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Datasets:
RobotisSW
/
koch_test_horizontal

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
9.93
frame_index
int64
0
298
episode_index
int64
0
39
index
int64
0
10.6k
task_index
int64
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[ -58.447265625, 99.84375, 55.1953125, 108.896484375, 49.21875, 11.513671875 ]
2.533333
76
0
76
0
[ -70.576171875, 106.171875, 58.53515625, 112.412109375, 68.02734375, -1.58203125 ]
[ -63.017578125, 101.689453125, 57.041015625, 108.896484375, 55.1953125, 11.513671875 ]
2.566667
77
0
77
0
[ -75.05859375, 107.05078125, 59.853515625, 112.412109375, 74.970703125, -1.58203125 ]
[ -67.32421875, 103.271484375, 59.23828125, 108.984375, 61.34765625, 11.513671875 ]
2.6
78
0
78
0
[ -79.62890625, 107.490234375, 60.46875, 112.32421875, 81.5625, -1.58203125 ]
[ -71.89453125, 104.326171875, 60.029296875, 109.072265625, 67.587890625, 11.513671875 ]
2.633333
79
0
79
0
[ -83.84765625, 107.578125, 61.171875, 112.32421875, 87.36328125, -1.58203125 ]
[ -76.46484375, 104.853515625, 60.8203125, 109.072265625, 74.267578125, 11.513671875 ]
2.666667
80
0
80
0
[ -87.978515625, 107.314453125, 61.34765625, 112.236328125, 92.4609375, -1.58203125 ]
[ -80.595703125, 105.1171875, 61.962890625, 109.072265625, 80.859375, 11.513671875 ]
2.7
81
0
81
0
[ -91.23046875, 107.05078125, 61.34765625, 112.060546875, 96.6796875, -1.58203125 ]
[ -84.462890625, 105.1171875, 62.05078125, 109.072265625, 86.572265625, 11.513671875 ]
2.733333
82
0
82
0
[ -93.8671875, 106.962890625, 61.435546875, 111.796875, 100.458984375, -1.58203125 ]
[ -88.681640625, 105.1171875, 62.05078125, 109.072265625, 91.23046875, 11.513671875 ]
2.766667
83
0
83
0
[ -96.240234375, 106.962890625, 61.5234375, 111.4453125, 103.447265625, -1.58203125 ]
[ -91.7578125, 105.1171875, 62.05078125, 109.072265625, 95.625, 11.513671875 ]
2.8
84
0
84
0
[ -98.0859375, 106.962890625, 62.9296875, 110.7421875, 105.64453125, -1.58203125 ]
[ -94.21875, 105.1171875, 62.138671875, 109.072265625, 99.31640625, 11.513671875 ]
2.833333
85
0
85
0
[ -99.404296875, 106.962890625, 65.302734375, 108.6328125, 106.875, -1.58203125 ]
[ -96.6796875, 105.1171875, 62.841796875, 109.072265625, 102.3046875, 11.513671875 ]
2.866667
86
0
86
0
[ -99.931640625, 106.962890625, 68.291015625, 105.380859375, 107.05078125, -1.58203125 ]
[ -98.349609375, 105.1171875, 65.91796875, 108.6328125, 104.0625, 11.513671875 ]
2.9
87
0
87
0
[ -99.931640625, 106.962890625, 72.0703125, 102.041015625, 106.787109375, -1.58203125 ]
[ -98.61328125, 105.1171875, 69.345703125, 107.75390625, 105.380859375, 11.513671875 ]
2.933333
88
0
88
0
[ -99.931640625, 107.05078125, 76.552734375, 98.876953125, 106.69921875, -1.58203125 ]
[ -98.7890625, 105.1171875, 73.388671875, 105.908203125, 105.732421875, 11.513671875 ]
2.966667
89
0
89
0
[ -100.01953125, 107.2265625, 80.419921875, 95.185546875, 106.5234375, -1.58203125 ]
[ -98.96484375, 105.205078125, 77.51953125, 103.53515625, 105.732421875, 11.513671875 ]
3
90
0
90
0
[ -100.01953125, 107.490234375, 83.49609375, 92.197265625, 106.435546875, -1.58203125 ]
[ -99.404296875, 105.29296875, 81.298828125, 100.810546875, 105.732421875, 11.513671875 ]
3.033333
91
0
91
0
[ -100.01953125, 107.578125, 86.044921875, 90.439453125, 106.435546875, -1.58203125 ]
[ -99.580078125, 105.29296875, 84.814453125, 97.470703125, 105.732421875, 11.513671875 ]
3.066667
92
0
92
0
[ -100.107421875, 107.75390625, 87.71484375, 88.857421875, 106.5234375, -1.58203125 ]
[ -99.755859375, 105.29296875, 87.5390625, 94.306640625, 105.732421875, 11.513671875 ]
3.1
93
0
93
0
[ -100.8984375, 107.666015625, 88.06640625, 87.802734375, 106.962890625, -1.58203125 ]
[ -99.931640625, 105.29296875, 88.505859375, 92.109375, 105.8203125, 11.513671875 ]
3.133333
94
0
94
0
[ -102.216796875, 107.40234375, 88.154296875, 87.5390625, 107.666015625, -1.58203125 ]
[ -99.931640625, 105.29296875, 89.033203125, 90.17578125, 105.732421875, 11.513671875 ]
3.166667
95
0
95
0
[ -103.18359375, 107.314453125, 88.154296875, 86.923828125, 109.423828125, -1.58203125 ]
[ -100.986328125, 105.29296875, 89.384765625, 89.384765625, 106.083984375, 11.513671875 ]
3.2
96
0
96
0
[ -104.326171875, 107.314453125, 88.505859375, 86.484375, 111.533203125, -1.58203125 ]
[ -102.12890625, 105.29296875, 89.384765625, 88.9453125, 106.875, 11.513671875 ]
3.233333
97
0
97
0
[ -105.99609375, 107.314453125, 89.560546875, 85.869140625, 112.67578125, -1.58203125 ]
[ -103.095703125, 105.29296875, 89.384765625, 88.505859375, 108.6328125, 11.513671875 ]
3.266667
98
0
98
0
[ -106.962890625, 107.40234375, 90.791015625, 84.814453125, 113.73046875, -1.58203125 ]
[ -104.150390625, 105.29296875, 90.087890625, 88.154296875, 110.126953125, 11.513671875 ]
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": 40,
    "total_frames": 10556,
    "total_tasks": 1,
    "total_videos": 80,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:40"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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": {
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                1
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        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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