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Datasets:
ssaito
/
koch_test_21

Tasks:
Robotics
Modalities:
Tabular
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Video
Formats:
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Size:
< 1K
Tags:
LeRobot
tutorial
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License:
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action
sequence
observation.state
sequence
timestamp
float32
0
22.6
frame_index
int64
0
677
episode_index
int64
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0
index
int64
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677
task_index
int64
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78
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[ 21.62109375, 76.81640625, 98.701171875, 52.20703125, 57.392578125, 34.716796875 ]
[ 20.21484375, 76.11328125, 100.37109375, 52.646484375, 56.865234375, 33.3984375 ]
2.633333
79
0
79
0
[ 21.62109375, 76.728515625, 98.701171875, 52.119140625, 57.3046875, 34.62890625 ]
[ 20.302734375, 75.673828125, 100.37109375, 52.646484375, 56.865234375, 33.486328125 ]
2.666667
80
0
80
0
[ 21.62109375, 76.640625, 98.876953125, 52.119140625, 57.3046875, 34.365234375 ]
[ 20.302734375, 75.5859375, 100.458984375, 52.646484375, 56.865234375, 33.486328125 ]
2.7
81
0
81
0
[ 21.62109375, 76.640625, 99.140625, 52.20703125, 57.216796875, 34.365234375 ]
[ 20.302734375, 75.673828125, 100.37109375, 52.646484375, 56.865234375, 33.3984375 ]
2.733333
82
0
82
0
[ 21.708984375, 76.376953125, 99.228515625, 52.20703125, 57.216796875, 34.365234375 ]
[ 20.302734375, 75.673828125, 100.37109375, 52.646484375, 56.953125, 33.486328125 ]
2.766667
83
0
83
0
[ 21.708984375, 76.2890625, 99.31640625, 52.119140625, 57.216796875, 34.365234375 ]
[ 20.302734375, 75.673828125, 100.37109375, 52.646484375, 56.865234375, 33.486328125 ]
2.8
84
0
84
0
[ 21.796875, 76.11328125, 99.31640625, 52.03125, 57.12890625, 33.92578125 ]
[ 20.302734375, 75.673828125, 100.37109375, 52.646484375, 56.865234375, 33.486328125 ]
2.833333
85
0
85
0
[ 22.060546875, 75.673828125, 99.404296875, 51.6796875, 56.77734375, 32.255859375 ]
[ 20.302734375, 75.673828125, 100.37109375, 52.646484375, 56.865234375, 33.134765625 ]
2.866667
86
0
86
0
[ 22.060546875, 75.5859375, 99.580078125, 51.6796875, 56.77734375, 31.552734375 ]
[ 20.7421875, 75.322265625, 100.37109375, 52.55859375, 56.689453125, 32.6953125 ]
2.9
87
0
87
0
[ 22.1484375, 75.498046875, 99.931640625, 51.416015625, 56.77734375, 31.46484375 ]
[ 21.09375, 74.794921875, 100.37109375, 52.3828125, 56.42578125, 31.728515625 ]
2.933333
88
0
88
0
[ 22.1484375, 75.41015625, 100.1953125, 51.15234375, 56.77734375, 31.376953125 ]
[ 21.26953125, 74.70703125, 100.37109375, 52.20703125, 56.42578125, 31.2890625 ]
2.966667
89
0
89
0
[ 22.1484375, 75.322265625, 100.458984375, 50.9765625, 56.77734375, 30.849609375 ]
[ 21.4453125, 74.70703125, 100.458984375, 52.03125, 56.162109375, 31.2890625 ]
3
90
0
90
0
[ 22.236328125, 75.234375, 100.634765625, 50.537109375, 57.041015625, 28.828125 ]
[ 21.62109375, 74.70703125, 100.546875, 51.6796875, 56.07421875, 30.76171875 ]
3.033333
91
0
91
0
[ 22.32421875, 75.05859375, 100.810546875, 49.833984375, 57.041015625, 27.94921875 ]
[ 21.708984375, 74.70703125, 100.546875, 51.416015625, 56.25, 29.53125 ]
3.066667
92
0
92
0
[ 22.5, 75.05859375, 101.42578125, 48.603515625, 57.12890625, 26.71875 ]
[ 21.796875, 74.70703125, 100.634765625, 50.9765625, 56.42578125, 27.861328125 ]
3.1
93
0
93
0
[ 22.5, 75.05859375, 101.689453125, 47.900390625, 57.12890625, 26.54296875 ]
[ 21.796875, 74.70703125, 101.25, 50.009765625, 56.6015625, 26.71875 ]
3.133333
94
0
94
0
[ 22.5, 75.05859375, 101.865234375, 47.109375, 57.568359375, 25.751953125 ]
[ 21.884765625, 74.794921875, 101.689453125, 49.21875, 56.6015625, 26.19140625 ]
3.166667
95
0
95
0
[ 22.587890625, 75.05859375, 102.3046875, 46.142578125, 58.18359375, 21.97265625 ]
[ 21.97265625, 74.70703125, 101.77734375, 48.515625, 56.689453125, 25.576171875 ]
3.2
96
0
96
0
[ 22.67578125, 75.05859375, 102.65625, 45.3515625, 58.095703125, 19.86328125 ]
[ 21.97265625, 74.794921875, 102.3046875, 47.900390625, 56.865234375, 24.169921875 ]
3.233333
97
0
97
0
[ 22.67578125, 75.05859375, 102.919921875, 44.82421875, 57.568359375, 19.775390625 ]
[ 21.97265625, 74.794921875, 102.568359375, 47.28515625, 57.3046875, 21.708984375 ]
3.266667
98
0
98
0
[ 22.763671875, 75.05859375, 103.18359375, 43.9453125, 56.689453125, 19.775390625 ]
[ 21.97265625, 74.794921875, 102.568359375, 46.7578125, 57.3046875, 19.951171875 ]
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": 1,
    "total_frames": 678,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.side_cam": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
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            ],
            "names": [
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                "width",
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                "has_audio": false
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        },
        "observation.images.overhead_cam": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.height": 1080,
                "video.width": 1920,
                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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