Hugging Face's logo

Datasets:
RobotisSW
/
koch_test_3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
Dataset Viewer
Auto-converted to Parquet
Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
0
99
index
int64
0
20.4k
task_index
int64
0
0
[ 37.001953125, 174.90234375, 143.525390625, 7.646484375, 34.8046875 ]
[ 36.9140625, 166.904296875, 127.265625, 7.119140625, 33.92578125 ]
0
0
0
0
0
[ 36.9140625, 176.66015625, 145.546875, 7.646484375, 34.8046875 ]
[ 36.9140625, 167.6953125, 128.583984375, 7.119140625, 33.92578125 ]
0.033333
1
0
1
0
[ 36.826171875, 178.41796875, 147.48046875, 7.646484375, 34.8046875 ]
[ 36.9140625, 168.75, 129.990234375, 7.119140625, 33.92578125 ]
0.066667
2
0
2
0
[ 36.826171875, 180.087890625, 149.4140625, 7.646484375, 34.8046875 ]
[ 36.826171875, 169.541015625, 131.30859375, 7.119140625, 33.92578125 ]
0.1
3
0
3
0
[ 36.826171875, 181.40625, 151.259765625, 7.646484375, 34.8046875 ]
[ 36.5625, 170.5078125, 132.71484375, 7.119140625, 33.92578125 ]
0.133333
4
0
4
0
[ 36.826171875, 182.900390625, 153.017578125, 7.646484375, 34.8046875 ]
[ 36.298828125, 171.5625, 134.208984375, 7.119140625, 33.92578125 ]
0.166667
5
0
5
0
[ 36.826171875, 184.306640625, 154.51171875, 7.646484375, 34.8046875 ]
[ 36.03515625, 172.529296875, 135.791015625, 7.119140625, 33.92578125 ]
0.2
6
0
6
0
[ 36.826171875, 185.712890625, 156.005859375, 7.646484375, 34.8046875 ]
[ 36.03515625, 173.671875, 137.28515625, 7.20703125, 33.92578125 ]
0.233333
7
0
7
0
[ 36.73828125, 187.03125, 157.5, 7.646484375, 34.8046875 ]
[ 36.03515625, 174.90234375, 138.8671875, 7.20703125, 33.92578125 ]
0.266667
8
0
8
0
[ 36.73828125, 188.26171875, 158.994140625, 7.646484375, 34.8046875 ]
[ 35.947265625, 176.1328125, 140.44921875, 7.119140625, 33.92578125 ]
0.3
9
0
9
0
[ 36.73828125, 189.404296875, 160.48828125, 7.646484375, 34.8046875 ]
[ 36.03515625, 177.36328125, 142.119140625, 7.119140625, 33.92578125 ]
0.333333
10
0
10
0
[ 36.650390625, 190.458984375, 161.630859375, 7.646484375, 34.8046875 ]
[ 36.03515625, 178.59375, 143.701171875, 7.119140625, 33.92578125 ]
0.366667
11
0
11
0
[ 36.123046875, 191.513671875, 162.685546875, 7.646484375, 34.8046875 ]
[ 36.03515625, 179.912109375, 145.37109375, 7.119140625, 33.92578125 ]
0.4
12
0
12
0
[ 35.244140625, 192.65625, 163.65234375, 7.646484375, 34.8046875 ]
[ 35.947265625, 181.142578125, 147.041015625, 7.119140625, 33.92578125 ]
0.433333
13
0
13
0
[ 33.57421875, 193.798828125, 164.443359375, 7.55859375, 34.8046875 ]
[ 35.947265625, 182.548828125, 148.798828125, 7.119140625, 33.92578125 ]
0.466667
14
0
14
0
[ 31.46484375, 194.765625, 165.146484375, 7.55859375, 34.8046875 ]
[ 35.859375, 183.779296875, 150.205078125, 7.119140625, 33.92578125 ]
0.5
15
0
15
0
