Hugging Face's logo

Datasets:
Dongkkka
/
koch_arm_gripper_embodiment_dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
lerobot
koch_arm_gripper_embodiment_dataset
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
Dataset Viewer
Auto-converted to Parquet
Search is not available for this dataset
action
sequencelengths
6
6
observation.state
sequencelengths
6
6
timestamp
float32
0
19.7
frame_index
int64
0
592
episode_index
int64
0
85
index
int64
0
29.7k
task_index
int64
0
3
[ 69.697265625, 125.33203125, 115.576171875, 70.576171875, -6.064453125, 2.021484375 ]
[ 70.224609375, 124.1015625, 126.474609375, 59.150390625, -3.33984375, -0.87890625 ]
0
0
0
0
0
[ 69.78515625, 125.33203125, 112.5, 74.70703125, -6.328125, 3.251953125 ]
[ 70.224609375, 124.189453125, 123.57421875, 62.138671875, -4.04296875, 0.3515625 ]
0.033333
1
0
1
0
[ 69.9609375, 125.244140625, 109.775390625, 77.87109375, -6.416015625, 4.04296875 ]
[ 70.13671875, 124.189453125, 120.9375, 65.302734375, -4.5703125, 1.40625 ]
0.066667
2
0
2
0
[ 70.13671875, 124.892578125, 106.69921875, 80.859375, -6.416015625, 4.39453125 ]
[ 70.13671875, 124.189453125, 117.7734375, 68.994140625, -5.009765625, 2.724609375 ]
0.1
3
0
3
0
[ 70.3125, 124.189453125, 104.23828125, 82.705078125, -6.50390625, 4.658203125 ]
[ 70.13671875, 124.1015625, 114.521484375, 72.94921875, -5.44921875, 3.33984375 ]
0.133333
4
0
4
0
[ 70.3125, 122.080078125, 102.12890625, 83.84765625, -6.767578125, 4.921875 ]
[ 70.13671875, 124.1015625, 111.357421875, 76.46484375, -5.537109375, 3.603515625 ]
0.166667
5
0
5
0
[ 70.13671875, 119.00390625, 100.283203125, 84.287109375, -7.294921875, 5.44921875 ]
[ 70.224609375, 123.92578125, 108.544921875, 79.365234375, -5.537109375, 3.8671875 ]
0.2
6
0
6
0
[ 70.048828125, 115.927734375, 98.525390625, 84.55078125, -8.349609375, 6.15234375 ]
[ 70.400390625, 122.6953125, 106.171875, 81.5625, -5.712890625, 4.306640625 ]
0.233333
7
0
7
0
[ 69.78515625, 113.02734375, 96.50390625, 84.7265625, -9.755859375, 7.119140625 ]
[ 70.224609375, 120.5859375, 104.150390625, 83.49609375, -6.328125, 5.009765625 ]
0.266667
8
0
8
0
[ 69.43359375, 109.6875, 94.5703125, 84.638671875, -11.337890625, 8.0859375 ]
[ 70.048828125, 117.861328125, 102.12890625, 84.55078125, -7.119140625, 5.888671875 ]
0.3
9
0
9
0
[ 69.08203125, 106.259765625, 92.724609375, 84.7265625, -12.83203125, 9.580078125 ]
[ 69.697265625, 114.697265625, 100.1953125, 84.638671875, -8.26171875, 6.943359375 ]
0.333333
10
0
10
0
[ 68.466796875, 102.65625, 90.52734375, 84.814453125, -14.326171875, 11.6015625 ]
[ 69.609375, 110.91796875, 98.525390625, 84.638671875, -9.580078125, 7.998046875 ]
0.366667
11
0
11
0
[ 67.587890625, 99.31640625, 88.41796875, 84.990234375, -15.556640625, 14.326171875 ]
