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ssaito
/
koch_test_46

Tasks:
Robotics
Modalities:
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Tags:
LeRobot
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
13.3
frame_index
int64
0
398
episode_index
int64
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0
index
int64
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398
task_index
int64
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78
0
[ 23.203125, 91.93359375, 113.466796875, 45.791015625, 21.26953125, 34.62890625 ]
[ 23.5546875, 90.703125, 113.37890625, 45.615234375, 19.951171875, 33.486328125 ]
2.633333
79
0
79
0
[ 22.763671875, 91.845703125, 113.90625, 45.791015625, 21.357421875, 34.62890625 ]
[ 23.37890625, 90.615234375, 113.5546875, 45.615234375, 20.21484375, 33.486328125 ]
2.666667
80
0
80
0
[ 22.412109375, 91.93359375, 114.43359375, 45.87890625, 21.26953125, 34.62890625 ]
[ 22.8515625, 90.615234375, 113.5546875, 45.52734375, 20.478515625, 33.486328125 ]
2.7
81
0
81
0
[ 22.32421875, 92.021484375, 114.873046875, 45.791015625, 21.26953125, 34.62890625 ]
[ 22.5, 90.615234375, 114.169921875, 45.439453125, 20.56640625, 33.486328125 ]
2.733333
82
0
82
0
[ 22.236328125, 92.109375, 115.224609375, 45.791015625, 21.357421875, 34.62890625 ]
[ 22.236328125, 90.791015625, 114.873046875, 45.615234375, 20.654296875, 33.486328125 ]
2.766667
83
0
83
0
[ 22.060546875, 92.021484375, 115.400390625, 45.615234375, 21.357421875, 34.62890625 ]
[ 22.1484375, 90.703125, 115.576171875, 45.3515625, 20.654296875, 33.486328125 ]
2.8
84
0
84
0
[ 21.884765625, 91.93359375, 115.48828125, 45.615234375, 21.357421875, 34.62890625 ]
[ 22.060546875, 90.791015625, 116.103515625, 45.615234375, 20.654296875, 33.486328125 ]
2.833333
85
0
85
0
[ 21.62109375, 91.93359375, 115.6640625, 45.52734375, 21.26953125, 34.62890625 ]
[ 21.708984375, 90.615234375, 116.015625, 45.52734375, 20.654296875, 33.486328125 ]
2.866667
86
0
86
0
[ 21.533203125, 91.845703125, 115.751953125, 45.52734375, 21.26953125, 34.62890625 ]
[ 21.4453125, 90.615234375, 116.015625, 45.439453125, 20.654296875, 33.486328125 ]
2.9
87
0
87
0
[ 21.4453125, 91.494140625, 115.83984375, 45.439453125, 21.26953125, 34.62890625 ]
[ 21.4453125, 90.615234375, 116.103515625, 45.52734375, 20.654296875, 33.486328125 ]
2.933333
88
0
88
0
[ 21.533203125, 90.966796875, 116.103515625, 45.087890625, 21.26953125, 34.62890625 ]
[ 21.4453125, 90.615234375, 116.103515625, 45.439453125, 20.654296875, 33.486328125 ]
2.966667
89
0
89
0
[ 21.533203125, 90.439453125, 116.455078125, 43.9453125, 21.181640625, 34.62890625 ]
[ 21.4453125, 90.17578125, 116.19140625, 45.439453125, 20.654296875, 33.486328125 ]
3
90
0
90
0
[ 21.62109375, 90.263671875, 116.806640625, 42.802734375, 21.181640625, 34.541015625 ]
[ 21.4453125, 89.736328125, 116.630859375, 45.263671875, 20.654296875, 33.486328125 ]
3.033333
91
0
91
0
[ 21.708984375, 90.087890625, 116.982421875, 41.748046875, 21.005859375, 34.365234375 ]
[ 21.4453125, 89.6484375, 116.982421875, 44.6484375, 20.654296875, 33.486328125 ]
3.066667
92
0
92
0
[ 21.796875, 89.6484375, 117.0703125, 41.484375, 20.91796875, 34.1015625 ]
[ 21.4453125, 89.736328125, 116.89453125, 43.76953125, 20.654296875, 33.486328125 ]
3.1
93
0
93
0
[ 21.884765625, 89.208984375, 117.0703125, 41.484375, 20.91796875, 33.22265625 ]
[ 21.62109375, 89.384765625, 117.24609375, 42.626953125, 20.478515625, 33.486328125 ]
3.133333
94
0
94
0
[ 21.97265625, 88.76953125, 116.982421875, 41.220703125, 20.91796875, 33.046875 ]
[ 21.4453125, 88.857421875, 117.7734375, 42.099609375, 20.302734375, 33.134765625 ]
3.166667
95
0
95
0
[ 22.412109375, 88.505859375, 116.89453125, 40.693359375, 20.91796875, 32.34375 ]
[ 21.4453125, 88.2421875, 117.7734375, 41.923828125, 20.126953125, 33.310546875 ]
3.2
96
0
96
0
[ 22.763671875, 87.890625, 116.89453125, 40.341796875, 20.91796875, 32.255859375 ]
[ 21.796875, 87.802734375, 117.685546875, 41.484375, 20.0390625, 32.87109375 ]
3.233333
97
0
97
0
[ 23.02734375, 87.36328125, 116.71875, 39.990234375, 20.91796875, 32.255859375 ]
[ 21.97265625, 87.1875, 117.685546875, 41.220703125, 20.126953125, 32.51953125 ]
3.266667
98
0
98
0
[ 23.115234375, 87.1875, 116.54296875, 39.814453125, 21.005859375, 32.255859375 ]
[ 22.32421875, 86.748046875, 117.685546875, 40.517578125, 20.21484375, 32.607421875 ]
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": 1,
    "total_frames": 399,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.side_cam": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.height": 1080,
                "video.width": 1920,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.overhead_cam": {
            "dtype": "video",
            "shape": [
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                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 1080,
                "video.width": 1920,
                "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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