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Datasets:
RobotisSW
/
koch_test_4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
13.7
frame_index
int64
0
411
episode_index
int64
0
42
index
int64
0
12.9k
task_index
int64
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[ -51.416015625, 71.103515625, 61.875, 86.484375, -27.861328125, 33.486328125 ]
2.533333
76
0
76
0
[ -52.822265625, 67.1484375, 55.986328125, 91.58203125, -28.212890625, 34.62890625 ]
[ -51.416015625, 69.2578125, 59.765625, 87.1875, -27.861328125, 33.486328125 ]
2.566667
77
0
77
0
[ -52.998046875, 65.654296875, 54.228515625, 91.93359375, -28.212890625, 34.62890625 ]
[ -51.416015625, 67.236328125, 58.7109375, 88.06640625, -27.861328125, 33.486328125 ]
2.6
78
0
78
0
[ -53.26171875, 64.423828125, 52.470703125, 91.93359375, -28.212890625, 34.62890625 ]
[ -51.416015625, 65.126953125, 57.919921875, 88.505859375, -27.861328125, 33.486328125 ]
2.633333
79
0
79
0
[ -53.876953125, 62.75390625, 50.888671875, 91.93359375, -28.212890625, 34.62890625 ]
[ -51.943359375, 63.544921875, 56.513671875, 88.59375, -27.861328125, 33.486328125 ]
2.666667
80
0
80
0
[ -54.052734375, 60.64453125, 50.09765625, 92.021484375, -28.212890625, 34.62890625 ]
[ -52.470703125, 61.875, 53.876953125, 88.76953125, -27.861328125, 33.486328125 ]
2.7
81
0
81
0
[ -54.052734375, 58.88671875, 49.5703125, 92.021484375, -28.125, 34.62890625 ]
[ -53.173828125, 60.1171875, 52.55859375, 89.12109375, -27.861328125, 33.486328125 ]
2.733333
82
0
82
0
[ -54.052734375, 57.392578125, 48.603515625, 92.109375, -27.94921875, 34.541015625 ]
[ -53.525390625, 58.095703125, 52.55859375, 89.47265625, -27.861328125, 33.486328125 ]
2.766667
83
0
83
0
[ -53.96484375, 56.77734375, 48.251953125, 92.373046875, -27.861328125, 34.541015625 ]
[ -53.61328125, 56.337890625, 52.646484375, 89.560546875, -27.509765625, 33.486328125 ]
2.8
84
0
84
0
[ -53.525390625, 56.6015625, 48.076171875, 92.4609375, -27.861328125, 34.541015625 ]
[ -53.4375, 55.634765625, 52.119140625, 89.560546875, -27.24609375, 33.486328125 ]
2.833333
85
0
85
0
[ -52.998046875, 55.37109375, 48.076171875, 92.724609375, -27.7734375, 34.541015625 ]
[ -53.173828125, 55.458984375, 50.888671875, 89.560546875, -27.158203125, 33.486328125 ]
2.866667
86
0
86
0
[ -52.20703125, 53.96484375, 47.98828125, 93.427734375, -27.7734375, 34.541015625 ]
[ -52.646484375, 54.66796875, 50.80078125, 89.560546875, -27.158203125, 33.486328125 ]
2.9
87
0
87
0
[ -51.6796875, 53.701171875, 47.98828125, 94.306640625, -27.7734375, 34.541015625 ]
[ -52.55859375, 53.349609375, 49.921875, 90.087890625, -27.158203125, 33.486328125 ]
2.933333
88
0
88
0
[ -50.625, 53.61328125, 47.98828125, 94.833984375, -27.7734375, 34.541015625 ]
[ -51.943359375, 52.734375, 49.130859375, 90.87890625, -27.0703125, 33.486328125 ]
2.966667
89
0
89
0
[ -49.482421875, 53.4375, 48.1640625, 95.009765625, -27.59765625, 34.541015625 ]
[ -51.15234375, 52.734375, 49.04296875, 91.23046875, -27.0703125, 33.486328125 ]
3
90
0
90
0
[ -49.04296875, 53.0859375, 48.1640625, 95.185546875, -27.59765625, 34.453125 ]
[ -50.009765625, 52.734375, 49.04296875, 91.58203125, -27.0703125, 33.486328125 ]
3.033333
91
0
91
0
[ -48.955078125, 52.998046875, 48.1640625, 95.185546875, -27.59765625, 34.541015625 ]
[ -49.306640625, 52.646484375, 49.130859375, 92.021484375, -27.158203125, 33.486328125 ]
3.066667
92
0
92
0
[ -48.8671875, 52.646484375, 48.1640625, 95.185546875, -27.59765625, 34.453125 ]
[ -48.603515625, 51.767578125, 49.130859375, 92.021484375, -27.158203125, 33.486328125 ]
3.1
93
0
93
0
[ -48.8671875, 51.85546875, 48.251953125, 95.185546875, -27.59765625, 34.453125 ]
[ -48.251953125, 51.328125, 49.306640625, 92.021484375, -27.158203125, 33.486328125 ]
3.133333
94
0
94
0
[ -49.04296875, 51.240234375, 48.33984375, 95.2734375, -27.59765625, 34.453125 ]
[ -48.1640625, 50.625, 49.306640625, 92.021484375, -27.158203125, 33.57421875 ]
3.166667
95
0
95
0
[ -49.482421875, 50.9765625, 48.603515625, 95.2734375, -27.59765625, 34.453125 ]
[ -48.33984375, 50.44921875, 49.306640625, 92.021484375, -27.158203125, 33.486328125 ]
3.2
96
0
96
0
[ -49.5703125, 50.9765625, 48.603515625, 95.2734375, -27.59765625, 34.365234375 ]
[ -48.515625, 49.5703125, 49.306640625, 92.021484375, -27.24609375, 33.486328125 ]
3.233333
97
0
97
0
[ -49.5703125, 50.9765625, 48.427734375, 95.2734375, -27.509765625, 34.27734375 ]
[ -48.515625, 49.39453125, 49.306640625, 92.021484375, -27.158203125, 33.486328125 ]
3.266667
98
0
98
0
[ -49.482421875, 50.9765625, 48.427734375, 95.2734375, -27.509765625, 34.365234375 ]
[ -48.603515625, 49.39453125, 49.306640625, 92.021484375, -27.158203125, 33.486328125 ]
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": "v2.0",
    "robot_type": "koch",
    "total_episodes": 43,
    "total_frames": 12855,
    "total_tasks": 1,
    "total_videos": 86,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:43"
    },
    "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": {
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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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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        "observation.images.phone": {
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            "names": [
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            ],
            "info": {
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                "video.height": 480,
                "video.width": 640,
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                "video.codec": "h264",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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