[ 69.169921875, 107.05078125, 96.85546875, 84.638671875, -10.986328125, 9.4921875 ]
0.4
12
0
12
0
[ 66.357421875, 96.240234375, 86.572265625, 85.4296875, -16.611328125, 16.962890625 ]
[ 68.73046875, 103.623046875, 95.185546875, 84.638671875, -12.216796875, 10.986328125 ]
0.433333
13
0
13
0
[ 65.390625, 93.955078125, 85.166015625, 86.1328125, -17.75390625, 19.51171875 ]
[ 67.939453125, 100.01953125, 93.1640625, 84.638671875, -13.623046875, 13.359375 ]
0.466667
14
0
14
0
[ 64.775390625, 92.373046875, 84.0234375, 86.923828125, -18.720703125, 21.62109375 ]
[ 67.060546875, 96.6796875, 91.0546875, 84.638671875, -14.677734375, 16.083984375 ]
0.5
15
0
15
0
[ 64.3359375, 91.7578125, 83.408203125, 87.451171875, -19.248046875, 23.115234375 ]
[ 66.26953125, 93.955078125, 89.47265625, 84.638671875, -15.908203125, 18.896484375 ]
0.533333
16
0
16
0
[ 64.072265625, 91.669921875, 83.14453125, 87.71484375, -19.072265625, 24.43359375 ]
[ 65.390625, 92.021484375, 88.59375, 84.7265625, -16.962890625, 21.357421875 ]
0.566667
17
0
17
0
[ 64.16015625, 91.58203125, 83.14453125, 87.71484375, -18.896484375, 25.224609375 ]
[ 64.775390625, 91.0546875, 88.2421875, 84.7265625, -17.841796875, 22.939453125 ]
0.6
18
0
18
0
[ 64.16015625, 91.58203125, 83.14453125, 87.71484375, -18.896484375, 25.576171875 ]
[ 64.599609375, 90.791015625, 88.154296875, 84.90234375, -18.10546875, 24.169921875 ]
0.633333
19
0
19
0
[ 64.16015625, 91.58203125, 83.232421875, 87.802734375, -18.80859375, 25.576171875 ]
[ 64.51171875, 90.791015625, 88.154296875, 84.990234375, -18.10546875, 24.873046875 ]
0.666667
20
0
20
0
[ 64.3359375, 91.494140625, 83.49609375, 87.890625, -18.544921875, 25.6640625 ]
[ 64.51171875, 90.791015625, 88.154296875, 85.166015625, -18.10546875, 24.873046875 ]
0.7
21
0
21
0
[ 64.6875, 91.318359375, 83.84765625, 87.890625, -17.9296875, 25.6640625 ]
[ 64.51171875, 90.791015625, 88.154296875, 85.166015625, -18.10546875, 24.873046875 ]
0.733333
22
0
22
0
[ 64.951171875, 91.318359375, 84.0234375, 87.978515625, -16.435546875, 25.751953125 ]
[ 64.51171875, 90.703125, 88.154296875, 85.166015625, -18.10546875, 24.873046875 ]
0.766667
23
0
23
0
[ 65.21484375, 91.318359375, 84.19921875, 88.154296875, -14.4140625, 25.751953125 ]
[ 64.6875, 90.703125, 88.154296875, 85.166015625, -18.017578125, 24.873046875 ]
0.8
24
0
24
0
[ 65.56640625, 91.318359375, 84.287109375, 88.2421875, -12.041015625, 25.751953125 ]
[ 64.86328125, 90.703125, 88.154296875, 85.25390625, -17.578125, 24.873046875 ]
0.833333
25
0
25
0
[ 66.09375, 91.318359375, 84.287109375, 88.2421875, -9.66796875, 25.927734375 ]
[ 65.0390625, 90.703125, 88.154296875, 85.4296875, -15.99609375, 24.873046875 ]
0.866667
26
0
26
0
[ 66.884765625, 91.318359375, 84.375, 88.2421875, -7.3828125, 26.3671875 ]
