Hugging Face's logo

Datasets:
dkdltu1111
/
omy_test18

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
49.3
frame_index
int64
0
1.48k
episode_index
int64
0
29
index
int64
0
22k
task_index
int64
0
0
[ -635, -131318, 220091, -93472, -135001, 508, 121 ]
[ -634, -131318, 220090, -93472, -135127, 508, 121 ]
0
0
0
0
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -634, -131318, 220090, -93471, -135089, 508, 121 ]
0.033333
1
0
1
0
[ -635, -131191, 220218, -93472, -135001, 508, 121 ]
[ -634, -131318, 220108, -93472, -135090, 508, 121 ]
0.066667
2
0
2
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -634, -131313, 220127, -93472, -135076, 508, 121 ]
0.1
3
0
3
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -634, -131286, 220157, -93472, -135033, 508, 121 ]
0.133333
4
0
4
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -634, -131287, 220170, -93472, -135023, 508, 121 ]
0.166667
5
0
5
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -634, -131288, 220186, -93472, -135030, 508, 121 ]
0.2
6
0
6
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -634, -131292, 220201, -93472, -135028, 508, 121 ]
0.233333
7
0
7
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -634, -131296, 220213, -93472, -135055, 508, 121 ]
0.266667
8
0
8
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -634, -131300, 220215, -93472, -135085, 508, 121 ]
0.3
9
0
9
0
[ -635, -131191, 220218, -93472, -135001, 508, 121 ]
[ -634, -131305, 220216, -93472, -135075, 508, 121 ]
0.333333
10
0
10
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -634, -131296, 220217, -93472, -135040, 508, 121 ]
0.366667
11
0
11
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -634, -131284, 220217, -93472, -135026, 508, 121 ]
0.4
12
0
12
0
[ -635, -131191, 220218, -93472, -135001, 508, 121 ]
[ -634, -131285, 220217, -93472, -135019, 508, 121 ]
0.433333
13
0
13
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -634, -131282, 220218, -93472, -135011, 508, 121 ]
0.466667
14
0
14
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -634, -131262, 220218, -93471, -135007, 508, 121 ]
0.5
15
0
15
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -634, -131256, 220218, -93472, -135018, 507, 121 ]
0.533333
16
0
16
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -634, -131262, 220218, -93471, -135017, 508, 121 ]
0.566667
17
0
17
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -634, -131269, 220218, -93472, -135036, 508, 121 ]
0.6
18
0
18
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -634, -131279, 220218, -93472, -135035, 508, 121 ]
0.633333
19
0
19
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -634, -131292, 220218, -93472, -135032, 508, 121 ]
0.666667
20
0
20
0
[ -635, -131318, 220218, -93472, -135001, 381, 121 ]
[ -634, -131298, 220218, -93472, -135041, 508, 122 ]
0.7
21
0
21
0
[ -635, -131318, 220218, -93472, -135128, 381, 121 ]
[ -634, -131305, 220218, -93472, -135039, 487, 121 ]
0.733333
22
0
22
0
[ -635, -131318, 220218, -93472, -135128, 381, 121 ]
[ -634, -131310, 220218, -93472, -135055, 455, 121 ]
0.766667
23
0
23
0
[ -635, -131318, 220218, -93472, -135128, 381, 121 ]
[ -634, -131312, 220218, -93472, -135085, 431, 121 ]
0.8
24
0
24
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -634, -131314, 220218, -93472, -135109, 405, 121 ]
