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Datasets:
lipsop
/
koch_testtry

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ 3.251953125, 133.154296875, 180.17578125, 5.712890625, -1.93359375, 32.6953125 ]
[ 2.197265625, 128.056640625, 174.638671875, 4.5703125, -1.669921875, 33.134765625 ]
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[ 2.724609375, 101.953125, 125.15625, 30.234375, -1.93359375, 27.158203125 ]
[ 2.63671875, 106.962890625, 130.78125, 28.740234375, -1.845703125, 28.828125 ]
2.533333
76
0
76
0
[ 2.8125, 99.4921875, 123.046875, 31.728515625, -1.93359375, 27.158203125 ]
[ 2.63671875, 104.501953125, 128.84765625, 29.267578125, -1.7578125, 27.7734375 ]
2.566667
77
0
77
0
[ 2.98828125, 96.943359375, 121.11328125, 33.75, -1.93359375, 27.158203125 ]
[ 2.724609375, 101.953125, 127.001953125, 30.146484375, -1.7578125, 27.509765625 ]
2.6
78
0
78
0
[ 2.98828125, 94.39453125, 119.1796875, 36.123046875, -2.109375, 27.158203125 ]
[ 2.724609375, 99.4921875, 125.244140625, 31.376953125, -1.845703125, 27.509765625 ]
2.633333
79
0
79
0
[ 2.8125, 91.494140625, 116.982421875, 38.671875, -3.8671875, 27.158203125 ]
[ 2.8125, 97.03125, 123.3984375, 33.046875, -1.845703125, 27.509765625 ]
2.666667
80
0
80
0
[ 2.724609375, 90, 116.19140625, 41.484375, -5.361328125, 27.158203125 ]
[ 2.8125, 94.306640625, 121.2890625, 34.98046875, -2.021484375, 27.509765625 ]
2.7
81
0
81
0
[ 2.724609375, 89.6484375, 116.19140625, 42.275390625, -5.361328125, 27.158203125 ]
[ 2.8125, 91.845703125, 119.35546875, 37.08984375, -2.8125, 27.509765625 ]
2.733333
82
0
82
0
[ 2.724609375, 89.208984375, 116.279296875, 42.275390625, -5.2734375, 27.158203125 ]
[ 2.8125, 90.087890625, 118.564453125, 39.0234375, -3.69140625, 27.509765625 ]
2.766667
83
0
83
0
[ 2.548828125, 89.208984375, 116.3671875, 42.275390625, -5.2734375, 27.24609375 ]
[ 2.8125, 89.208984375, 118.564453125, 40.95703125, -4.482421875, 27.509765625 ]
2.8
84
0
84
0
[ 2.28515625, 89.208984375, 116.3671875, 42.36328125, -5.2734375, 27.24609375 ]
[ 2.724609375, 88.857421875, 118.564453125, 41.923828125, -4.833984375, 27.509765625 ]
2.833333
85
0
85
0
[ 2.021484375, 89.208984375, 116.71875, 42.71484375, -5.2734375, 27.421875 ]
[ 2.4609375, 88.9453125, 118.564453125, 42.5390625, -5.09765625, 27.509765625 ]
2.866667
86
0
86
0
[ 1.669921875, 89.384765625, 117.0703125, 44.12109375, -5.2734375, 27.421875 ]
[ 2.4609375, 88.9453125, 118.564453125, 42.5390625, -5.09765625, 27.509765625 ]
2.9
87
0
87
0
[ 1.494140625, 89.736328125, 117.421875, 45.703125, -5.2734375, 27.421875 ]
[ 2.373046875, 88.9453125, 118.564453125, 42.802734375, -5.09765625, 27.509765625 ]
2.933333
88
0
88
0
[ 1.58203125, 89.912109375, 117.7734375, 46.58203125, -5.2734375, 27.509765625 ]
[ 2.109375, 88.9453125, 118.564453125, 43.330078125, -5.09765625, 27.509765625 ]
2.966667
89
0
89
0
[ 1.58203125, 90.17578125, 118.212890625, 46.845703125, -5.2734375, 27.509765625 ]
[ 2.021484375, 88.9453125, 118.564453125, 44.384765625, -5.009765625, 27.509765625 ]
3
90
0
90
0
[ 1.58203125, 91.142578125, 118.388671875, 47.548828125, -5.2734375, 27.509765625 ]
[ 2.021484375, 88.9453125, 118.65234375, 45.17578125, -4.921875, 27.509765625 ]
3.033333
91
0
91
0
[ 1.7578125, 91.7578125, 118.4765625, 48.515625, -5.185546875, 27.509765625 ]
[ 1.93359375, 89.384765625, 119.00390625, 45.87890625, -4.921875, 27.509765625 ]
3.066667
92
0
92
0
[ 2.109375, 92.28515625, 118.4765625, 49.39453125, -5.185546875, 27.509765625 ]
[ 1.93359375, 89.82421875, 119.267578125, 46.7578125, -5.009765625, 27.509765625 ]
3.1
93
0
93
0
[ 2.197265625, 93.1640625, 118.4765625, 50.009765625, -5.185546875, 27.509765625 ]
[ 2.109375, 91.0546875, 119.443359375, 48.955078125, -5.09765625, 27.509765625 ]
3.133333
94
0
94
0
[ 2.109375, 93.603515625, 118.4765625, 50.361328125, -5.185546875, 27.509765625 ]
[ 2.109375, 91.669921875, 119.443359375, 49.74609375, -5.09765625, 27.509765625 ]
3.166667
95
0
95
0
[ 2.197265625, 94.482421875, 118.564453125, 51.064453125, -5.09765625, 27.509765625 ]
[ 2.109375, 91.845703125, 119.443359375, 49.833984375, -5.09765625, 27.509765625 ]
3.2
96
0
96
0
[ 2.28515625, 94.921875, 118.828125, 51.416015625, -5.09765625, 27.509765625 ]
[ 2.109375, 92.373046875, 119.443359375, 50.185546875, -5.09765625, 27.509765625 ]
3.233333
97
0
97
0
[ 2.28515625, 95.09765625, 119.091796875, 51.416015625, -5.09765625, 27.509765625 ]
[ 2.28515625, 93.515625, 119.53125, 50.9765625, -5.009765625, 27.509765625 ]
3.266667
98
0
98
0
[ 2.197265625, 95.361328125, 119.443359375, 51.416015625, -5.09765625, 27.509765625 ]
[ 2.28515625, 93.8671875, 120.05859375, 51.064453125, -4.921875, 27.509765625 ]
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": 1554,
    "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": [
                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.usb": {
            "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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.brio": {
            "dtype": "video",
            "shape": [
                480,
                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": "av1",
                "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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