[ 65.126953125, 90.703125, 88.154296875, 85.693359375, -14.150390625, 24.9609375 ]
0.9
27
0
27
0
[ 67.939453125, 91.40625, 84.287109375, 88.2421875, -5.44921875, 26.982421875 ]
[ 65.56640625, 90.703125, 88.154296875, 85.78125, -12.216796875, 25.3125 ]
0.933333
28
0
28
0
[ 68.994140625, 91.494140625, 84.287109375, 88.2421875, -3.8671875, 27.685546875 ]
[ 66.26953125, 90.703125, 88.154296875, 85.869140625, -10.107421875, 25.927734375 ]
0.966667
29
0
29
0
[ 69.609375, 91.494140625, 84.287109375, 88.2421875, -2.373046875, 29.00390625 ]
[ 67.1484375, 90.703125, 88.154296875, 85.95703125, -7.998046875, 26.71875 ]
1
30
0
30
0
[ 69.873046875, 91.58203125, 84.111328125, 88.2421875, -1.23046875, 30.76171875 ]
[ 68.203125, 90.703125, 88.154296875, 85.95703125, -5.9765625, 27.59765625 ]
1.033333
31
0
31
0
[ 69.9609375, 91.669921875, 83.935546875, 88.2421875, -0.17578125, 33.22265625 ]
[ 68.994140625, 90.703125, 88.154296875, 86.1328125, -4.21875, 28.828125 ]
1.066667
32
0
32
0
[ 70.13671875, 91.669921875, 84.0234375, 88.2421875, 0.3515625, 36.474609375 ]
[ 69.345703125, 90.703125, 88.154296875, 86.1328125, -2.8125, 30.498046875 ]
1.1
33
0
33
0
[ 70.224609375, 91.669921875, 84.19921875, 88.2421875, 0.703125, 40.341796875 ]
[ 69.609375, 90.703125, 88.154296875, 86.1328125, -1.58203125, 32.6953125 ]
1.133333
34
0
34
0
[ 70.48828125, 91.669921875, 84.0234375, 88.2421875, 0.791015625, 44.47265625 ]
[ 69.697265625, 90.703125, 88.154296875, 86.220703125, -0.615234375, 35.771484375 ]
1.166667
35
0
35
0
[ 71.279296875, 91.58203125, 83.935546875, 88.2421875, 0.87890625, 48.8671875 ]
[ 69.78515625, 90.703125, 88.154296875, 86.220703125, 0, 39.55078125 ]
1.2
36
0
36
0
[ 72.421875, 91.494140625, 83.935546875, 88.2421875, 0.87890625, 52.822265625 ]
[ 70.13671875, 90.703125, 88.154296875, 86.30859375, 0.263671875, 43.59375 ]
1.233333
37
0
37
0
[ 73.564453125, 91.40625, 83.759765625, 88.330078125, 0.966796875, 55.810546875 ]
[ 70.927734375, 90.703125, 88.154296875, 86.30859375, 0.3515625, 47.900390625 ]
1.266667
38
0
38
0
[ 74.53125, 91.40625, 83.408203125, 88.41796875, 1.318359375, 57.919921875 ]
[ 71.806640625, 90.703125, 88.154296875, 86.30859375, 0.3515625, 52.119140625 ]
1.3
39
0
39
0
[ 75.322265625, 91.40625, 83.056640625, 88.59375, 2.8125, 58.623046875 ]
[ 72.94921875, 90.703125, 88.154296875, 86.396484375, 0.3515625, 55.546875 ]
1.333333
40
0
40
0
[ 76.11328125, 91.318359375, 82.177734375, 88.857421875, 5.80078125, 58.271484375 ]
[ 73.916015625, 90.703125, 88.154296875, 86.396484375, 0.439453125, 57.48046875 ]
1.366667
41
0
41
0
[ 77.431640625, 91.318359375, 81.123046875, 89.296875, 10.283203125, 58.0078125 ]
[ 74.8828125, 90.703125, 88.154296875, 86.396484375, 1.318359375, 57.744140625 ]
1.4