[ 28.564453125, 195.556640625, 165.9375, 7.646484375, 34.8046875 ]
[ 35.595703125, 185.09765625, 151.962890625, 7.119140625, 33.92578125 ]
0.533333
16
0
16
0
[ 25.576171875, 196.259765625, 166.9921875, 7.646484375, 34.8046875 ]
[ 35.068359375, 186.416015625, 153.6328125, 7.119140625, 33.92578125 ]
0.566667
17
0
17
0
[ 22.5, 196.962890625, 168.310546875, 7.646484375, 34.8046875 ]
[ 34.453125, 187.734375, 155.302734375, 7.119140625, 33.92578125 ]
0.6
18
0
18
0
[ 19.86328125, 197.841796875, 169.892578125, 7.646484375, 34.8046875 ]
[ 33.662109375, 188.96484375, 156.884765625, 7.119140625, 33.92578125 ]
0.633333
19
0
19
0
[ 17.666015625, 198.720703125, 171.73828125, 7.646484375, 34.8046875 ]
[ 32.87109375, 190.1953125, 158.466796875, 7.20703125, 33.92578125 ]
0.666667
20
0
20
0
[ 15.99609375, 199.599609375, 173.583984375, 7.646484375, 34.8046875 ]
[ 31.904296875, 191.42578125, 159.9609375, 7.119140625, 33.92578125 ]
0.7
21
0
21
0
[ 14.677734375, 200.302734375, 175.60546875, 7.646484375, 34.8046875 ]
[ 30.76171875, 192.65625, 161.3671875, 7.119140625, 33.92578125 ]
0.733333
22
0
22
0
[ 13.447265625, 200.56640625, 177.890625, 7.646484375, 34.8046875 ]
[ 29.53125, 193.798828125, 162.861328125, 7.119140625, 33.92578125 ]
0.766667
23
0
23
0
[ 12.216796875, 200.56640625, 180.17578125, 7.822265625, 34.716796875 ]
[ 28.30078125, 194.853515625, 164.443359375, 7.119140625, 33.92578125 ]
0.8
24
0
24
0
[ 10.986328125, 200.126953125, 180.439453125, 8.61328125, 34.8046875 ]
[ 26.982421875, 195.908203125, 165.9375, 7.119140625, 33.92578125 ]
0.833333
25
0
25
0
[ 10.1953125, 199.775390625, 180.439453125, 10.546875, 34.8046875 ]
[ 25.576171875, 196.875, 167.34375, 7.119140625, 33.92578125 ]
0.866667
26
0
26
0
[ 9.755859375, 199.86328125, 180.439453125, 13.88671875, 34.716796875 ]
[ 24.08203125, 197.841796875, 168.92578125, 7.20703125, 33.92578125 ]
0.9
27
0
27
0
[ 9.580078125, 199.951171875, 180.3515625, 17.841796875, 34.8046875 ]
[ 22.67578125, 198.544921875, 170.419921875, 7.470703125, 33.92578125 ]
0.933333
28
0
28
0
[ 9.140625, 200.21484375, 180.17578125, 21.181640625, 34.716796875 ]
[ 21.09375, 198.984375, 171.826171875, 7.998046875, 33.92578125 ]
0.966667
29
0
29
0
[ 8.61328125, 200.302734375, 179.82421875, 23.466796875, 34.8046875 ]
[ 19.6875, 199.072265625, 173.3203125, 8.701171875, 33.92578125 ]
1
30
0
30
0
[ 7.998046875, 200.302734375, 179.384765625, 23.818359375, 34.716796875 ]
[ 18.10546875, 199.248046875, 174.814453125, 9.4921875, 33.92578125 ]
1.033333
31
0
31
0
[ 7.55859375, 200.56640625, 179.384765625, 23.818359375, 34.716796875 ]
[ 16.787109375, 199.599609375, 176.044921875, 10.37109375, 33.92578125 ]
1.066667
32
0
32
0
[ 7.470703125, 201.09375, 179.47265625, 23.818359375, 34.716796875 ]
[ 15.380859375, 199.86328125, 177.099609375, 11.42578125, 33.92578125 ]
