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Datasets:
RobotisSW
/
koch_test_500_episodes

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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action
sequence
observation.state
sequence
timestamp
float32
0
6.07
frame_index
int64
0
364
episode_index
int64
0
49
index
int64
0
11.7k
task_index
int64
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[ -1.7578125, 128.056640625, 90.52734375, 88.330078125, 5.185546875, 34.189453125 ]
1.283333
77
0
77
0
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1.3
78
0
78
0
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1.316667
79
0
79
0
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[ -1.93359375, 125.15625, 89.296875, 88.330078125, 5.361328125, 34.189453125 ]
1.333333
80
0
80
0
[ -2.197265625, 121.376953125, 84.0234375, 88.681640625, 6.591796875, 34.716796875 ]
[ -1.93359375, 124.013671875, 87.71484375, 88.330078125, 5.361328125, 34.189453125 ]
1.35
81
0
81
0
[ -2.197265625, 119.35546875, 83.232421875, 88.681640625, 6.591796875, 34.716796875 ]
[ -1.845703125, 122.6953125, 87.1875, 88.330078125, 5.361328125, 34.189453125 ]
1.366667
82
0
82
0
[ -2.373046875, 116.806640625, 81.826171875, 88.681640625, 6.591796875, 34.716796875 ]
[ -2.021484375, 120.76171875, 86.484375, 88.330078125, 5.361328125, 34.189453125 ]
1.383333
83
0
83
0
[ -3.251953125, 114.08203125, 80.15625, 88.681640625, 6.591796875, 34.716796875 ]
[ -1.93359375, 118.125, 84.90234375, 88.330078125, 5.361328125, 34.189453125 ]
1.4
84
0
84
0
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[ -2.4609375, 115.400390625, 83.408203125, 88.330078125, 5.361328125, 34.189453125 ]
1.416667
85
0
85
0
[ -4.482421875, 109.51171875, 75.9375, 88.681640625, 6.591796875, 34.716796875 ]
[ -3.33984375, 112.8515625, 82.08984375, 88.330078125, 5.361328125, 34.189453125 ]
1.433333
86
0
86
0
[ -4.833984375, 107.05078125, 73.916015625, 88.681640625, 6.591796875, 34.716796875 ]
[ -3.69140625, 110.126953125, 79.27734375, 88.2421875, 5.361328125, 34.189453125 ]
1.45
87
0
87
0
[ -5.80078125, 104.765625, 72.24609375, 88.681640625, 6.591796875, 34.716796875 ]
[ -3.955078125, 107.9296875, 76.46484375, 88.2421875, 5.361328125, 34.189453125 ]
1.466667
88
0
88
0
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[ -4.482421875, 105.732421875, 75.322265625, 88.330078125, 5.361328125, 34.189453125 ]
1.483333
89
0
89
0
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[ -5.2734375, 103.18359375, 74.267578125, 88.330078125, 5.361328125, 34.189453125 ]
1.5
90
0
90
0
[ -8.4375, 98.61328125, 68.466796875, 88.681640625, 7.470703125, 34.716796875 ]
[ -6.240234375, 100.810546875, 72.94921875, 88.2421875, 5.2734375, 34.189453125 ]
1.516667
91
0
91
0
[ -8.96484375, 96.15234375, 67.060546875, 88.681640625, 8.0859375, 34.716796875 ]
[ -7.3828125, 98.7890625, 71.982421875, 88.330078125, 5.361328125, 34.189453125 ]
1.533333
92
0
92
0
[ -9.84375, 93.603515625, 65.478515625, 88.681640625, 8.349609375, 34.716796875 ]
[ -7.734375, 96.85546875, 70.400390625, 88.2421875, 5.537109375, 34.189453125 ]
1.55
93
0
93
0
[ -10.546875, 91.318359375, 63.720703125, 88.681640625, 8.4375, 34.716796875 ]
[ -8.349609375, 94.39453125, 68.5546875, 88.2421875, 6.240234375, 34.189453125 ]
1.566667
94
0
94
0
[ -10.8984375, 88.9453125, 61.5234375, 88.681640625, 8.61328125, 34.716796875 ]
[ -9.140625, 91.845703125, 66.708984375, 88.2421875, 6.767578125, 34.189453125 ]
1.583333
95
0
95
0
[ -11.42578125, 86.572265625, 59.23828125, 88.681640625, 9.228515625, 34.716796875 ]
[ -9.580078125, 89.208984375, 64.86328125, 88.2421875, 7.3828125, 34.189453125 ]
1.6
96
0
96
0
[ -12.3046875, 84.19921875, 57.12890625, 88.681640625, 9.580078125, 34.716796875 ]
[ -10.1953125, 86.8359375, 62.75390625, 88.2421875, 7.822265625, 34.189453125 ]
1.616667
97
0
97
0
[ -13.0078125, 82.177734375, 55.458984375, 88.681640625, 9.66796875, 34.716796875 ]
[ -11.162109375, 84.638671875, 60.99609375, 88.2421875, 7.734375, 34.189453125 ]
1.633333
98
0
98
0
[ -13.18359375, 80.33203125, 53.876953125, 88.681640625, 10.1953125, 34.716796875 ]
[ -12.3046875, 82.529296875, 58.798828125, 88.2421875, 7.734375, 34.189453125 ]
1.65
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": 50,
    "total_frames": 11682,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 60,
    "splits": {
        "train": "0:50"
    },
    "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",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 60.0,
                "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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