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sequence | observation.state
sequence | timestamp
float32 0
0.9
| frame_index
int64 0
9
| episode_index
int64 0
0
| index
int64 0
9
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
82.001953125,
92.4609375,
106.962890625,
69.78515625,
89.6484375,
34.541015625
] | [
81.9140625,
91.58203125,
110.0390625,
69.2578125,
89.033203125,
34.27734375
] | 0 | 0 | 0 | 0 | 0 |
[
82.001953125,
92.4609375,
106.962890625,
69.78515625,
89.6484375,
34.541015625
] | [
81.9140625,
91.494140625,
110.0390625,
69.2578125,
89.033203125,
34.27734375
] | 0.1 | 1 | 0 | 1 | 0 |
[
82.001953125,
92.4609375,
106.962890625,
69.78515625,
89.6484375,
34.541015625
] | [
81.9140625,
91.58203125,
110.0390625,
69.2578125,
89.033203125,
34.27734375
] | 0.2 | 2 | 0 | 2 | 0 |
[
82.001953125,
92.4609375,
106.962890625,
69.78515625,
89.736328125,
34.541015625
] | [
81.9140625,
91.494140625,
110.0390625,
69.2578125,
89.033203125,
34.27734375
] | 0.3 | 3 | 0 | 3 | 0 |
[
82.001953125,
92.4609375,
106.962890625,
69.78515625,
89.6484375,
34.541015625
] | [
81.9140625,
91.58203125,
110.0390625,
69.169921875,
89.033203125,
34.27734375
] | 0.4 | 4 | 0 | 4 | 0 |
[
82.001953125,
92.4609375,
106.962890625,
69.78515625,
89.6484375,
34.541015625
] | [
81.9140625,
91.494140625,
110.0390625,
69.2578125,
89.033203125,
34.27734375
] | 0.5 | 5 | 0 | 5 | 0 |
[
82.001953125,
92.4609375,
106.962890625,
69.78515625,
89.6484375,
34.541015625
] | [
81.9140625,
91.494140625,
110.0390625,
69.2578125,
89.033203125,
34.27734375
] | 0.6 | 6 | 0 | 6 | 0 |
[
82.001953125,
92.4609375,
106.962890625,
69.78515625,
89.6484375,
34.541015625
] | [
81.9140625,
91.58203125,
110.0390625,
69.169921875,
89.033203125,
34.27734375
] | 0.7 | 7 | 0 | 7 | 0 |
[
82.001953125,
92.4609375,
106.962890625,
69.78515625,
89.6484375,
34.541015625
] | [
81.9140625,
91.58203125,
110.0390625,
69.169921875,
89.033203125,
34.27734375
] | 0.8 | 8 | 0 | 8 | 0 |
[
82.001953125,
92.4609375,
106.962890625,
69.78515625,
89.6484375,
34.541015625
] | [
81.9140625,
91.494140625,
110.0390625,
69.2578125,
89.033203125,
34.27734375
] | 0.9 | 9 | 0 | 9 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 1,
"total_frames": 10,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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.logitech1": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 10.0,
"video.height": 720,
"video.width": 1280,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.logitech2": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 10.0,
"video.height": 720,
"video.width": 1280,
"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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