0.833333
25
0
25
0
[ -508, -131191, 220218, -93472, -135128, 508, 121 ]
[ -634, -131315, 220218, -93472, -135101, 414, 121 ]
0.866667
26
0
26
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -605, -131312, 220218, -93472, -135101, 439, 121 ]
0.9
27
0
27
0
[ -635, -131318, 220091, -93472, -135128, 508, 121 ]
[ -608, -131291, 220218, -93472, -135104, 468, 121 ]
0.933333
28
0
28
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -614, -131291, 220210, -93472, -135107, 481, 121 ]
0.966667
29
0
29
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -620, -131293, 220212, -93471, -135111, 492, 121 ]
1
30
0
30
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -624, -131295, 220212, -93472, -135116, 498, 121 ]
1.033333
31
0
31
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -626, -131296, 220212, -93472, -135107, 501, 121 ]
1.066667
32
0
32
0
[ -635, -131318, 220218, -93599, -135001, 508, 121 ]
[ -629, -131300, 220212, -93471, -135106, 504, 121 ]
1.1
33
0
33
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -630, -131303, 220212, -93504, -135088, 505, 121 ]
1.133333
34
0
34
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -631, -131306, 220212, -93508, -135053, 506, 121 ]
1.166667
35
0
35
0
[ -635, -131318, 220218, -93599, -135128, 508, 121 ]
[ -632, -131308, 220212, -93508, -135054, 506, 121 ]
1.2
36
0
36
0
[ -635, -131191, 220218, -93472, -135128, 508, 121 ]
[ -632, -131309, 220212, -93519, -135068, 507, 121 ]
1.233333
37
0
37
0
[ -635, -131318, 220218, -93472, -135128, 508, 121 ]
[ -633, -131300, 220213, -93519, -135097, 507, 121 ]
1.266667
38
0
38
0
[ -635, -131318, 220218, -93599, -135128, 508, 121 ]
[ -633, -131287, 220213, -93516, -135108, 507, 121 ]
1.3
39
0
39
0
[ -635, -131318, 220091, -93472, -135001, 508, 121 ]
[ -634, -131288, 220213, -93519, -135115, 508, 122 ]
1.333333
40
0
40
0
[ -635, -131318, 220218, -93599, -135001, 508, 121 ]
[ -634, -131290, 220206, -93518, -135106, 508, 121 ]
1.366667
41
0
41
0
[ -635, -131191, 220218, -93599, -135001, 508, 121 ]
[ -635, -131293, 220207, -93534, -135061, 508, 121 ]
1.4
42
0
42
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -635, -131291, 220207, -93563, -135034, 508, 121 ]
1.433333
43
0
43
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -635, -131281, 220208, -93560, -135023, 508, 121 ]
1.466667
44
0
44
0
[ -635, -131318, 220218, -93472, -135001, 508, 121 ]
[ -635, -131275, 220208, -93546, -135017, 508, 121 ]
1.5
45
0
45
0
[ -635, -131318, 220218, -93599, -135128, 508, 121 ]
[ -635, -131276, 220208, -93517, -135011, 508, 121 ]
1.533333
46
0
46
0
[ -635, -131318, 220091, -93472, -135001, 508, 121 ]
[ -635, -131282, 220209, -93525, -135033, 508, 121 ]
1.566667
47
0
47
0
[ -635, -131318, 220218, -93599, -135001, 508, 123 ]
[ -635, -131286, 220202, -93525, -135031, 508, 121 ]
1.6
48
0
48
0
[ -635, -131318, 220218, -93472, -135128, 508, 123 ]
[ -635, -131291, 220203, -93530, -135030, 508, 122 ]
1.633333
49
0
49
0
[ -635, -131318, 220218, -93599, -135128, 508, 125 ]
[ -635, -131295, 220203, -93530, -135044, 508, 122 ]
1.666667
50
0
50
0
[ -635, -131318, 220218, -93599, -135001, 508, 125 ]
[ -635, -131300, 220204, -93534, -135074, 508, 123 ]
1.7
51
0
51
0