42
0
42
0
[ 78.837890625, 91.318359375, 79.892578125, 89.912109375, 15.029296875, 57.919921875 ]
[ 75.849609375, 90.703125, 88.154296875, 86.484375, 3.515625, 57.744140625 ]
1.433333
43
0
43
0
[ 79.892578125, 91.318359375, 78.662109375, 90.615234375, 19.248046875, 57.919921875 ]
[ 76.9921875, 90.703125, 88.154296875, 86.66015625, 6.328125, 57.744140625 ]
1.466667
44
0
44
0
[ 80.595703125, 91.318359375, 77.607421875, 91.142578125, 22.587890625, 57.919921875 ]
[ 78.134765625, 90.703125, 87.626953125, 87.099609375, 9.84375, 57.744140625 ]
1.5
45
0
45
0
[ 80.859375, 91.23046875, 76.904296875, 91.318359375, 24.9609375, 58.0078125 ]
[ 79.27734375, 90.615234375, 86.1328125, 87.71484375, 13.623046875, 57.744140625 ]
1.533333
46
0
46
0
[ 80.859375, 91.318359375, 76.201171875, 90.966796875, 26.19140625, 58.095703125 ]
[ 80.068359375, 90.615234375, 84.111328125, 88.2421875, 17.314453125, 57.744140625 ]
1.566667
47
0
47
0
[ 81.03515625, 91.23046875, 75.05859375, 90.791015625, 26.3671875, 58.095703125 ]
[ 80.419921875, 90.615234375, 82.08984375, 88.59375, 20.654296875, 57.744140625 ]
1.6
48
0
48
0
[ 81.298828125, 91.142578125, 73.30078125, 90.791015625, 26.279296875, 58.095703125 ]
[ 80.5078125, 90.615234375, 80.33203125, 88.681640625, 23.115234375, 57.744140625 ]
1.633333
49
0
49
0
[ 81.474609375, 90.615234375, 71.54296875, 90.791015625, 26.279296875, 58.18359375 ]
[ 80.68359375, 90.615234375, 79.1015625, 88.681640625, 24.609375, 57.744140625 ]
1.666667
50
0
50
0
[ 81.474609375, 89.208984375, 70.13671875, 90.87890625, 26.279296875, 58.18359375 ]
[ 80.771484375, 90.52734375, 77.87109375, 88.681640625, 25.400390625, 57.744140625 ]
1.7
51
0
51
0
[ 81.474609375, 87.275390625, 68.90625, 90.791015625, 26.3671875, 58.18359375 ]
[ 80.947265625, 90.087890625, 76.46484375, 88.857421875, 25.751953125, 57.744140625 ]
1.733333
52
0
52
0
[ 81.474609375, 85.341796875, 67.412109375, 90.87890625, 26.455078125, 58.18359375 ]
[ 81.03515625, 89.033203125, 74.619140625, 89.033203125, 26.015625, 57.744140625 ]
1.766667
53
0
53
0
[ 81.298828125, 83.49609375, 65.91796875, 90.791015625, 26.71875, 58.0078125 ]
[ 81.123046875, 87.36328125, 72.7734375, 89.296875, 26.103515625, 57.744140625 ]
1.8
54
0
54
0
[ 81.03515625, 81.123046875, 64.423828125, 90.703125, 26.806640625, 58.0078125 ]
[ 81.123046875, 85.4296875, 71.103515625, 89.384765625, 26.279296875, 57.744140625 ]
1.833333
55
0
55
0
[ 81.03515625, 78.310546875, 62.9296875, 91.23046875, 27.0703125, 58.0078125 ]
[ 81.03515625, 83.14453125, 69.873046875, 89.47265625, 26.3671875, 57.744140625 ]
1.866667
56
0
56
0
[ 81.38671875, 75.498046875, 61.962890625, 91.494140625, 27.94921875, 58.0078125 ]
[ 81.03515625, 80.859375, 68.73046875, 89.47265625, 26.54296875, 57.744140625 ]
1.9
