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Datasets:
ellen2imagine
/
pusht_green_same_init2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
594
episode_index
int64
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19
index
int64
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11.8k
task_index
int64
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[ 23.642578125, 119.091796875, 163.037109375, 42.1875, -150.908203125, -10.72265625 ]
[ 23.5546875, 119.00390625, 161.015625, 39.462890625, -150.46875, -7.03125 ]
2.566667
77
0
77
0
[ 23.466796875, 119.091796875, 163.037109375, 42.1875, -150.908203125, -10.72265625 ]
[ 23.466796875, 119.00390625, 161.015625, 39.462890625, -150.380859375, -7.03125 ]
2.6
78
0
78
0
[ 23.02734375, 119.091796875, 163.037109375, 42.1875, -150.908203125, -10.810546875 ]
[ 23.466796875, 119.00390625, 161.015625, 39.462890625, -150.205078125, -7.03125 ]
2.633333
79
0
79
0
[ 22.1484375, 119.091796875, 163.037109375, 42.1875, -150.46875, -10.810546875 ]
[ 23.466796875, 119.00390625, 161.015625, 39.462890625, -150.1171875, -7.03125 ]
2.666667
80
0
80
0
[ 21.708984375, 119.1796875, 163.125, 42.1875, -149.94140625, -10.810546875 ]
[ 22.412109375, 119.00390625, 160.927734375, 39.462890625, -150.029296875, -7.03125 ]
2.7
81
0
81
0
[ 21.4453125, 119.35546875, 163.212890625, 42.1875, -149.94140625, -10.810546875 ]
[ 22.1484375, 119.00390625, 160.927734375, 39.462890625, -149.94140625, -7.03125 ]
2.733333
82
0
82
0
[ 21.4453125, 119.35546875, 163.125, 42.1875, -150.029296875, -10.810546875 ]
[ 21.796875, 119.00390625, 161.015625, 39.462890625, -149.677734375, -7.03125 ]
2.766667
83
0
83
0
[ 21.4453125, 119.35546875, 163.037109375, 42.1875, -150.205078125, -10.810546875 ]
[ 21.533203125, 119.00390625, 161.015625, 39.462890625, -149.677734375, -7.03125 ]
2.8
84
0
84
0
[ 21.4453125, 119.267578125, 162.94921875, 42.1875, -150.29296875, -10.72265625 ]
[ 21.4453125, 119.00390625, 161.015625, 39.462890625, -149.677734375, -7.03125 ]
2.833333
85
0
85
0
[ 20.830078125, 119.1796875, 162.685546875, 42.1875, -150.380859375, -10.72265625 ]
[ 21.4453125, 119.00390625, 160.927734375, 39.462890625, -149.677734375, -7.03125 ]
2.866667
86
0
86
0
[ 20.21484375, 119.00390625, 162.24609375, 42.099609375, -150.380859375, -10.72265625 ]
[ 21.09375, 119.00390625, 161.015625, 39.462890625, -149.677734375, -7.03125 ]
2.9
87
0
87
0
[ 19.775390625, 118.828125, 161.806640625, 42.099609375, -150.46875, -10.810546875 ]
[ 20.7421875, 119.00390625, 160.927734375, 39.462890625, -149.677734375, -7.03125 ]
2.933333
88
0
88
0
[ 19.51171875, 118.564453125, 161.630859375, 42.01171875, -150.46875, -10.72265625 ]
[ 20.126953125, 118.916015625, 160.751953125, 39.462890625, -149.677734375, -7.03125 ]
2.966667
89
0
89
0
[ 19.423828125, 118.4765625, 161.54296875, 42.01171875, -150.46875, -10.810546875 ]
[ 19.6875, 118.828125, 160.6640625, 39.462890625, -149.677734375, -7.03125 ]
3
90
0
90
0
[ 19.16015625, 118.4765625, 161.54296875, 42.01171875, -150.46875, -10.810546875 ]
[ 19.51171875, 118.828125, 160.6640625, 39.462890625, -149.677734375, -7.03125 ]
3.033333
91
0
91
0
[ 18.6328125, 118.388671875, 161.455078125, 41.923828125, -150.380859375, -10.810546875 ]
[ 19.51171875, 118.828125, 160.6640625, 39.462890625, -149.677734375, -7.03125 ]
3.066667
92
0
92
0
[ 18.017578125, 118.212890625, 161.279296875, 41.923828125, -150.380859375, -10.810546875 ]
[ 18.984375, 118.828125, 160.6640625, 39.462890625, -149.677734375, -7.03125 ]
3.1
93
0
93
0
[ 17.841796875, 118.212890625, 161.279296875, 41.8359375, -150.29296875, -10.810546875 ]
[ 18.720703125, 118.828125, 160.6640625, 39.462890625, -149.677734375, -7.03125 ]
3.133333
94
0
94
0
[ 17.75390625, 118.212890625, 161.19140625, 41.748046875, -150.46875, -10.810546875 ]
[ 18.193359375, 118.828125, 160.6640625, 39.462890625, -149.677734375, -7.03125 ]
3.166667
95
0
95
0
[ 17.666015625, 117.94921875, 160.927734375, 41.748046875, -150.8203125, -10.72265625 ]
[ 17.841796875, 118.828125, 160.6640625, 39.462890625, -149.677734375, -7.03125 ]
3.2
96
0
96
0
[ 17.490234375, 117.333984375, 160.48828125, 41.572265625, -151.34765625, -10.72265625 ]
[ 17.666015625, 118.4765625, 160.13671875, 39.55078125, -149.677734375, -7.03125 ]
3.233333
97
0
97
0
[ 17.490234375, 116.3671875, 159.873046875, 41.220703125, -151.962890625, -10.72265625 ]
[ 17.490234375, 118.212890625, 159.78515625, 39.55078125, -149.765625, -7.03125 ]
3.266667
98
0
98
0
[ 17.490234375, 115.6640625, 159.345703125, 40.95703125, -152.490234375, -10.810546875 ]
[ 17.40234375, 117.861328125, 159.43359375, 39.638671875, -150.029296875, -7.03125 ]
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": 20,
    "total_frames": 11787,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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