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Datasets:
Jamesbass
/
koch_peg6

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
koch
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
27.6
frame_index
int64
0
828
episode_index
int64
0
32
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int64
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11k
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2.4
72
0
72
0
[ -4.74609375, -7.822265625, -14.677734375, -21.181640625, -78.3984375, 33.92578125 ]
[ -6.328125, -12.65625, -12.12890625, -16.611328125, -82.353515625, 34.892578125 ]
2.433333
73
0
73
0
[ -4.130859375, -4.833984375, -14.677734375, -17.138671875, -76.11328125, 33.486328125 ]
[ -5.888671875, -11.77734375, -12.041015625, -16.5234375, -81.826171875, 34.716796875 ]
2.466667
74
0
74
0
[ -3.515625, -2.109375, -14.677734375, -12.744140625, -74.1796875, 33.486328125 ]
[ -5.361328125, -10.546875, -12.041015625, -16.34765625, -80.5078125, 34.365234375 ]
2.5
75
0
75
0
[ -2.8125, 1.23046875, -14.677734375, -6.767578125, -70.83984375, 33.486328125 ]
[ -4.74609375, -9.140625, -12.041015625, -15.029296875, -78.92578125, 34.365234375 ]
2.533333
76
0
76
0
[ -2.109375, 5.44921875, -14.677734375, 0.3515625, -67.236328125, 33.486328125 ]
[ -3.8671875, -6.591796875, -12.041015625, -10.986328125, -76.2890625, 34.365234375 ]
2.566667
77
0
77
0
[ -1.58203125, 9.228515625, -14.58984375, 6.85546875, -64.248046875, 33.486328125 ]
[ -3.1640625, -3.955078125, -12.041015625, -6.328125, -73.388671875, 34.365234375 ]
2.6
78
0
78
0
[ -0.966796875, 13.095703125, -14.58984375, 13.88671875, -60.1171875, 33.486328125 ]
[ -2.548828125, -1.0546875, -12.041015625, -1.669921875, -70.927734375, 34.365234375 ]
2.633333
79
0
79
0
[ -0.263671875, 17.314453125, -14.58984375, 21.357421875, -56.162109375, 33.486328125 ]
[ -1.93359375, 2.548828125, -12.041015625, 5.009765625, -67.412109375, 34.365234375 ]
2.666667
80
0
80
0
[ 0.3515625, 21.4453125, -14.58984375, 29.00390625, -52.998046875, 33.486328125 ]
[ -1.142578125, 7.470703125, -12.041015625, 13.18359375, -62.666015625, 34.365234375 ]
2.7
81
0
81
0
[ 0.87890625, 24.697265625, -14.58984375, 35.244140625, -50.185546875, 33.486328125 ]
[ -0.615234375, 11.07421875, -12.12890625, 19.3359375, -59.4140625, 34.365234375 ]
2.733333
82
0
82
0
[ 1.40625, 27.7734375, -14.58984375, 41.66015625, -47.197265625, 33.486328125 ]
[ -0.087890625, 15.1171875, -12.12890625, 25.751953125, -56.07421875, 34.365234375 ]
2.766667
83
0
83
0
[ 1.845703125, 30.76171875, -14.58984375, 47.548828125, -45.17578125, 33.486328125 ]
[ 0.52734375, 19.16015625, -12.216796875, 32.607421875, -52.646484375, 34.365234375 ]
2.8
84
0
84
0
[ 2.373046875, 32.6953125, -14.58984375, 52.734375, -43.2421875, 33.486328125 ]
[ 1.0546875, 22.67578125, -12.216796875, 38.408203125, -49.921875, 34.365234375 ]
2.833333
85
0
85
0
[ 2.900390625, 34.716796875, -14.58984375, 58.359375, -41.044921875, 33.486328125 ]
[ 1.669921875, 25.6640625, -12.216796875, 44.560546875, -47.373046875, 34.365234375 ]
2.866667
86
0
86
0
[ 3.33984375, 36.826171875, -14.58984375, 64.51171875, -39.19921875, 33.486328125 ]
[ 2.109375, 28.30078125, -12.3046875, 50.2734375, -45.087890625, 34.365234375 ]
2.9
87
0
87
0
[ 3.779296875, 38.671875, -14.58984375, 70.400390625, -37.353515625, 33.486328125 ]
[ 2.63671875, 31.025390625, -12.3046875, 56.6015625, -42.71484375, 34.365234375 ]
2.933333
88
0
88
0
[ 4.306640625, 40.517578125, -14.58984375, 76.552734375, -34.8046875, 33.3984375 ]
[ 2.98828125, 32.6953125, -12.3046875, 61.787109375, -40.869140625, 34.365234375 ]
2.966667
89
0
89
0
[ 4.833984375, 42.01171875, -14.58984375, 82.265625, -33.310546875, 33.3984375 ]
[ 3.427734375, 34.541015625, -12.3046875, 67.763671875, -38.935546875, 34.365234375 ]
3
90
0
90
0
[ 5.185546875, 43.2421875, -14.58984375, 87.099609375, -32.783203125, 33.486328125 ]
[ 3.8671875, 36.38671875, -12.3046875, 74.619140625, -36.650390625, 34.365234375 ]
3.033333
91
0
91
0
[ 5.888671875, 44.296875, -14.58984375, 92.4609375, -31.552734375, 33.3984375 ]
[ 4.306640625, 37.6171875, -12.3046875, 78.92578125, -35.33203125, 34.365234375 ]
3.066667
92
0
92
0
[ 6.328125, 45.263671875, -14.58984375, 97.734375, -31.201171875, 33.3984375 ]
[ 5.009765625, 39.462890625, -12.3046875, 85.517578125, -33.837890625, 34.365234375 ]
3.1
93
0
93
0
[ 6.6796875, 45.703125, -14.58984375, 102.744140625, -31.201171875, 33.3984375 ]
[ 5.44921875, 40.25390625, -12.3046875, 89.12109375, -33.134765625, 34.365234375 ]
3.133333
94
0
94
0
[ 7.119140625, 45.87890625, -14.501953125, 106.787109375, -31.11328125, 33.3984375 ]
[ 5.9765625, 41.30859375, -12.392578125, 94.306640625, -32.51953125, 34.365234375 ]
3.166667
95
0
95
0
[ 7.822265625, 46.142578125, -14.326171875, 109.6875, -30.41015625, 33.3984375 ]
[ 6.416015625, 42.099609375, -12.392578125, 98.7890625, -32.34375, 34.365234375 ]
3.2
96
0
96
0
[ 8.525390625, 46.318359375, -13.974609375, 111.357421875, -29.70703125, 33.3984375 ]
[ 6.85546875, 42.451171875, -12.392578125, 101.689453125, -32.255859375, 34.365234375 ]
3.233333
97
0
97
0
[ 9.580078125, 46.494140625, -13.271484375, 113.02734375, -28.828125, 33.3984375 ]
[ 7.470703125, 42.802734375, -12.392578125, 104.150390625, -31.904296875, 34.365234375 ]
3.266667
98
0
98
0
[ 10.72265625, 46.93359375, -11.42578125, 114.345703125, -28.564453125, 33.3984375 ]
[ 8.26171875, 42.802734375, -12.392578125, 105.99609375, -31.2890625, 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": "v2.1",
    "robot_type": "koch",
    "total_episodes": 33,
    "total_frames": 11010,
    "total_tasks": 1,
    "total_videos": 66,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:33"
    },
    "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": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.follower_cam": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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        "timestamp": {
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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