57
0
57
0
[ 81.5625, 73.30078125, 61.34765625, 91.58203125, 29.794921875, 58.0078125 ]
[ 81.123046875, 78.310546875, 67.67578125, 89.47265625, 26.71875, 57.744140625 ]
1.933333
58
0
58
0
[ 81.5625, 71.982421875, 60.99609375, 91.669921875, 33.22265625, 58.0078125 ]
[ 81.123046875, 75.498046875, 66.62109375, 89.560546875, 26.89453125, 57.744140625 ]
1.966667
59
0
59
0
[ 81.73828125, 71.455078125, 61.083984375, 91.845703125, 38.49609375, 58.0078125 ]
[ 81.123046875, 73.037109375, 66.005859375, 89.560546875, 28.30078125, 57.744140625 ]
2
60
0
60
0
[ 82.265625, 71.455078125, 61.435546875, 92.021484375, 44.736328125, 58.095703125 ]
[ 81.123046875, 71.279296875, 66.005859375, 89.560546875, 30.76171875, 57.65625 ]
2.033333
61
0
61
0
[ 82.79296875, 71.3671875, 61.69921875, 92.900390625, 50.888671875, 58.095703125 ]
[ 81.38671875, 70.3125, 66.005859375, 89.560546875, 34.453125, 57.744140625 ]
2.066667
62
0
62
0
[ 82.96875, 71.3671875, 62.138671875, 94.04296875, 56.337890625, 58.095703125 ]
[ 81.826171875, 70.048828125, 66.005859375, 89.560546875, 39.111328125, 57.744140625 ]
2.1
63
0
63
0
[ 83.056640625, 71.3671875, 62.2265625, 94.833984375, 60.732421875, 58.0078125 ]
[ 82.177734375, 70.048828125, 65.91796875, 89.82421875, 44.6484375, 57.744140625 ]
2.133333
64
0
64
0
[ 83.232421875, 71.279296875, 62.2265625, 95.2734375, 63.720703125, 58.0078125 ]
[ 82.529296875, 70.048828125, 65.830078125, 90.17578125, 50.09765625, 57.744140625 ]
2.166667
65
0
65
0
[ 83.759765625, 71.19140625, 62.314453125, 95.44921875, 64.6875, 57.919921875 ]
[ 82.6171875, 70.048828125, 65.91796875, 90.791015625, 55.1953125, 57.744140625 ]
2.2
66
0
66
0
[ 84.638671875, 71.015625, 62.314453125, 95.537109375, 65.0390625, 57.919921875 ]
[ 82.880859375, 70.048828125, 65.91796875, 91.40625, 59.150390625, 57.744140625 ]
2.233333
67
0
67
0
[ 85.078125, 70.927734375, 62.40234375, 95.625, 65.302734375, 57.919921875 ]
[ 83.408203125, 70.048828125, 65.91796875, 91.7578125, 61.787109375, 57.65625 ]
2.266667
68
0
68
0
[ 85.25390625, 70.927734375, 62.490234375, 95.625, 65.302734375, 57.919921875 ]
[ 84.111328125, 70.048828125, 65.830078125, 91.93359375, 63.369140625, 57.744140625 ]
2.3
69
0
69
0
[ 85.341796875, 70.927734375, 62.9296875, 95.625, 65.56640625, 57.919921875 ]
[ 84.55078125, 70.048828125, 65.91796875, 92.021484375, 64.248046875, 57.744140625 ]
2.333333
70
0
70
0
[ 85.341796875, 70.927734375, 63.6328125, 95.625, 66.181640625, 58.0078125 ]
[ 84.814453125, 70.048828125, 65.91796875, 92.021484375, 64.775390625, 57.744140625 ]
2.366667
71
0
71
0
[ 85.341796875, 70.83984375, 64.16015625, 95.537109375, 66.97265625, 58.0078125 ]
[ 84.90234375, 70.048828125, 65.91796875, 92.021484375, 65.126953125, 57.744140625 ]
2.4
72
0
72
0
