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Datasets:
Lugenbott
/
koch_1225

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
koch_record
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
9.6
frame_index
int64
0
288
episode_index
int64
0
49
index
int64
0
11.8k
task_index
int64
0
0
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75
0
[ -4.658203125, 75.673828125, 87.1875, 72.685546875, -79.62890625, 30.146484375 ]
[ -4.658203125, 75.41015625, 87.1875, 75.146484375, -78.92578125, 31.728515625 ]
2.533333
76
0
76
0
[ -4.482421875, 75.234375, 87.275390625, 72.333984375, -79.62890625, 30.146484375 ]
[ -4.306640625, 74.970703125, 87.451171875, 74.794921875, -78.92578125, 31.728515625 ]
2.566667
77
0
77
0
[ -4.21875, 74.970703125, 87.275390625, 71.982421875, -79.62890625, 30.146484375 ]
[ -4.306640625, 74.443359375, 87.626953125, 74.53125, -78.92578125, 31.728515625 ]
2.6
78
0
78
0
[ -3.955078125, 74.619140625, 87.275390625, 71.71875, -79.62890625, 30.146484375 ]
[ -4.130859375, 73.828125, 87.5390625, 74.1796875, -78.92578125, 31.728515625 ]
2.633333
79
0
79
0
[ -3.603515625, 74.267578125, 87.36328125, 71.279296875, -79.62890625, 30.146484375 ]
[ -3.69140625, 73.65234375, 87.5390625, 73.564453125, -78.92578125, 31.728515625 ]
2.666667
80
0
80
0
[ -3.076171875, 74.00390625, 87.451171875, 71.19140625, -79.716796875, 30.146484375 ]
[ -3.515625, 73.65234375, 87.5390625, 73.388671875, -78.92578125, 31.728515625 ]
2.7
81
0
81
0
[ -2.4609375, 73.916015625, 87.451171875, 71.103515625, -79.892578125, 30.146484375 ]
[ -3.515625, 73.65234375, 87.5390625, 73.30078125, -78.92578125, 31.728515625 ]
2.733333
82
0
82
0
[ -1.845703125, 73.916015625, 87.5390625, 71.015625, -80.068359375, 30.146484375 ]
[ -2.98828125, 73.212890625, 87.451171875, 73.388671875, -78.92578125, 31.728515625 ]
2.766667
83
0
83
0
[ -1.142578125, 73.916015625, 87.5390625, 71.103515625, -80.068359375, 30.146484375 ]
[ -1.93359375, 72.861328125, 87.36328125, 73.30078125, -79.1015625, 31.728515625 ]
2.8
84
0
84
0
[ -0.615234375, 74.091796875, 87.5390625, 71.103515625, -80.068359375, 30.146484375 ]
[ -1.23046875, 72.861328125, 87.36328125, 73.388671875, -79.27734375, 31.728515625 ]
2.833333
85
0
85
0
[ -0.439453125, 74.53125, 87.5390625, 71.19140625, -80.068359375, 30.146484375 ]
[ -0.615234375, 72.861328125, 87.36328125, 73.388671875, -79.365234375, 31.728515625 ]
2.866667
86
0
86
0
[ -0.263671875, 74.794921875, 87.451171875, 71.19140625, -80.068359375, 30.146484375 ]
[ 0.087890625, 72.861328125, 87.451171875, 73.388671875, -79.365234375, 31.728515625 ]
2.9
87
0
87
0
[ -0.263671875, 75.41015625, 87.5390625, 71.3671875, -79.98046875, 30.146484375 ]
[ 0.087890625, 72.7734375, 87.451171875, 73.30078125, -79.453125, 31.728515625 ]
2.933333
88
0
88
0
[ -0.263671875, 76.025390625, 87.451171875, 71.455078125, -79.8046875, 30.146484375 ]
[ -0.087890625, 72.94921875, 87.451171875, 73.30078125, -79.365234375, 31.728515625 ]
2.966667
89
0
89
0
[ -0.263671875, 76.552734375, 87.5390625, 71.54296875, -79.62890625, 30.146484375 ]
[ 0, 73.388671875, 87.5390625, 73.30078125, -79.1015625, 31.728515625 ]
3
90
0
90
0
[ -0.17578125, 76.640625, 87.5390625, 71.54296875, -79.62890625, 30.146484375 ]
[ -0.087890625, 73.65234375, 87.5390625, 73.30078125, -78.92578125, 31.728515625 ]
3.033333
91
0
91
0
[ 0.087890625, 76.640625, 87.978515625, 71.455078125, -79.541015625, 30.146484375 ]
[ 0, 73.916015625, 87.5390625, 73.30078125, -78.92578125, 31.728515625 ]
3.066667
92
0
92
0
[ 0.3515625, 76.640625, 88.681640625, 71.103515625, -79.453125, 29.8828125 ]
[ 0, 74.00390625, 87.5390625, 73.30078125, -78.837890625, 31.728515625 ]
3.1
93
0
93
0
[ 0.439453125, 76.728515625, 89.6484375, 70.927734375, -79.541015625, 26.3671875 ]
[ 0, 74.091796875, 88.681640625, 73.125, -78.837890625, 31.201171875 ]
3.133333
94
0
94
0
[ 0.439453125, 76.904296875, 90.263671875, 70.83984375, -79.8046875, 23.115234375 ]
[ 0, 74.091796875, 90.087890625, 72.685546875, -78.837890625, 29.53125 ]
3.166667
95
0
95
0
[ 0.3515625, 77.080078125, 90.703125, 70.83984375, -79.8046875, 18.984375 ]
[ -0.087890625, 74.1796875, 90.791015625, 72.333984375, -78.92578125, 27.0703125 ]
3.2
96
0
96
0
[ -0.263671875, 76.9921875, 91.142578125, 70.83984375, -79.98046875, 18.896484375 ]
[ 0, 74.443359375, 91.0546875, 72.158203125, -78.92578125, 23.5546875 ]
3.233333
97
0
97
0
[ -0.615234375, 76.904296875, 91.669921875, 70.6640625, -80.15625, 19.072265625 ]
[ 0, 74.619140625, 91.669921875, 71.982421875, -78.837890625, 21.796875 ]
3.266667
98
0
98
0
[ -0.966796875, 76.11328125, 92.373046875, 69.78515625, -80.15625, 21.4453125 ]
[ 0, 74.619140625, 91.7578125, 71.982421875, -79.1015625, 21.796875 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "koch",
    "total_episodes": 50,
    "total_frames": 11825,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": {
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            "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.Camera0": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
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                "width",
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            "info": {
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        "observation.images.Camera2": {
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            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
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        "index": {
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        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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