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Yuanzhu
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koch_test1

Tasks:
Robotics
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< 1K
Tags:
LeRobot
koch
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
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4.63
frame_index
int64
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139
episode_index
int64
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1
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int64
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int64
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[ 2.109375, 94.39453125, 123.75, -12.392578125, -89.82421875, 15.1171875 ]
2.5
75
0
75
0
[ 2.373046875, 98.701171875, 125.947265625, -14.150390625, -89.736328125, 32.16796875 ]
[ 2.197265625, 94.482421875, 124.541015625, -12.392578125, -89.6484375, 23.90625 ]
2.533333
76
0
76
0
[ 1.93359375, 99.31640625, 127.44140625, -14.150390625, -89.736328125, 32.16796875 ]
[ 2.021484375, 94.74609375, 125.859375, -12.392578125, -89.560546875, 30.146484375 ]
2.566667
77
0
77
0
[ 1.40625, 99.931640625, 128.759765625, -14.150390625, -89.736328125, 32.255859375 ]
[ 1.669921875, 95.625, 127.705078125, -12.392578125, -89.560546875, 31.46484375 ]
2.6
78
0
78
0
[ 0.791015625, 100.283203125, 129.462890625, -14.23828125, -89.736328125, 32.255859375 ]
[ 1.23046875, 96.328125, 129.638671875, -12.3046875, -89.47265625, 31.46484375 ]
2.633333
79
0
79
0
[ 0.3515625, 100.72265625, 130.078125, -14.326171875, -89.736328125, 32.255859375 ]
[ 0.87890625, 97.03125, 130.693359375, -12.3046875, -89.47265625, 31.46484375 ]
2.666667
80
0
80
0
[ -0.17578125, 101.25, 130.60546875, -14.326171875, -89.736328125, 32.255859375 ]
[ 0.791015625, 97.470703125, 131.396484375, -12.3046875, -89.47265625, 31.46484375 ]
2.7
81
0
81
0
[ -0.615234375, 101.953125, 130.95703125, -14.326171875, -89.736328125, 32.783203125 ]
[ 0.615234375, 97.998046875, 131.8359375, -12.392578125, -89.47265625, 31.46484375 ]
2.733333
82
0
82
0
[ -0.966796875, 102.48046875, 131.044921875, -14.326171875, -89.736328125, 32.958984375 ]
[ 0.615234375, 98.4375, 131.8359375, -12.392578125, -89.47265625, 31.46484375 ]
2.766667
83
0
83
0
[ -1.142578125, 103.095703125, 130.95703125, -14.326171875, -89.736328125, 32.958984375 ]
[ 0.615234375, 99.052734375, 132.01171875, -12.392578125, -89.47265625, 31.46484375 ]
2.8
84
0
84
0
[ -1.0546875, 103.53515625, 130.693359375, -14.326171875, -89.736328125, 32.958984375 ]
[ 0.263671875, 99.84375, 132.1875, -12.392578125, -89.47265625, 31.46484375 ]
2.833333
85
0
85
0
[ -0.87890625, 103.798828125, 130.4296875, -14.326171875, -89.736328125, 32.958984375 ]
[ -0.087890625, 100.546875, 132.1875, -12.392578125, -89.47265625, 31.46484375 ]
2.866667
86
0
86
0
[ -0.52734375, 103.88671875, 130.166015625, -14.326171875, -89.82421875, 32.958984375 ]
[ -0.263671875, 101.07421875, 132.1875, -12.392578125, -89.47265625, 31.46484375 ]
2.9
87
0
87
0
[ 0, 103.974609375, 130.166015625, -14.326171875, -89.82421875, 32.958984375 ]
[ -0.17578125, 101.162109375, 132.1875, -12.392578125, -89.47265625, 31.46484375 ]
2.933333
88
0
88
0
[ 0.3515625, 104.0625, 130.166015625, -14.326171875, -89.82421875, 33.046875 ]
[ 0, 101.162109375, 132.275390625, -12.392578125, -89.47265625, 31.46484375 ]
2.966667
89
0
89
0
[ 0.615234375, 104.150390625, 130.4296875, -14.4140625, -89.912109375, 33.134765625 ]
[ 0.087890625, 101.513671875, 132.275390625, -12.392578125, -89.47265625, 31.728515625 ]
3
90
0
90
0
[ 0.615234375, 104.326171875, 130.78125, -14.4140625, -89.912109375, 33.134765625 ]
[ 0, 101.865234375, 132.1875, -12.392578125, -89.47265625, 31.81640625 ]
3.033333
91
0
91
0
[ 0.615234375, 104.501953125, 131.30859375, -14.4140625, -89.82421875, 33.134765625 ]
[ -0.17578125, 102.12890625, 132.1875, -12.392578125, -89.47265625, 31.81640625 ]
3.066667
92
0
92
0
[ 0.439453125, 104.853515625, 131.923828125, -14.501953125, -89.82421875, 33.134765625 ]
[ -0.17578125, 102.216796875, 132.36328125, -12.392578125, -89.47265625, 31.81640625 ]
3.1
93
0
93
0
[ 0.263671875, 105.205078125, 132.5390625, -14.501953125, -89.736328125, 33.134765625 ]
[ -0.17578125, 102.216796875, 132.5390625, -12.392578125, -89.47265625, 31.81640625 ]
3.133333
94
0
94
0
[ -0.087890625, 105.556640625, 132.802734375, -14.501953125, -89.6484375, 33.134765625 ]
[ 0, 102.568359375, 132.978515625, -12.392578125, -89.47265625, 31.81640625 ]
3.166667
95
0
95
0
[ -0.439453125, 105.732421875, 132.890625, -14.501953125, -89.560546875, 33.134765625 ]
[ 0, 102.83203125, 133.505859375, -12.392578125, -89.47265625, 31.81640625 ]
3.2
96
0
96
0
[ -0.615234375, 106.083984375, 132.890625, -14.501953125, -88.9453125, 33.134765625 ]
[ 0, 102.83203125, 133.59375, -12.392578125, -89.47265625, 31.81640625 ]
3.233333
97
0
97
0
[ -0.703125, 106.435546875, 132.978515625, -14.501953125, -87.71484375, 33.134765625 ]
[ 0, 103.359375, 133.681640625, -12.392578125, -89.384765625, 31.81640625 ]
3.266667
98
0
98
0
[ -0.703125, 106.787109375, 132.978515625, -14.501953125, -87.01171875, 33.134765625 ]
[ 0, 103.798828125, 133.681640625, -12.392578125, -88.857421875, 31.81640625 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "koch",
    "total_episodes": 2,
    "total_frames": 277,
    "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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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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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.images.top_camera": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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        "observation.images.side_camera": {
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.height": 480,
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                "video.channels": 3,
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                "video.is_depth_map": false,
                "has_audio": false
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        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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