[ 85.4296875, 70.83984375, 64.599609375, 95.44921875, 68.291015625, 57.919921875 ]
[ 84.90234375, 70.048828125, 65.91796875, 92.021484375, 65.390625, 57.744140625 ]
2.433333
73
0
73
0
[ 85.693359375, 70.83984375, 64.951171875, 95.361328125, 69.78515625, 57.919921875 ]
[ 84.990234375, 70.048828125, 65.91796875, 92.021484375, 66.09375, 57.744140625 ]
2.466667
74
0
74
0
[ 86.044921875, 70.751953125, 65.21484375, 95.361328125, 71.19140625, 58.0078125 ]
[ 85.078125, 70.048828125, 65.91796875, 92.021484375, 67.060546875, 57.744140625 ]
2.5
75
0
75
0
[ 86.396484375, 70.6640625, 65.7421875, 95.2734375, 72.0703125, 57.919921875 ]
[ 85.25390625, 69.9609375, 66.357421875, 92.021484375, 68.291015625, 57.744140625 ]
2.533333
76
0
76
0
[ 86.484375, 70.400390625, 66.09375, 95.185546875, 72.24609375, 57.919921875 ]
[ 85.517578125, 69.9609375, 66.884765625, 92.021484375, 69.521484375, 57.744140625 ]
2.566667
77
0
77
0
[ 86.396484375, 70.048828125, 66.181640625, 95.09765625, 72.333984375, 57.919921875 ]
[ 85.78125, 69.9609375, 67.412109375, 92.021484375, 70.576171875, 57.744140625 ]
2.6
78
0
78
0
[ 86.30859375, 69.521484375, 66.181640625, 95.09765625, 72.333984375, 58.0078125 ]
[ 85.95703125, 69.78515625, 67.763671875, 92.021484375, 71.279296875, 57.744140625 ]
2.633333
79
0
79
0
[ 86.30859375, 68.994140625, 66.09375, 95.09765625, 72.333984375, 58.0078125 ]
[ 85.95703125, 69.43359375, 67.763671875, 92.021484375, 71.630859375, 57.744140625 ]
2.666667
80
0
80
0
[ 86.30859375, 68.466796875, 66.09375, 95.09765625, 72.24609375, 58.0078125 ]
[ 85.95703125, 68.818359375, 67.763671875, 92.021484375, 71.806640625, 57.744140625 ]
2.7
81
0
81
0
[ 86.30859375, 68.02734375, 65.830078125, 95.009765625, 71.89453125, 58.0078125 ]
[ 86.044921875, 68.115234375, 67.763671875, 92.021484375, 71.89453125, 57.744140625 ]
2.733333
82
0
82
0
[ 86.30859375, 67.5, 65.91796875, 94.921875, 71.806640625, 57.919921875 ]
[ 86.044921875, 67.67578125, 67.763671875, 92.021484375, 71.89453125, 57.744140625 ]
2.766667
83
0
83
0
[ 86.30859375, 66.708984375, 66.09375, 94.74609375, 71.806640625, 57.83203125 ]
[ 86.044921875, 67.236328125, 67.763671875, 92.021484375, 71.89453125, 57.744140625 ]
2.8
84
0
84
0
[ 86.30859375, 65.7421875, 66.09375, 94.482421875, 71.806640625, 57.83203125 ]
[ 86.044921875, 66.708984375, 67.763671875, 92.021484375, 71.89453125, 57.744140625 ]
2.833333
85
0
85
0
[ 86.396484375, 64.599609375, 65.91796875, 94.04296875, 71.806640625, 57.83203125 ]
[ 86.1328125, 66.005859375, 67.763671875, 92.021484375, 71.89453125, 57.744140625 ]
2.866667
86
0
86
0
[ 86.572265625, 63.544921875, 65.91796875, 93.33984375, 71.806640625, 57.83203125 ]
[ 86.1328125, 65.0390625, 67.763671875, 92.021484375, 71.89453125, 57.744140625 ]
2.9
87
0
87
0