[ -635, -131318, 220218, -93472, -135128, 508, 125 ]
[ -635, -131306, 220205, -93562, -135069, 508, 124 ]
1.733333
52
0
52
0
[ -635, -131318, 220218, -93472, -135128, 508, 125 ]
[ -635, -131308, 220205, -93559, -135072, 508, 124 ]
1.766667
53
0
53
0
[ -635, -131191, 220218, -93599, -135128, 508, 125 ]
[ -635, -131310, 220206, -93544, -135082, 508, 124 ]
1.8
54
0
54
0
[ -635, -131318, 220218, -93599, -135128, 508, 124 ]
[ -635, -131300, 220207, -93546, -135103, 508, 125 ]
1.833333
55
0
55
0
[ -635, -131318, 220218, -93599, -135128, 508, 124 ]
[ -635, -131288, 220208, -93555, -135113, 508, 124 ]
1.866667
56
0
56
0
[ -635, -131191, 220218, -93472, -135128, 508, 125 ]
[ -635, -131289, 220208, -93562, -135119, 508, 125 ]
1.9
57
0
57
0
[ -635, -131318, 220218, -93599, -135128, 508, 125 ]
[ -635, -131289, 220209, -93559, -135123, 508, 125 ]
1.933333
58
0
58
0
[ -635, -131191, 220218, -93472, -135128, 508, 125 ]
[ -635, -131282, 220209, -93559, -135126, 508, 125 ]
1.966667
59
0
59
0
[ -635, -131191, 220218, -93472, -135128, 508, 125 ]
[ -635, -131252, 220210, -93543, -135128, 508, 125 ]
2
60
0
60
0
[ -635, -131191, 220218, -93599, -135128, 508, 124 ]
[ -635, -131227, 220211, -93513, -135128, 508, 125 ]
2.033333
61
0
61
0
[ -635, -131318, 220218, -93599, -135128, 508, 124 ]
[ -635, -131217, 220212, -93516, -135128, 508, 124 ]
2.066667
62
0
62
0
[ -635, -131318, 220218, -93599, -135128, 508, 124 ]
[ -635, -131214, 220212, -93532, -135129, 508, 124 ]
2.1
63
0
63
0
[ -635, -131318, 220218, -93599, -135128, 508, 125 ]
[ -635, -131222, 220213, -93558, -135129, 508, 124 ]
2.133333
64
0
64
0
[ -635, -131318, 220218, -93472, -135128, 508, 124 ]
[ -635, -131242, 220213, -93571, -135129, 508, 124 ]
2.166667
65
0
65
0
[ -635, -131318, 220218, -93472, -135128, 508, 124 ]
[ -635, -131261, 220214, -93567, -135129, 508, 124 ]
2.2
66
0
66
0
[ -635, -131191, 220218, -93472, -135128, 508, 124 ]
[ -635, -131282, 220214, -93550, -135129, 508, 124 ]
2.233333
67
0
67
0
[ -635, -131191, 220218, -93599, -135001, 508, 125 ]
[ -635, -131290, 220214, -93522, -135129, 508, 124 ]
2.266667
68
0
68
0
[ -635, -131191, 220218, -93599, -135128, 508, 124 ]
[ -635, -131279, 220215, -93521, -135112, 508, 125 ]
2.3
69
0
69
0
[ -635, -131318, 220218, -93599, -135001, 508, 124 ]
[ -635, -131257, 220215, -93548, -135111, 508, 124 ]
2.333333
70
0
70
0
[ -635, -131318, 220218, -93726, -134620, 381, 125 ]
[ -635, -131250, 220215, -93562, -135086, 508, 124 ]
2.366667
71
0
71
0
[ -635, -131318, 220218, -93726, -134620, 381, 124 ]
[ -635, -131254, 220216, -93614, -134917, 488, 124 ]
2.4
72
0
72
0
[ -635, -131318, 220218, -93726, -134493, 254, 124 ]
[ -635, -131264, 220216, -93665, -134764, 445, 125 ]
2.433333
73
0
73
0
[ -635, -131191, 220218, -93726, -134366, 0, 124 ]
[ -635, -131275, 220216, -93692, -134660, 371, 124 ]
2.466667
74
0
74
0
[ -635, -131191, 220091, -93726, -134366, 0, 124 ]
[ -635, -131280, 220216, -93702, -134547, 224, 124 ]
2.5
75
0
75
0
[ -635, -131064, 220091, -93599, -133985, -127, 124 ]
[ -635, -131269, 220208, -93709, -134472, 144, 124 ]
2.533333
76
0
76
0
[ -508, -130556, 219583, -93726, -133350, -381, 124 ]
[ -635, -131249, 220200, -93700, -134298, 41, 124 ]
2.566667
77
0
77
0
[ -635, -130048, 218694, -93599, -131699, -1524, 125 ]