1.1
33
0
33
0
[ 7.3828125, 202.060546875, 179.47265625, 23.818359375, 34.716796875 ]
[ 13.974609375, 199.951171875, 177.978515625, 12.48046875, 33.92578125 ]
1.133333
34
0
34
0
[ 7.20703125, 203.466796875, 179.560546875, 23.818359375, 34.716796875 ]
[ 12.65625, 200.0390625, 178.330078125, 13.623046875, 33.92578125 ]
1.166667
35
0
35
0
[ 7.91015625, 205.3125, 179.736328125, 23.818359375, 34.716796875 ]
[ 11.42578125, 200.478515625, 178.41796875, 14.94140625, 33.92578125 ]
1.2
36
0
36
0
[ 7.91015625, 207.333984375, 179.736328125, 24.345703125, 34.716796875 ]
[ 10.107421875, 201.09375, 178.505859375, 16.171875, 33.92578125 ]
1.233333
37
0
37
0
[ 7.646484375, 209.53125, 179.6484375, 24.345703125, 34.716796875 ]
[ 9.140625, 201.533203125, 178.505859375, 17.314453125, 33.92578125 ]
1.266667
38
0
38
0
[ 7.646484375, 210.234375, 179.560546875, 24.43359375, 34.716796875 ]
[ 8.26171875, 202.060546875, 178.505859375, 18.45703125, 33.92578125 ]
1.3
39
0
39
0
[ 7.55859375, 210.05859375, 179.6484375, 24.43359375, 34.716796875 ]
[ 7.646484375, 202.763671875, 178.505859375, 19.599609375, 33.92578125 ]
1.333333
40
0
40
0
[ 7.470703125, 209.970703125, 179.82421875, 24.43359375, 34.716796875 ]
[ 7.20703125, 203.73046875, 178.505859375, 20.7421875, 33.92578125 ]
1.366667
41
0
41
0
[ 7.294921875, 209.970703125, 179.82421875, 24.43359375, 34.716796875 ]
[ 7.03125, 204.697265625, 178.505859375, 21.796875, 33.92578125 ]
1.4
42
0
42
0
[ 7.294921875, 209.970703125, 179.82421875, 24.43359375, 34.716796875 ]
[ 7.119140625, 205.48828125, 178.505859375, 22.587890625, 33.92578125 ]
1.433333
43
0
43
0
[ 7.734375, 209.970703125, 179.82421875, 24.43359375, 34.716796875 ]
[ 7.119140625, 206.3671875, 178.505859375, 23.291015625, 33.92578125 ]
1.466667
44
0
44
0
[ 7.91015625, 209.970703125, 179.82421875, 24.43359375, 34.716796875 ]
[ 7.03125, 207.24609375, 178.59375, 23.818359375, 33.92578125 ]
1.5
45
0
45
0
[ 7.55859375, 209.970703125, 179.82421875, 24.43359375, 34.716796875 ]
[ 6.85546875, 207.94921875, 178.59375, 23.994140625, 33.92578125 ]
1.533333
46
0
46
0
[ 7.3828125, 209.970703125, 179.82421875, 24.43359375, 34.716796875 ]
[ 6.943359375, 208.388671875, 178.59375, 24.08203125, 33.92578125 ]
1.566667
47
0
47
0
[ 7.3828125, 209.970703125, 179.82421875, 24.43359375, 34.716796875 ]
[ 7.03125, 208.740234375, 178.505859375, 24.08203125, 33.92578125 ]
1.6
48
0
48
0
[ 7.470703125, 209.970703125, 179.82421875, 24.43359375, 34.716796875 ]
[ 7.03125, 208.828125, 178.505859375, 24.169921875, 34.013671875 ]
1.633333
49
0
49
0
[ 7.470703125, 209.970703125, 179.82421875, 24.43359375, 34.8046875 ]
[ 6.943359375, 208.828125, 178.59375, 24.169921875, 33.92578125 ]
1.666667
50
0
50
0
[ 7.3828125, 209.970703125, 179.82421875, 24.43359375, 34.892578125 ]
