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zliu157
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koch_test

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Robotics
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action
sequence
observation.state
sequence
timestamp
float32
0
9.9
frame_index
int64
0
297
episode_index
int64
0
1
index
int64
0
595
task_index
int64
0
0
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2.566667
77
0
77
0
[ 2.8125, 99.66796875, 99.66796875, 59.326171875, 9.228515625, 34.27734375 ]
[ 2.98828125, 100.546875, 102.83203125, 58.095703125, 9.84375, 33.486328125 ]
2.6
78
0
78
0
[ 2.4609375, 98.61328125, 99.580078125, 59.326171875, 6.328125, 34.365234375 ]
[ 2.63671875, 99.4921875, 102.83203125, 58.095703125, 9.580078125, 33.486328125 ]
2.633333
79
0
79
0
[ 2.63671875, 97.998046875, 99.4921875, 59.326171875, 2.109375, 34.365234375 ]
[ 2.373046875, 98.525390625, 102.83203125, 58.095703125, 8.876953125, 33.486328125 ]
2.666667
80
0
80
0
[ 2.548828125, 97.119140625, 99.404296875, 59.326171875, -1.23046875, 34.365234375 ]
[ 2.28515625, 97.55859375, 102.83203125, 58.095703125, 7.119140625, 33.486328125 ]
2.7
81
0
81
0
[ 2.548828125, 95.9765625, 99.31640625, 59.326171875, -3.427734375, 34.365234375 ]
[ 2.373046875, 96.767578125, 102.83203125, 58.095703125, 4.5703125, 33.486328125 ]
2.733333
82
0
82
0
[ 2.548828125, 95.2734375, 99.052734375, 59.23828125, -4.5703125, 34.27734375 ]
[ 2.28515625, 95.888671875, 102.83203125, 58.095703125, 1.7578125, 33.486328125 ]
2.766667
83
0
83
0
[ 2.373046875, 94.04296875, 98.173828125, 59.150390625, -4.39453125, 34.27734375 ]
[ 2.373046875, 95.09765625, 102.83203125, 58.095703125, -0.615234375, 33.486328125 ]
2.8
84
0
84
0
[ 1.93359375, 93.251953125, 97.55859375, 59.150390625, -4.21875, 34.27734375 ]
[ 2.373046875, 94.306640625, 102.568359375, 58.095703125, -2.28515625, 33.486328125 ]
2.833333
85
0
85
0
[ 1.494140625, 92.109375, 96.6796875, 59.0625, -4.130859375, 34.27734375 ]
[ 2.021484375, 93.251953125, 101.689453125, 58.095703125, -3.1640625, 33.486328125 ]
2.866667
86
0
86
0
[ 1.142578125, 91.0546875, 96.064453125, 58.359375, -3.69140625, 34.27734375 ]
[ 1.669921875, 92.28515625, 100.546875, 58.095703125, -3.515625, 33.486328125 ]
2.9
87
0
87
0
[ 0.52734375, 90.263671875, 95.537109375, 58.447265625, -2.197265625, 34.27734375 ]
[ 1.494140625, 91.23046875, 99.4921875, 58.095703125, -3.515625, 33.486328125 ]
2.933333
88
0
88
0
[ 0.087890625, 89.208984375, 95.09765625, 58.447265625, -1.93359375, 34.27734375 ]
[ 1.23046875, 90.263671875, 98.7890625, 58.095703125, -3.076171875, 33.486328125 ]
2.966667
89
0
89
0
[ -0.439453125, 88.154296875, 94.74609375, 58.447265625, -2.021484375, 34.27734375 ]
[ 0.791015625, 89.296875, 98.4375, 58.095703125, -2.4609375, 33.486328125 ]
3
90
0
90
0
[ -0.703125, 87.1875, 94.21875, 58.53515625, -2.021484375, 34.27734375 ]
[ 0.52734375, 88.330078125, 98.26171875, 58.095703125, -2.021484375, 33.486328125 ]
3.033333
91
0
91
0
[ -1.0546875, 86.1328125, 94.21875, 58.53515625, -1.93359375, 34.27734375 ]
[ 0.52734375, 87.1875, 97.822265625, 58.095703125, -1.845703125, 33.486328125 ]
3.066667
92
0
92
0
[ -1.142578125, 85.25390625, 93.955078125, 58.53515625, -1.845703125, 34.27734375 ]
[ 0.263671875, 86.30859375, 97.734375, 58.095703125, -1.669921875, 33.486328125 ]
3.1
93
0
93
0
[ -1.142578125, 84.55078125, 93.779296875, 58.447265625, -1.7578125, 34.27734375 ]
[ -0.263671875, 85.4296875, 97.646484375, 58.095703125, -1.494140625, 33.486328125 ]
3.133333
94
0
94
0
[ -1.142578125, 83.935546875, 93.779296875, 58.53515625, -1.7578125, 34.27734375 ]
[ -0.615234375, 84.375, 97.646484375, 58.095703125, -1.318359375, 33.486328125 ]
3.166667
95
0
95
0
[ -1.142578125, 83.3203125, 93.603515625, 58.53515625, -1.7578125, 34.27734375 ]
[ -0.615234375, 83.3203125, 97.646484375, 58.095703125, -1.142578125, 33.486328125 ]
3.2
96
0
96
0
[ -1.142578125, 82.6171875, 93.251953125, 58.53515625, -1.7578125, 34.27734375 ]
[ -0.615234375, 82.705078125, 97.646484375, 58.095703125, -1.0546875, 33.486328125 ]
3.233333
97
0
97
0
[ -1.23046875, 81.5625, 92.63671875, 58.447265625, -1.23046875, 34.27734375 ]
[ -0.87890625, 82.08984375, 97.646484375, 58.095703125, -0.966796875, 33.486328125 ]
3.266667
98
0
98
0
[ -1.494140625, 80.419921875, 91.7578125, 58.53515625, 0.087890625, 34.189453125 ]
[ -0.966796875, 81.2109375, 97.119140625, 58.095703125, -0.87890625, 33.486328125 ]
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": 2,
    "total_frames": 596,
    "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": {
        "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": {
                "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.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "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",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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