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Datasets:
Vertax
/
koch_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
tutorial
Libraries:
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Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
29.4
frame_index
int64
0
883
episode_index
int64
0
1
index
int64
0
1.74k
task_index
int64
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[ 19.248046875, 18.80859375, -0.87890625, 42.71484375, -14.326171875, 31.201171875 ]
2.5
75
0
75
0
[ 18.80859375, 18.45703125, -3.779296875, 38.408203125, -16.875, 30.41015625 ]
[ 19.248046875, 18.369140625, -0.966796875, 42.626953125, -14.765625, 31.11328125 ]
2.533333
76
0
76
0
[ 18.80859375, 17.75390625, -3.427734375, 36.73828125, -17.40234375, 29.267578125 ]
[ 19.248046875, 17.75390625, -0.966796875, 42.626953125, -15.1171875, 31.11328125 ]
2.566667
77
0
77
0
[ 18.80859375, 16.962890625, -3.33984375, 35.068359375, -18.193359375, 29.00390625 ]
[ 19.16015625, 17.05078125, -0.87890625, 42.1875, -15.46875, 30.41015625 ]
2.6
78
0
78
0
[ 18.80859375, 16.259765625, -3.251953125, 33.92578125, -18.544921875, 28.916015625 ]
[ 19.072265625, 16.171875, -0.87890625, 41.484375, -15.908203125, 29.794921875 ]
2.633333
79
0
79
0
[ 18.80859375, 15.908203125, -3.076171875, 33.134765625, -18.80859375, 28.916015625 ]
[ 18.984375, 15.29296875, -0.87890625, 40.517578125, -16.435546875, 29.619140625 ]
2.666667
80
0
80
0
[ 18.80859375, 15.556640625, -2.900390625, 32.255859375, -18.984375, 28.916015625 ]
[ 18.984375, 14.677734375, -0.791015625, 39.462890625, -16.962890625, 29.619140625 ]
2.7
81
0
81
0
[ 18.80859375, 15.205078125, -2.63671875, 31.11328125, -19.248046875, 28.828125 ]
[ 18.896484375, 14.23828125, -0.703125, 38.49609375, -17.40234375, 29.619140625 ]
2.733333
82
0
82
0
[ 18.896484375, 15.029296875, -2.548828125, 30.146484375, -19.248046875, 28.828125 ]
[ 18.896484375, 13.798828125, -0.703125, 37.44140625, -17.666015625, 29.619140625 ]
2.766667
83
0
83
0
[ 18.984375, 15.029296875, -2.548828125, 29.794921875, -19.248046875, 28.828125 ]
[ 18.896484375, 13.623046875, -0.703125, 36.38671875, -17.9296875, 29.619140625 ]
2.8
84
0
84
0
[ 19.072265625, 15.029296875, -2.4609375, 29.443359375, -19.248046875, 28.828125 ]
[ 18.896484375, 13.623046875, -0.703125, 35.595703125, -18.017578125, 29.619140625 ]
2.833333
85
0
85
0
[ 19.072265625, 14.853515625, -2.4609375, 28.388671875, -19.248046875, 28.828125 ]
[ 18.896484375, 13.623046875, -0.703125, 34.892578125, -18.017578125, 29.619140625 ]
2.866667
86
0
86
0
[ 19.16015625, 14.58984375, -2.4609375, 27.861328125, -19.16015625, 28.828125 ]
[ 19.072265625, 13.623046875, -0.615234375, 34.365234375, -18.10546875, 29.619140625 ]
2.9
87
0
87
0
[ 19.072265625, 14.150390625, -2.4609375, 27.421875, -19.16015625, 28.828125 ]
[ 19.16015625, 13.53515625, -0.615234375, 33.662109375, -18.017578125, 29.619140625 ]
2.933333
88
0
88
0
[ 19.16015625, 13.88671875, -2.28515625, 26.982421875, -19.16015625, 28.828125 ]
[ 19.16015625, 13.18359375, -0.615234375, 33.046875, -18.10546875, 29.619140625 ]
2.966667
89
0
89
0
[ 19.16015625, 13.623046875, -2.197265625, 26.455078125, -19.16015625, 28.828125 ]
[ 19.072265625, 12.744140625, -0.615234375, 32.431640625, -18.017578125, 29.619140625 ]
3
90
0
90
0
[ 19.248046875, 13.447265625, -2.197265625, 25.751953125, -19.072265625, 28.916015625 ]
[ 19.072265625, 12.392578125, -0.615234375, 31.9921875, -18.017578125, 29.619140625 ]
3.033333
91
0
91
0
[ 19.3359375, 13.18359375, -2.63671875, 24.873046875, -18.896484375, 29.00390625 ]
[ 19.16015625, 12.041015625, -0.52734375, 31.640625, -18.017578125, 29.619140625 ]
3.066667
92
0
92
0
[ 19.423828125, 13.0078125, -3.603515625, 23.994140625, -18.896484375, 29.091796875 ]
[ 19.16015625, 11.77734375, -0.52734375, 31.201171875, -18.017578125, 29.619140625 ]
3.1
93
0
93
0
[ 19.599609375, 12.83203125, -4.482421875, 23.203125, -18.896484375, 29.794921875 ]
[ 19.248046875, 11.513671875, -0.52734375, 30.5859375, -18.017578125, 29.619140625 ]
3.133333
94
0
94
0
[ 20.0390625, 12.744140625, -5.712890625, 22.587890625, -18.896484375, 31.201171875 ]
[ 19.3359375, 11.337890625, -0.52734375, 29.70703125, -18.017578125, 29.619140625 ]
3.166667
95
0
95
0
[ 20.302734375, 12.48046875, -6.943359375, 22.236328125, -18.896484375, 33.134765625 ]
[ 19.51171875, 11.25, -0.52734375, 28.740234375, -18.10546875, 29.970703125 ]
3.2
96
0
96
0
[ 20.654296875, 11.77734375, -8.349609375, 22.1484375, -18.80859375, 34.013671875 ]
[ 19.86328125, 10.810546875, -1.0546875, 27.509765625, -18.10546875, 31.9921875 ]
3.233333
97
0
97
0
[ 21.09375, 10.1953125, -10.546875, 21.97265625, -18.80859375, 34.1015625 ]
[ 20.21484375, 9.580078125, -3.427734375, 27.421875, -18.10546875, 32.6953125 ]
3.266667
98
0
98
0
[ 21.357421875, 8.96484375, -11.77734375, 21.26953125, -18.720703125, 34.27734375 ]
[ 20.654296875, 8.525390625, -5.2734375, 27.421875, -18.10546875, 33.310546875 ]
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": 1742,
    "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.wrist_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
            }
        },
        "observation.images.fixed_cam": {
            "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": [
                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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