[ 6.943359375, 208.828125, 178.505859375, 24.169921875, 33.92578125 ]
1.7
51
0
51
0
[ 7.119140625, 209.970703125, 179.82421875, 24.43359375, 35.244140625 ]
[ 6.943359375, 208.828125, 178.505859375, 24.08203125, 33.92578125 ]
1.733333
52
0
52
0
[ 7.20703125, 210.05859375, 179.82421875, 24.43359375, 34.892578125 ]
[ 6.943359375, 208.828125, 178.505859375, 24.169921875, 34.8046875 ]
1.766667
53
0
53
0
[ 7.119140625, 210.05859375, 179.82421875, 24.2578125, 34.8046875 ]
[ 6.943359375, 208.916015625, 178.505859375, 24.169921875, 34.013671875 ]
1.8
54
0
54
0
[ 7.119140625, 210.05859375, 179.12109375, 23.90625, 34.8046875 ]
[ 6.943359375, 209.00390625, 178.505859375, 24.169921875, 33.837890625 ]
1.833333
55
0
55
0
[ 7.03125, 210.05859375, 178.154296875, 23.466796875, 35.244140625 ]
[ 6.943359375, 209.267578125, 178.505859375, 24.169921875, 34.013671875 ]
1.866667
56
0
56
0
[ 6.85546875, 210.05859375, 175.869140625, 23.115234375, 35.244140625 ]
[ 7.03125, 209.443359375, 178.505859375, 24.08203125, 34.892578125 ]
1.9
57
0
57
0
[ 6.6796875, 209.794921875, 172.6171875, 23.115234375, 35.244140625 ]
[ 7.03125, 209.619140625, 178.41796875, 23.90625, 34.98046875 ]
1.933333
58
0
58
0
[ 6.064453125, 208.916015625, 168.92578125, 23.115234375, 35.244140625 ]
[ 6.943359375, 209.619140625, 178.154296875, 23.5546875, 34.98046875 ]
1.966667
59
0
59
0
[ 5.361328125, 206.71875, 164.8828125, 23.115234375, 35.244140625 ]
[ 6.6796875, 209.619140625, 177.978515625, 23.37890625, 34.98046875 ]
2
60
0
60
0
[ 4.921875, 202.587890625, 160.927734375, 23.115234375, 35.15625 ]
[ 6.328125, 209.443359375, 177.71484375, 23.291015625, 34.98046875 ]
2.033333
61
0
61
0
[ 4.74609375, 198.193359375, 156.09375, 23.291015625, 34.716796875 ]
[ 5.888671875, 209.267578125, 177.275390625, 23.291015625, 34.98046875 ]
2.066667
62
0
62
0
[ 4.74609375, 194.23828125, 150.99609375, 23.466796875, 34.716796875 ]
[ 5.44921875, 208.828125, 176.8359375, 23.291015625, 34.013671875 ]
2.1
63
0
63
0
[ 4.658203125, 190.72265625, 146.25, 23.642578125, 34.62890625 ]
[ 4.921875, 208.125, 175.95703125, 23.291015625, 33.837890625 ]
2.133333
64
0
64
0
[ 4.39453125, 187.294921875, 141.50390625, 23.90625, 34.541015625 ]
[ 4.482421875, 207.24609375, 174.638671875, 23.291015625, 33.92578125 ]
2.166667
65
0
65
0
[ 4.04296875, 183.779296875, 137.28515625, 24.345703125, 34.453125 ]
[ 4.04296875, 206.19140625, 173.408203125, 23.291015625, 33.92578125 ]
2.2
66
0
66
0
[ 3.779296875, 180.17578125, 133.2421875, 25.224609375, 34.365234375 ]
[ 3.955078125, 205.13671875, 171.9140625, 23.291015625, 33.92578125 ]
2.233333
67
0
67
0
[ 3.515625, 176.923828125, 129.814453125, 26.015625, 34.189453125 ]
[ 4.04296875, 203.994140625, 170.5078125, 23.37890625, 33.92578125 ]