[ -586, -131106, 219949, -93700, -133820, -176, 124 ]
2.6
78
0
78
0
[ -635, -128905, 217043, -93345, -130175, -2413, 125 ]
[ -592, -130898, 219496, -93686, -133141, -648, 125 ]
2.633333
79
0
79
0
[ -635, -127889, 215900, -92964, -128524, -3683, 125 ]
[ -598, -130623, 218704, -93566, -132125, -1288, 125 ]
2.666667
80
0
80
0
[ -635, -126746, 214884, -92329, -127381, -4572, 125 ]
[ -609, -130258, 217640, -93347, -130888, -2125, 125 ]
2.7
81
0
81
0
[ -635, -125730, 213741, -91059, -126619, -5207, 125 ]
[ -617, -129773, 216620, -92985, -129610, -3006, 125 ]
2.733333
82
0
82
0
[ -635, -124460, 212852, -88519, -127381, -6223, 125 ]
[ -627, -128830, 215185, -92056, -128112, -4123, 125 ]
2.766667
83
0
83
0
[ -762, -123190, 211709, -86614, -129032, -6350, 125 ]
[ -631, -128143, 214355, -91104, -127830, -4869, 125 ]
2.8
84
0
84
0
[ -635, -122047, 211074, -85217, -131445, -6096, 125 ]
[ -673, -127383, 213430, -89520, -128106, -5421, 125 ]
2.833333
85
0
85
0
[ -635, -121031, 210693, -84963, -133096, -5715, 126 ]
[ -674, -126546, 212524, -87970, -129041, -5676, 125 ]
2.866667
86
0
86
0
[ -635, -120015, 210185, -84963, -135001, -5461, 127 ]
[ -672, -125676, 211827, -86853, -130483, -5697, 125 ]
2.9
87
0
87
0
[ -635, -118999, 209804, -84836, -136525, -5461, 130 ]
[ -662, -124308, 211015, -85889, -132654, -5599, 126 ]
2.933333
88
0
88
0
[ -635, -117729, 209423, -85090, -137414, -5588, 132 ]
[ -654, -123388, 210573, -85480, -133990, -5554, 127 ]
2.966667
89
0
89
0
[ -635, -116586, 208788, -85344, -138049, -5461, 135 ]
[ -648, -122475, 210148, -85340, -135257, -5556, 129 ]
3
90
0
90
0
[ -635, -115189, 208026, -85979, -138684, -5588, 135 ]
[ -644, -121516, 209634, -85331, -136312, -5528, 130 ]
3.033333
91
0
91
0
[ -635, -113665, 207010, -86741, -138938, -5588, 135 ]
[ -642, -120566, 209052, -85506, -137186, -5532, 132 ]
3.066667
92
0
92
0
[ -762, -112141, 205740, -87376, -139319, -5080, 133 ]
[ -639, -119563, 208331, -85950, -137837, -5540, 133 ]
3.1
93
0
93
0
[ -889, -110617, 204470, -88392, -139319, -4826, 135 ]
[ -674, -117995, 207005, -86673, -138583, -5335, 133 ]
3.133333
94
0
94
0
[ -1016, -108331, 202819, -89027, -139192, -4953, 135 ]
[ -737, -116912, 206167, -87261, -138859, -5137, 134 ]
3.166667
95
0
95
0
[ -1143, -106426, 201295, -89281, -139065, -4953, 135 ]
[ -837, -115793, 205063, -87916, -138981, -5072, 135 ]
3.2
96
0
96
0
[ -1270, -104648, 199898, -89154, -138811, -5207, 135 ]
[ -993, -114017, 203150, -88644, -139023, -5009, 135 ]
3.233333
97
0
97
0
[ -1524, -102362, 197739, -88900, -138557, -5715, 132 ]
[ -1095, -112768, 202093, -88818, -138987, -5047, 135 ]
3.266667
98
0
98
0
[ -1524, -100457, 196596, -88138, -138303, -6096, 133 ]
[ -1262, -111500, 200676, -88848, -138831, -5287, 134 ]
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": 30,
    "total_frames": 22017,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": [
                7
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_wrist_roll_last",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_wrist_roll_last",
                "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
110
License:
apache-2.0
Size of downloaded dataset files:
1.58 MB
Size of the auto-converted Parquet files:
1.58 MB
Number of rows:
22,017