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Datasets:
hannesill
/
koch_pnp_2_blocks_2_bins_200

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
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
21.2
frame_index
int64
0
637
episode_index
int64
0
199
index
int64
0
68.3k
task_index
int64
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[ 0, 120.849609375, 172.79296875, -7.03125, 0.87890625, 33.75 ]
2.733333
82
0
82
0
[ -0.791015625, 120.41015625, 174.638671875, -7.998046875, 1.23046875, 34.013671875 ]
[ 0, 120.849609375, 172.79296875, -7.03125, 0.87890625, 33.75 ]
2.766667
83
0
83
0
[ -0.791015625, 120.41015625, 174.638671875, -8.0859375, 1.23046875, 34.013671875 ]
[ 0, 120.849609375, 172.79296875, -7.03125, 0.87890625, 33.75 ]
2.8
84
0
84
0
[ -0.703125, 120.498046875, 174.638671875, -8.0859375, 1.142578125, 34.013671875 ]
[ 0, 120.849609375, 172.79296875, -7.3828125, 0.966796875, 33.75 ]
2.833333
85
0
85
0
[ -0.263671875, 120.849609375, 174.638671875, -7.119140625, 0.87890625, 33.75 ]
[ 0, 120.849609375, 172.96875, -7.998046875, 0.87890625, 33.75 ]
2.866667
86
0
86
0
[ -0.087890625, 122.080078125, 174.55078125, -5.80078125, 0.87890625, 33.662109375 ]
[ 0, 120.849609375, 173.14453125, -8.0859375, 0.87890625, 33.310546875 ]
2.9
87
0
87
0
[ -0.087890625, 123.3984375, 174.19921875, -4.658203125, 0.791015625, 33.662109375 ]
[ 0, 121.025390625, 173.14453125, -7.998046875, 0.703125, 33.22265625 ]
2.933333
88
0
88
0
[ -0.087890625, 125.33203125, 173.49609375, -1.93359375, 0.791015625, 33.662109375 ]
[ 0, 121.552734375, 173.3203125, -7.998046875, 0.615234375, 33.22265625 ]
2.966667
89
0
89
0
[ -0.263671875, 127.353515625, 172.44140625, 1.494140625, 0.615234375, 33.662109375 ]
[ 0, 122.87109375, 173.232421875, -7.20703125, 0.52734375, 33.22265625 ]
3
90
0
90
0
[ -0.791015625, 128.49609375, 171.03515625, 5.09765625, 0.615234375, 33.662109375 ]
[ 0, 124.62890625, 173.056640625, -5.44921875, 0.439453125, 33.22265625 ]
3.033333
91
0
91
0
[ -1.669921875, 129.814453125, 169.27734375, 9.228515625, 0.615234375, 33.662109375 ]
[ 0, 126.123046875, 172.08984375, -2.8125, 0.439453125, 33.22265625 ]
3.066667
92
0
92
0
[ -2.548828125, 131.1328125, 167.34375, 13.7109375, 0.791015625, 33.57421875 ]
[ -0.087890625, 127.265625, 170.771484375, 0.615234375, 0.439453125, 33.22265625 ]
3.1
93
0
93
0
[ -3.427734375, 132.275390625, 164.70703125, 18.720703125, 0.966796875, 33.662109375 ]
[ -0.791015625, 127.880859375, 169.013671875, 4.658203125, 0.439453125, 33.22265625 ]
3.133333
94
0
94
0
[ -4.306640625, 132.626953125, 161.630859375, 23.818359375, 1.0546875, 33.662109375 ]
[ -1.669921875, 128.232421875, 166.552734375, 8.96484375, 0.439453125, 33.22265625 ]
3.166667
95
0
95
0
[ -5.009765625, 132.71484375, 158.466796875, 28.828125, 1.58203125, 33.662109375 ]
[ -2.724609375, 128.232421875, 163.916015625, 13.798828125, 0.52734375, 33.22265625 ]
3.2
96
0
96
0
[ -5.712890625, 132.626953125, 155.478515625, 33.134765625, 1.845703125, 33.662109375 ]
[ -3.779296875, 128.232421875, 161.3671875, 18.896484375, 0.703125, 33.22265625 ]
3.233333
97
0
97
0
[ -6.6796875, 132.626953125, 152.9296875, 36.298828125, 2.63671875, 33.662109375 ]
[ -4.482421875, 128.232421875, 158.73046875, 24.08203125, 0.791015625, 33.22265625 ]
3.266667
98
0
98
0
[ -7.734375, 132.71484375, 150.64453125, 38.49609375, 3.603515625, 33.662109375 ]
[ -4.658203125, 128.232421875, 156.4453125, 28.828125, 1.0546875, 33.22265625 ]
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": 200,
    "total_frames": 68263,
    "total_tasks": 1,
    "total_videos": 400,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:200"
    },
    "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.laptop": {
            "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.phone": {
            "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
            }
        },
        "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",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
4.17 MB
Number of rows:
68,263