[ 86.66015625, 62.75390625, 65.91796875, 92.8125, 71.806640625, 57.83203125 ]
[ 86.220703125, 63.720703125, 67.763671875, 92.021484375, 71.89453125, 57.744140625 ]
2.933333
88
0
88
0
[ 86.923828125, 62.138671875, 65.56640625, 92.373046875, 71.89453125, 57.83203125 ]
[ 86.220703125, 62.666015625, 67.763671875, 92.021484375, 71.89453125, 57.744140625 ]
2.966667
89
0
89
0
[ 87.099609375, 61.69921875, 65.478515625, 91.845703125, 71.982421875, 57.83203125 ]
[ 86.396484375, 61.875, 67.763671875, 92.021484375, 71.982421875, 57.744140625 ]
3
90
0
90
0
[ 87.1875, 61.259765625, 65.478515625, 90.966796875, 71.89453125, 57.83203125 ]
[ 86.66015625, 61.34765625, 67.587890625, 92.021484375, 71.982421875, 57.744140625 ]
3.033333
91
0
91
0
[ 87.1875, 60.732421875, 65.478515625, 90.17578125, 71.89453125, 57.919921875 ]
[ 86.923828125, 61.083984375, 67.67578125, 92.021484375, 71.982421875, 57.744140625 ]
3.066667
92
0
92
0
[ 87.275390625, 60.1171875, 65.390625, 89.208984375, 71.89453125, 57.919921875 ]
[ 87.099609375, 60.64453125, 67.67578125, 92.021484375, 71.982421875, 57.744140625 ]
3.1
93
0
93
0
[ 87.1875, 59.853515625, 65.390625, 88.154296875, 71.806640625, 57.919921875 ]
[ 87.275390625, 60.1171875, 67.67578125, 91.669921875, 71.982421875, 57.744140625 ]
3.133333
94
0
94
0
[ 87.1875, 59.853515625, 65.478515625, 87.1875, 71.806640625, 57.919921875 ]
[ 87.275390625, 59.58984375, 67.67578125, 91.0546875, 71.89453125, 57.744140625 ]
3.166667
95
0
95
0
[ 87.1875, 59.853515625, 65.390625, 86.220703125, 71.806640625, 58.0078125 ]
[ 87.099609375, 59.23828125, 67.763671875, 90.087890625, 71.89453125, 57.744140625 ]
3.2
96
0
96
0
[ 87.1875, 59.94140625, 65.478515625, 85.078125, 71.806640625, 58.0078125 ]
[ 87.01171875, 59.0625, 67.763671875, 88.681640625, 71.806640625, 57.744140625 ]
3.233333
97
0
97
0
[ 87.099609375, 59.94140625, 65.390625, 83.671875, 71.806640625, 58.0078125 ]
[ 87.099609375, 59.0625, 67.763671875, 87.36328125, 71.806640625, 57.744140625 ]
3.266667
98
0
98
0
[ 87.01171875, 59.94140625, 65.478515625, 82.08984375, 71.806640625, 58.0078125 ]
[ 87.099609375, 58.974609375, 67.763671875, 86.220703125, 71.806640625, 57.744140625 ]
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": 86,
    "total_frames": 29680,
    "total_tasks": 4,
    "total_videos": 172,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:86"
    },
    "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": "h264",
                "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": "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",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
156
License:
apache-2.0
Size of downloaded dataset files:
1.77 MB
Size of the auto-converted Parquet files:
1.77 MB
Number of rows:
29,680