.24609375, -10.37109375, 16.787109375 ]
[ -7.998046875, 95.888671875, 94.658203125, 27.861328125, -9.66796875, 17.9296875 ]
2.633333
79
0
79
0
[ -10.01953125, 98.4375, 90.3515625, 27.158203125, -10.37109375, 16.787109375 ]
[ -8.4375, 95.9765625, 94.658203125, 27.861328125, -9.66796875, 17.9296875 ]
2.666667
80
0
80
0
[ -10.72265625, 98.4375, 90.52734375, 27.158203125, -10.283203125, 16.787109375 ]
[ -8.876953125, 95.9765625, 94.658203125, 27.861328125, -9.580078125, 17.9296875 ]
2.7
81
0
81
0
[ -11.42578125, 98.4375, 90.791015625, 27.0703125, -10.283203125, 16.787109375 ]
[ -9.4921875, 96.064453125, 94.658203125, 27.94921875, -9.66796875, 17.9296875 ]
2.733333
82
0
82
0
[ -12.216796875, 98.4375, 90.87890625, 27.0703125, -10.283203125, 16.787109375 ]
[ -10.01953125, 96.064453125, 94.658203125, 27.861328125, -9.66796875, 17.9296875 ]
2.766667
83
0
83
0
[ -12.919921875, 98.349609375, 90.87890625, 27.158203125, -10.283203125, 16.787109375 ]
[ -10.8984375, 96.15234375, 94.658203125, 27.861328125, -9.66796875, 17.9296875 ]
2.8
84
0
84
0
[ -13.53515625, 98.26171875, 90.87890625, 27.158203125, -10.283203125, 16.787109375 ]
[ -11.42578125, 96.15234375, 94.658203125, 27.861328125, -9.755859375, 17.9296875 ]
2.833333
85
0
85
0
[ -14.150390625, 98.26171875, 90.87890625, 27.24609375, -10.283203125, 16.787109375 ]
[ -11.953125, 96.15234375, 94.658203125, 27.94921875, -9.580078125, 17.9296875 ]
2.866667
86
0
86
0
[ -17.05078125, 98.0859375, 91.7578125, 28.916015625, -9.580078125, 16.787109375 ]
[ -13.88671875, 96.15234375, 94.658203125, 27.861328125, -9.66796875, 17.9296875 ]
2.9
87
0
87
0
[ -17.314453125, 98.173828125, 92.021484375, 28.916015625, -9.4921875, 16.787109375 ]
[ -14.501953125, 96.15234375, 94.658203125, 27.94921875, -9.4921875, 17.9296875 ]
2.933333
88
0
88
0
[ -17.578125, 98.26171875, 92.4609375, 28.916015625, -9.404296875, 16.787109375 ]
[ -15.64453125, 96.15234375, 94.658203125, 28.125, -9.4921875, 17.9296875 ]
2.966667
89
0
89
0
[ -17.9296875, 98.349609375, 92.900390625, 29.00390625, -9.228515625, 16.787109375 ]
[ -16.34765625, 96.15234375, 94.658203125, 28.125, -9.404296875, 17.9296875 ]
3
90
0
90
0
[ -18.28125, 98.349609375, 93.076171875, 29.267578125, -9.052734375, 16.787109375 ]
[ -16.69921875, 96.15234375, 94.658203125, 28.388671875, -9.404296875, 17.9296875 ]
3.033333
91
0
91
0
[ -18.544921875, 98.4375, 93.251953125, 29.794921875, -8.701171875, 16.787109375 ]
[ -17.138671875, 96.15234375, 94.658203125, 29.091796875, -9.404296875, 17.9296875 ]
3.066667
92
0
92
0
[ -19.775390625, 98.701171875, 95.09765625, 30.146484375, -8.525390625, 17.138671875 ]
[ -17.9296875, 96.15234375, 94.74609375, 29.35546875, -8.26171875, 17.9296875 ]
3.1
93
0
93
0
[ -19.6875, 98.701171875, 95.361328125, 30.146484375, -8.525390625, 17.2265625 ]
[ -18.10546875, 96.15234375, 95.09765625, 29.35546875, -8.173828125, 18.017578125 ]
3.133333
94
0
94
0
[ -19.6875, 98.701171875, 95.712890625, 30.234375, -8.525390625, 17.75390625 ]
[ -18.45703125, 96.15234375, 95.888671875, 30.05859375, -8.173828125, 18.017578125 ]
3.166667
95
0
95
0
[ -19.599609375, 98.61328125, 96.064453125, 30.498046875, -8.525390625, 19.072265625 ]
[ -18.80859375, 96.15234375, 96.328125, 30.41015625, -8.173828125, 18.017578125 ]
3.2
96
0
96
0
[ -19.51171875, 98.525390625, 96.15234375, 31.11328125, -8.4375, 19.51171875 ]
[ -18.80859375, 96.064453125, 96.85546875, 30.322265625, -8.173828125, 18.45703125 ]
3.233333
97
0
97
0
[ -19.599609375, 98.4375, 96.50390625, 31.46484375, -8.26171875, 19.51171875 ]
[ -19.072265625, 96.064453125, 97.3828125, 30.849609375, -8.173828125, 18.720703125 ]
3.266667
98
0
98
0
[ -19.423828125, 98.173828125, 99.931640625, 31.2890625, -8.0859375, 19.599609375 ]
[ -18.984375, 96.15234375, 97.3828125, 31.2890625, -8.173828125, 18.896484375 ]
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": 2,
    "total_frames": 885,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": {
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            "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.overhead_cam": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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        "observation.images.side_cam": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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