2.266667
68
0
68
0
[ 3.251953125, 174.287109375, 126.9140625, 26.982421875, 33.92578125 ]
[ 3.955078125, 202.67578125, 168.75, 23.5546875, 33.92578125 ]
2.3
69
0
69
0
[ 3.1640625, 172.44140625, 124.189453125, 28.125, 33.57421875 ]
[ 3.603515625, 201.181640625, 167.080078125, 23.90625, 33.046875 ]
2.333333
70
0
70
0
[ 3.076171875, 170.859375, 122.080078125, 29.267578125, 33.310546875 ]
[ 3.1640625, 199.599609375, 165.234375, 24.43359375, 32.958984375 ]
2.366667
71
0
71
0
[ 3.076171875, 169.8046875, 120.146484375, 30.498046875, 32.783203125 ]
[ 2.98828125, 198.017578125, 163.30078125, 25.048828125, 32.958984375 ]
2.4
72
0
72
0
[ 3.1640625, 168.837890625, 118.740234375, 31.81640625, 32.16796875 ]
[ 3.076171875, 196.34765625, 161.279296875, 25.751953125, 31.9921875 ]
2.433333
73
0
73
0
[ 3.33984375, 168.22265625, 117.509765625, 33.310546875, 31.46484375 ]
[ 3.1640625, 194.677734375, 159.2578125, 26.455078125, 31.9921875 ]
2.466667
74
0
74
0
[ 3.515625, 168.046875, 116.015625, 34.892578125, 30.234375 ]
[ 2.98828125, 192.919921875, 157.060546875, 27.24609375, 31.025390625 ]
2.5
75
0
75
0
[ 3.515625, 167.958984375, 114.345703125, 36.474609375, 28.4765625 ]
[ 2.900390625, 191.07421875, 154.951171875, 28.037109375, 30.05859375 ]
2.533333
76
0
76
0
[ 3.427734375, 167.87109375, 112.763671875, 38.3203125, 26.279296875 ]
[ 2.98828125, 189.140625, 152.578125, 28.828125, 28.30078125 ]
2.566667
77
0
77
0
[ 3.427734375, 167.783203125, 111.09375, 40.60546875, 23.466796875 ]
[ 3.1640625, 187.294921875, 150.29296875, 29.794921875, 26.279296875 ]
2.6
78
0
78
0
[ 3.33984375, 167.431640625, 109.423828125, 42.71484375, 20.21484375 ]
[ 3.076171875, 185.361328125, 148.0078125, 30.76171875, 23.466796875 ]
2.633333
79
0
79
0
[ 3.251953125, 166.9921875, 107.841796875, 44.912109375, 16.875 ]
[ 2.900390625, 183.515625, 145.810546875, 31.81640625, 20.56640625 ]
2.666667
80
0
80
0
[ 3.1640625, 166.728515625, 106.259765625, 46.845703125, 13.18359375 ]
[ 2.98828125, 181.58203125, 143.4375, 32.87109375, 16.962890625 ]
2.7
81
0
81
0
[ 2.900390625, 166.640625, 104.677734375, 47.548828125, 9.931640625 ]
[ 3.1640625, 179.736328125, 141.064453125, 34.013671875, 13.623046875 ]
2.733333
82
0
82
0
[ 2.4609375, 166.46484375, 103.18359375, 47.373046875, 7.03125 ]
[ 3.076171875, 177.978515625, 138.69140625, 35.244140625, 9.84375 ]
2.766667
83
0
83
0
[ 2.4609375, 166.376953125, 102.12890625, 47.373046875, 5.09765625 ]
[ 2.900390625, 176.220703125, 136.40625, 36.474609375, 7.294921875 ]
2.8
84
0
84
0
[ 2.4609375, 166.11328125, 101.513671875, 47.373046875, 4.74609375 ]
[ 2.63671875, 174.55078125, 134.033203125, 37.705078125, 5.361328125 ]
2.833333
85
0
85
0
[ 2.900390625, 166.025390625, 101.07421875, 47.109375, 5.09765625 ]
