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halo1225
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koch_test_10

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Robotics
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action
sequence
observation.state
sequence
timestamp
float32
0
9.93
frame_index
int64
0
298
episode_index
int64
0
19
index
int64
0
5.98k
task_index
int64
0
0
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[ 29.619140625, -73.388671875, 76.2890625, 40.517578125, -25.927734375, 130.60546875 ]
2.5
75
0
75
0
[ 30.322265625, -74.091796875, 79.453125, 41.044921875, -26.3671875, 130.95703125 ]
[ 29.619140625, -73.212890625, 76.2890625, 40.517578125, -25.927734375, 130.078125 ]
2.533333
76
0
76
0
[ 30.322265625, -74.091796875, 79.453125, 41.1328125, -26.3671875, 130.869140625 ]
[ 29.619140625, -73.30078125, 76.2890625, 40.693359375, -25.927734375, 129.90234375 ]
2.566667
77
0
77
0
[ 30.322265625, -74.091796875, 79.453125, 41.1328125, -26.455078125, 130.60546875 ]
[ 29.619140625, -73.30078125, 76.376953125, 40.869140625, -25.927734375, 129.90234375 ]
2.6
78
0
78
0
[ 30.234375, -74.1796875, 79.453125, 41.1328125, -26.3671875, 129.462890625 ]
[ 29.619140625, -73.212890625, 76.2890625, 40.869140625, -25.927734375, 129.90234375 ]
2.633333
79
0
79
0
[ 30.234375, -74.091796875, 79.453125, 41.1328125, -26.279296875, 126.9140625 ]
[ 29.619140625, -73.037109375, 76.2890625, 40.869140625, -25.927734375, 129.55078125 ]
2.666667
80
0
80
0
[ 30.322265625, -74.091796875, 79.453125, 41.220703125, -25.927734375, 123.837890625 ]
[ 29.619140625, -73.037109375, 76.2890625, 40.869140625, -25.927734375, 127.880859375 ]
2.7
81
0
81
0
[ 30.322265625, -74.091796875, 79.453125, 41.396484375, -25.400390625, 121.904296875 ]
[ 29.619140625, -73.037109375, 76.376953125, 40.869140625, -25.576171875, 125.15625 ]
2.733333
82
0
82
0
[ 30.234375, -74.00390625, 79.453125, 41.572265625, -24.609375, 120.673828125 ]
[ 29.619140625, -73.037109375, 76.376953125, 40.869140625, -25.048828125, 122.607421875 ]
2.766667
83
0
83
0
[ 30.234375, -73.828125, 79.453125, 41.923828125, -23.90625, 118.916015625 ]
[ 29.619140625, -73.037109375, 76.2890625, 40.869140625, -24.521484375, 120.76171875 ]
2.8
84
0
84
0
[ 30.146484375, -73.564453125, 79.453125, 42.451171875, -23.115234375, 115.48828125 ]
[ 29.619140625, -72.685546875, 76.376953125, 40.869140625, -23.642578125, 119.267578125 ]
2.833333
85
0
85
0
[ 30.146484375, -73.564453125, 79.453125, 43.154296875, -22.1484375, 110.478515625 ]
[ 29.619140625, -72.509765625, 76.376953125, 41.220703125, -23.02734375, 117.158203125 ]
2.866667
86
0
86
0
[ 29.970703125, -73.4765625, 79.453125, 43.59375, -21.4453125, 104.677734375 ]
[ 29.619140625, -72.24609375, 76.376953125, 42.099609375, -22.5, 113.291015625 ]
2.9
87
0
87
0
[ 29.970703125, -73.4765625, 79.453125, 44.033203125, -21.005859375, 98.173828125 ]
[ 29.53125, -72.24609375, 76.376953125, 42.890625, -21.884765625, 108.896484375 ]
2.933333
88
0
88
0
[ 29.970703125, -73.388671875, 79.453125, 44.208984375, -21.005859375, 91.669921875 ]
[ 29.35546875, -72.24609375, 76.376953125, 43.2421875, -20.830078125, 107.490234375 ]
2.966667
89
0
89
0
[ 30.05859375, -73.388671875, 79.453125, 44.296875, -21.357421875, 85.693359375 ]
[ 29.091796875, -72.24609375, 76.46484375, 43.41796875, -21.09375, 107.490234375 ]
3
90
0
90
0
[ 30.05859375, -73.4765625, 79.453125, 44.384765625, -21.533203125, 81.298828125 ]
[ 29.1796875, -72.24609375, 76.46484375, 43.681640625, -20.91796875, 107.490234375 ]
3.033333
91
0
91
0
[ 30.146484375, -73.564453125, 79.453125, 44.47265625, -21.62109375, 80.068359375 ]
[ 29.53125, -72.24609375, 76.46484375, 43.857421875, -20.91796875, 107.490234375 ]
3.066667
92
0
92
0
[ 30.146484375, -73.740234375, 79.453125, 44.47265625, -21.708984375, 81.650390625 ]
[ 29.70703125, -72.24609375, 76.376953125, 43.857421875, -20.91796875, 107.490234375 ]
3.1
93
0
93
0
[ 29.970703125, -73.916015625, 79.453125, 44.560546875, -21.708984375, 82.529296875 ]
[ 29.70703125, -72.24609375, 76.376953125, 43.857421875, -20.91796875, 107.490234375 ]
3.133333
94
0
94
0
[ 29.8828125, -74.35546875, 79.453125, 44.912109375, -21.884765625, 82.001953125 ]
[ 29.53125, -72.24609375, 76.376953125, 43.857421875, -20.91796875, 107.490234375 ]
3.166667
95
0
95
0
[ 29.619140625, -75.322265625, 79.453125, 45.791015625, -22.1484375, 82.001953125 ]
[ 29.35546875, -72.333984375, 76.46484375, 43.857421875, -20.91796875, 107.490234375 ]
3.2
96
0
96
0
[ 28.65234375, -77.255859375, 79.8046875, 47.197265625, -22.1484375, 82.001953125 ]
[ 29.1796875, -72.421875, 76.46484375, 44.208984375, -21.357421875, 107.490234375 ]
3.233333
97
0
97
0
[ 26.982421875, -79.716796875, 80.419921875, 48.779296875, -22.1484375, 82.001953125 ]
[ 28.916015625, -72.94921875, 76.376953125, 45.3515625, -21.796875, 107.490234375 ]
3.266667
98
0
98
0
[ 25.13671875, -82.177734375, 81.38671875, 50.712890625, -21.97265625, 82.001953125 ]
[ 28.037109375, -74.00390625, 76.376953125, 46.93359375, -21.97265625, 107.490234375 ]
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": "v2.1",
    "robot_type": "koch",
    "total_episodes": 20,
    "total_frames": 5980,
    "total_tasks": 1,
    "total_videos": 40,
    "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.cam0": {
            "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
            }
        },
        "observation.images.cam2": {
            "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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