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m1b
/
koch_test3

Tasks:
Robotics
Modalities:
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< 1K
Tags:
LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
2.73
frame_index
int64
0
82
episode_index
int64
0
0
index
int64
0
82
task_index
int64
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[ 17.9296875, 191.162109375, 182.63671875, 68.37890625, -71.279296875, 14.385475158691406 ]
2.4
72
0
72
0
[ 18.193359375, 191.42578125, 184.482421875, 68.642578125, -71.015625, 14.5113525390625 ]
[ 17.9296875, 191.162109375, 182.63671875, 68.37890625, -71.279296875, 14.385475158691406 ]
2.433333
73
0
73
0
[ 18.193359375, 191.42578125, 184.482421875, 68.642578125, -71.015625, 14.5113525390625 ]
[ 17.9296875, 191.162109375, 182.63671875, 68.37890625, -71.279296875, 14.385475158691406 ]
2.466667
74
0
74
0
[ 18.193359375, 191.42578125, 184.482421875, 68.642578125, -71.015625, 14.5113525390625 ]
[ 17.9296875, 191.162109375, 182.63671875, 68.37890625, -71.279296875, 14.385475158691406 ]
2.5
75
0
75
0
[ 18.193359375, 191.42578125, 184.482421875, 68.642578125, -71.015625, 14.5113525390625 ]
[ 17.9296875, 191.162109375, 182.63671875, 68.37890625, -71.279296875, 14.385475158691406 ]
2.533333
76
0
76
0
[ 18.193359375, 191.42578125, 184.482421875, 68.642578125, -71.015625, 14.5113525390625 ]
[ 17.9296875, 191.162109375, 182.63671875, 68.37890625, -71.279296875, 14.385475158691406 ]
2.566667
77
0
77
0
[ 18.193359375, 191.42578125, 184.482421875, 68.642578125, -71.015625, 14.5113525390625 ]
[ 17.9296875, 191.162109375, 182.63671875, 68.37890625, -71.279296875, 14.385475158691406 ]
2.6
78
0
78
0
[ 18.193359375, 191.42578125, 184.482421875, 68.642578125, -71.015625, 14.5113525390625 ]
[ 17.9296875, 191.162109375, 182.63671875, 68.37890625, -71.279296875, 14.385475158691406 ]
2.633333
79
0
79
0
[ 18.193359375, 191.42578125, 184.482421875, 68.642578125, -71.015625, 14.5113525390625 ]
[ 17.9296875, 191.162109375, 182.63671875, 68.37890625, -71.279296875, 14.385475158691406 ]
2.666667
80
0
80
0
[ 18.193359375, 191.42578125, 184.482421875, 68.642578125, -71.015625, 14.412635803222656 ]
[ 17.9296875, 191.162109375, 182.63671875, 68.37890625, -71.279296875, 14.385475158691406 ]
2.7
81
0
81
0
[ 18.193359375, 191.42578125, 184.482421875, 68.642578125, -71.015625, 14.412635803222656 ]
[ 17.9296875, 191.162109375, 182.63671875, 68.37890625, -71.279296875, 14.385475158691406 ]
2.733333
82
0
82
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 1,
    "total_frames": 83,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.side": {
            "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": "av1",
                "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": "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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