[ 2.28515625, 172.96875, 131.748046875, 39.0234375, 4.130859375 ]
2.866667
86
0
86
0
[ 2.98828125, 166.201171875, 101.25, 46.40625, 7.3828125 ]
[ 1.93359375, 171.5625, 129.375, 40.341796875, 4.658203125 ]
2.9
87
0
87
0
[ 2.900390625, 166.376953125, 101.513671875, 45.087890625, 12.48046875 ]
[ 1.93359375, 170.244140625, 126.9140625, 41.572265625, 6.591796875 ]
2.933333
88
0
88
0
[ 2.98828125, 166.376953125, 101.42578125, 43.41796875, 18.720703125 ]
[ 2.021484375, 169.1015625, 124.62890625, 42.71484375, 10.634765625 ]
2.966667
89
0
89
0
[ 3.076171875, 166.376953125, 101.77734375, 42.099609375, 24.697265625 ]
[ 2.021484375, 168.046875, 122.16796875, 43.76953125, 16.435546875 ]
3
90
0
90
0
[ 3.076171875, 166.376953125, 101.77734375, 41.66015625, 27.861328125 ]
[ 1.845703125, 167.255859375, 120.146484375, 44.296875, 22.236328125 ]
3.033333
91
0
91
0
[ 3.076171875, 166.376953125, 101.77734375, 41.748046875, 27.861328125 ]
[ 2.109375, 166.640625, 117.861328125, 44.560546875, 26.455078125 ]
3.066667
92
0
92
0
[ 2.109375, 166.201171875, 101.77734375, 41.923828125, 26.015625 ]
[ 2.4609375, 166.376953125, 115.751953125, 44.47265625, 26.982421875 ]
3.1
93
0
93
0
[ 1.7578125, 166.11328125, 101.337890625, 42.36328125, 21.357421875 ]
[ 2.8125, 166.201171875, 113.73046875, 44.208984375, 26.015625 ]
3.133333
94
0
94
0
[ 1.58203125, 166.11328125, 101.07421875, 43.06640625, 15.29296875 ]
[ 2.8125, 166.2890625, 111.884765625, 43.857421875, 22.060546875 ]
3.166667
95
0
95
0
[ 1.494140625, 166.201171875, 100.986328125, 43.41796875, 8.876953125 ]
[ 2.63671875, 166.201171875, 109.951171875, 43.330078125, 16.34765625 ]
3.2
96
0
96
0
[ 1.318359375, 166.2890625, 100.986328125, 43.41796875, 3.603515625 ]
[ 2.28515625, 166.201171875, 108.28125, 43.154296875, 10.107421875 ]
3.233333
97
0
97
0
[ 0.966796875, 166.2890625, 100.986328125, 43.2421875, 0.966796875 ]
[ 1.845703125, 166.201171875, 106.69921875, 43.06640625, 4.39453125 ]
3.266667
98
0
98
0
[ 0.703125, 166.46484375, 100.986328125, 42.626953125, 1.318359375 ]
[ 1.494140625, 166.201171875, 105.380859375, 43.154296875, 0.615234375 ]
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": "v2.0",
    "robot_type": "koch",
    "total_episodes": 2,
    "total_frames": 1196,
    "total_tasks": 1,
    "total_videos": 0,
    "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": [
                5
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                5
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_gripper"
            ]
        },
        "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": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
112
License:
apache-2.0
Size of downloaded dataset files:
1.38 MB
Size of the auto-converted Parquet files:
1.38 MB
Number of rows:
20,963