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Datasets:
javasoup
/
act_koch_binky_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
34.3
frame_index
int64
0
1.03k
episode_index
int64
0
9
index
int64
0
8.41k
task_index
int64
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[ 6.943359375, 96.416015625, 145.37109375, -50.2734375, -1.7578125, 32.255859375 ]
[ 5.09765625, 77.87109375, 146.689453125, -70.48828125, -2.197265625, 32.6953125 ]
2.566667
77
0
77
0
[ 7.3828125, 102.48046875, 144.228515625, -39.7265625, -1.7578125, 32.34375 ]
[ 5.888671875, 84.287109375, 146.513671875, -63.544921875, -2.021484375, 32.783203125 ]
2.6
78
0
78
0
[ 7.822265625, 107.40234375, 142.470703125, -30.05859375, -1.845703125, 32.34375 ]
[ 6.50390625, 90.791015625, 146.162109375, -55.01953125, -1.93359375, 32.783203125 ]
2.633333
79
0
79
0
[ 8.349609375, 111.26953125, 140.712890625, -21.884765625, -1.845703125, 32.34375 ]
[ 7.03125, 97.55859375, 145.37109375, -45.615234375, -1.93359375, 32.783203125 ]
2.666667
80
0
80
0
[ 8.701171875, 114.2578125, 139.130859375, -14.23828125, -1.845703125, 32.34375 ]
[ 7.646484375, 103.095703125, 144.140625, -36.2109375, -1.93359375, 32.783203125 ]
2.7
81
0
81
0
[ 9.140625, 116.71875, 137.373046875, -6.328125, -1.845703125, 32.34375 ]
[ 8.173828125, 107.75390625, 142.646484375, -27.158203125, -1.93359375, 32.6953125 ]
2.733333
82
0
82
0
[ 9.4921875, 118.212890625, 135.703125, 1.0546875, -1.845703125, 32.431640625 ]
[ 8.525390625, 111.708984375, 140.888671875, -18.369140625, -1.93359375, 32.783203125 ]
2.766667
83
0
83
0
[ 9.66796875, 119.267578125, 134.296875, 6.416015625, -1.7578125, 32.431640625 ]
[ 8.96484375, 114.43359375, 139.21875, -10.458984375, -1.93359375, 32.783203125 ]
2.8
84
0
84
0
[ 9.755859375, 120.146484375, 133.505859375, 10.458984375, -1.845703125, 32.431640625 ]
[ 9.140625, 116.3671875, 137.548828125, -2.900390625, -1.93359375, 32.6953125 ]
2.833333
85
0
85
0
[ 9.755859375, 120.9375, 133.154296875, 13.7109375, -1.845703125, 32.431640625 ]
[ 9.31640625, 117.7734375, 136.494140625, 3.603515625, -1.93359375, 32.783203125 ]
2.866667
86
0
86
0
[ 9.84375, 121.640625, 132.890625, 16.259765625, -1.845703125, 32.431640625 ]
[ 9.31640625, 118.564453125, 136.23046875, 8.525390625, -1.93359375, 32.783203125 ]
2.9
87
0
87
0
[ 10.107421875, 121.904296875, 132.802734375, 18.45703125, -1.845703125, 32.431640625 ]
[ 9.31640625, 119.267578125, 136.23046875, 12.568359375, -1.93359375, 32.6953125 ]
2.933333
88
0
88
0
[ 10.546875, 122.080078125, 132.5390625, 20.390625, -1.845703125, 32.431640625 ]
[ 9.404296875, 119.794921875, 136.23046875, 15.908203125, -1.93359375, 32.6953125 ]
2.966667
89
0
89
0
[ 11.07421875, 121.9921875, 132.451171875, 21.884765625, -1.845703125, 32.431640625 ]
[ 9.755859375, 120.146484375, 136.23046875, 18.720703125, -1.93359375, 32.6953125 ]
3
90
0
90
0
[ 11.953125, 121.9921875, 132.451171875, 22.939453125, -1.669921875, 32.431640625 ]
[ 10.1953125, 120.234375, 136.23046875, 20.7421875, -1.93359375, 32.6953125 ]
3.033333
91
0
91
0
[ 12.919921875, 121.9921875, 132.451171875, 23.642578125, -1.494140625, 32.431640625 ]
[ 10.810546875, 120.234375, 136.23046875, 22.32421875, -1.93359375, 32.6953125 ]
3.066667
92
0
92
0
[ 13.7109375, 121.904296875, 132.451171875, 23.90625, -1.0546875, 32.34375 ]
[ 11.689453125, 120.234375, 136.23046875, 23.642578125, -1.93359375, 32.6953125 ]
3.1
93
0
93
0
[ 14.4140625, 121.640625, 132.451171875, 24.08203125, -0.615234375, 32.34375 ]
[ 12.744140625, 120.234375, 136.23046875, 24.43359375, -1.845703125, 32.6953125 ]
3.133333
94
0
94
0
[ 15.1171875, 121.201171875, 132.451171875, 24.169921875, -0.52734375, 32.34375 ]
[ 13.623046875, 120.234375, 136.23046875, 24.43359375, -1.58203125, 32.6953125 ]
3.166667
95
0
95
0
[ 15.8203125, 121.11328125, 132.451171875, 24.169921875, -0.52734375, 32.34375 ]
[ 14.23828125, 120.234375, 136.23046875, 24.521484375, -1.23046875, 32.6953125 ]
3.2
96
0
96
0
[ 16.5234375, 120.849609375, 132.451171875, 24.08203125, -0.52734375, 32.34375 ]
[ 14.853515625, 120.234375, 136.23046875, 24.521484375, -1.0546875, 32.6953125 ]
3.233333
97
0
97
0
[ 17.138671875, 119.970703125, 132.451171875, 23.818359375, -0.52734375, 32.34375 ]
[ 15.556640625, 120.234375, 136.23046875, 24.521484375, -0.791015625, 32.6953125 ]
3.266667
98
0
98
0
[ 17.9296875, 119.443359375, 132.275390625, 23.642578125, -0.3515625, 32.34375 ]
[ 16.34765625, 120.05859375, 136.23046875, 24.521484375, -0.791015625, 32.6953125 ]
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": 10,
    "total_frames": 8411,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.front": {
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            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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                1
            ],
            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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