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Datasets:
rgarreta
/
koch_pick_place_lego_v7

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
15.7
frame_index
int64
0
470
episode_index
int64
0
49
index
int64
0
16.5k
task_index
int64
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[ -5.009765625, 127.353515625, 176.220703125, -4.5703125, -5.625, 33.310546875 ]
2.433333
73
0
73
0
[ -5.44921875, 127.96875, 174.19921875, -2.28515625, -6.767578125, 33.310546875 ]
[ -4.833984375, 127.353515625, 175.869140625, -4.39453125, -5.625, 33.310546875 ]
2.466667
74
0
74
0
[ -5.361328125, 127.96875, 172.44140625, -0.3515625, -6.6796875, 33.310546875 ]
[ -4.921875, 127.353515625, 174.990234375, -3.779296875, -5.625, 33.310546875 ]
2.5
75
0
75
0
[ -4.833984375, 127.96875, 170.419921875, 1.7578125, -6.6796875, 33.310546875 ]
[ -4.921875, 127.265625, 173.84765625, -2.548828125, -5.625, 33.310546875 ]
2.533333
76
0
76
0
[ -4.306640625, 127.265625, 168.310546875, 3.515625, -6.240234375, 33.310546875 ]
[ -4.658203125, 127.177734375, 172.177734375, -0.791015625, -5.712890625, 33.310546875 ]
2.566667
77
0
77
0
[ -3.779296875, 125.771484375, 165.849609375, 5.009765625, -5.888671875, 33.310546875 ]
[ -4.306640625, 127.08984375, 170.5078125, 0.966796875, -5.712890625, 33.310546875 ]
2.6
78
0
78
0
[ -2.98828125, 123.486328125, 163.30078125, 6.50390625, -5.80078125, 33.3984375 ]
[ -3.8671875, 126.38671875, 168.57421875, 2.8125, -5.712890625, 33.310546875 ]
2.633333
79
0
79
0
[ -2.197265625, 121.376953125, 160.576171875, 8.4375, -5.80078125, 33.3984375 ]
[ -2.98828125, 124.98046875, 166.46484375, 4.74609375, -5.537109375, 33.310546875 ]
2.666667
80
0
80
0
[ -0.966796875, 119.1796875, 157.587890625, 10.283203125, -5.80078125, 33.486328125 ]
[ -2.373046875, 123.22265625, 164.1796875, 6.6796875, -5.44921875, 33.310546875 ]
2.7
81
0
81
0
[ 0, 117.0703125, 154.248046875, 12.83203125, -5.80078125, 33.486328125 ]
[ -1.58203125, 121.2890625, 161.54296875, 8.61328125, -5.361328125, 33.310546875 ]
2.733333
82
0
82
0
[ 0.615234375, 115.6640625, 150.64453125, 16.083984375, -5.80078125, 33.486328125 ]
[ -0.791015625, 119.091796875, 158.5546875, 10.546875, -5.2734375, 33.310546875 ]
2.766667
83
0
83
0
[ 1.318359375, 114.521484375, 147.12890625, 19.3359375, -5.80078125, 33.57421875 ]
[ -0.3515625, 117.158203125, 155.0390625, 12.744140625, -5.09765625, 33.310546875 ]
2.8
84
0
84
0
[ 1.494140625, 113.466796875, 143.61328125, 22.32421875, -5.80078125, 33.662109375 ]
[ 0, 115.3125, 151.435546875, 15.380859375, -5.185546875, 33.310546875 ]
2.833333
85
0
85
0
[ 1.58203125, 112.060546875, 140.44921875, 24.609375, -5.80078125, 33.75 ]
[ 0.439453125, 113.90625, 147.744140625, 18.45703125, -5.09765625, 33.310546875 ]
2.866667
86
0
86
0
[ 1.58203125, 110.654296875, 137.4609375, 26.19140625, -5.80078125, 33.837890625 ]
[ 0.703125, 112.8515625, 144.228515625, 21.26953125, -5.09765625, 33.310546875 ]
2.9
87
0
87
0
[ 1.494140625, 108.80859375, 134.12109375, 27.94921875, -5.80078125, 34.189453125 ]
[ 0.791015625, 111.533203125, 141.15234375, 23.818359375, -5.09765625, 33.310546875 ]
2.933333
88
0
88
0
[ 1.0546875, 107.9296875, 131.044921875, 31.025390625, -5.80078125, 35.15625 ]
[ 0.87890625, 109.86328125, 138.1640625, 25.751953125, -5.09765625, 33.57421875 ]
2.966667
89
0
89
0
[ 0.439453125, 107.666015625, 128.408203125, 33.134765625, -5.80078125, 35.947265625 ]
[ 1.0546875, 108.28125, 135.3515625, 27.861328125, -5.09765625, 34.27734375 ]
3
90
0
90
0
[ 0.17578125, 107.314453125, 126.2109375, 34.453125, -5.80078125, 36.9140625 ]
[ 0.615234375, 107.2265625, 132.802734375, 30.234375, -5.09765625, 34.453125 ]
3.033333
91
0
91
0
[ -0.439453125, 106.5234375, 123.662109375, 36.9140625, -5.80078125, 37.44140625 ]
[ 0.263671875, 106.69921875, 130.341796875, 32.431640625, -5.09765625, 34.98046875 ]
3.066667
92
0
92
0
[ -0.615234375, 106.083984375, 120.9375, 39.814453125, -5.80078125, 37.353515625 ]
[ 0.17578125, 106.259765625, 127.79296875, 34.453125, -5.09765625, 35.947265625 ]
3.1
93
0
93
0
[ -1.142578125, 105.029296875, 118.4765625, 42.71484375, -5.80078125, 36.650390625 ]
[ 0.087890625, 105.8203125, 124.98046875, 36.298828125, -5.09765625, 36.2109375 ]
3.133333
94
0
94
0
[ -1.669921875, 104.326171875, 116.015625, 45.3515625, -5.9765625, 35.859375 ]
[ -0.263671875, 105.380859375, 122.431640625, 38.671875, -5.09765625, 36.03515625 ]
3.166667
95
0
95
0
[ -1.669921875, 103.798828125, 113.994140625, 47.109375, -5.9765625, 34.716796875 ]
[ -0.615234375, 104.677734375, 119.970703125, 41.220703125, -5.09765625, 35.5078125 ]
3.2
96
0
96
0
[ -1.669921875, 103.271484375, 111.708984375, 49.21875, -5.9765625, 34.365234375 ]
[ -0.703125, 103.623046875, 117.59765625, 43.9453125, -5.09765625, 34.62890625 ]
3.233333
97
0
97
0
[ -1.669921875, 101.953125, 108.80859375, 52.294921875, -5.9765625, 34.27734375 ]
[ -0.791015625, 102.919921875, 115.48828125, 46.40625, -5.09765625, 34.365234375 ]
3.266667
98
0
98
0
[ -1.58203125, 100.634765625, 105.64453125, 55.72265625, -5.9765625, 34.27734375 ]
[ -0.966796875, 101.953125, 113.37890625, 48.955078125, -5.09765625, 34.365234375 ]
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": 50,
    "total_frames": 16547,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "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": [
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            ],
            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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