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Datasets:
Vertax
/
act_koch_pick_place_rgb_lego

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
experiment
Libraries:
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License:
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action
sequence
observation.state
sequence
timestamp
float32
0
51.7
frame_index
int64
0
1.55k
episode_index
int64
0
130
index
int64
0
127k
task_index
int64
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[ -44.47265625, 87.275390625, 85.693359375, -5.80078125, -90.615234375, 12.744140625 ]
[ -45.263671875, 86.8359375, 91.23046875, -1.669921875, -90.615234375, 22.060546875 ]
2.466667
74
0
74
0
[ -44.384765625, 86.484375, 84.638671875, -5.9765625, -90.439453125, 12.65625 ]
[ -45.263671875, 86.748046875, 91.23046875, -1.669921875, -90.615234375, 22.060546875 ]
2.5
75
0
75
0
[ -44.296875, 85.95703125, 83.759765625, -6.064453125, -90.17578125, 12.65625 ]
[ -45.087890625, 85.60546875, 91.23046875, -1.7578125, -90.615234375, 22.060546875 ]
2.533333
76
0
76
0
[ -44.208984375, 84.990234375, 82.44140625, -6.064453125, -90.087890625, 12.65625 ]
[ -44.912109375, 84.111328125, 88.41796875, -1.7578125, -90.52734375, 22.060546875 ]
2.566667
77
0
77
0
[ -43.2421875, 82.880859375, 78.57421875, -6.064453125, -88.857421875, 12.65625 ]
[ -44.033203125, 82.177734375, 83.14453125, -1.93359375, -90.615234375, 22.060546875 ]
2.6
78
0
78
0
[ -41.8359375, 80.68359375, 74.443359375, -6.064453125, -87.802734375, 12.65625 ]
[ -43.9453125, 82.08984375, 83.14453125, -1.93359375, -90.52734375, 22.060546875 ]
2.633333
79
0
79
0
[ -41.396484375, 80.068359375, 73.212890625, -6.064453125, -87.36328125, 12.65625 ]
[ -42.451171875, 79.892578125, 79.8046875, -2.021484375, -89.033203125, 22.060546875 ]
2.666667
80
0
80
0
[ -40.95703125, 79.013671875, 71.455078125, -5.9765625, -86.923828125, 12.65625 ]
[ -42.1875, 79.541015625, 78.92578125, -2.021484375, -88.505859375, 22.060546875 ]
2.7
81
0
81
0
[ -40.517578125, 78.486328125, 70.400390625, -5.9765625, -86.923828125, 12.65625 ]
[ -41.220703125, 77.87109375, 77.34375, -1.93359375, -87.01171875, 22.060546875 ]
2.733333
82
0
82
0
[ -40.078125, 77.6953125, 69.169921875, -5.9765625, -86.396484375, 12.65625 ]
[ -41.1328125, 77.607421875, 76.728515625, -1.93359375, -86.8359375, 22.060546875 ]
2.766667
83
0
83
0
[ -39.638671875, 77.16796875, 68.37890625, -5.9765625, -85.869140625, 12.65625 ]
[ -40.517578125, 76.46484375, 74.35546875, -1.93359375, -86.66015625, 22.060546875 ]
2.8
84
0
84
0
[ -39.287109375, 76.46484375, 67.32421875, -5.9765625, -85.4296875, 12.65625 ]
[ -40.4296875, 76.376953125, 73.916015625, -1.93359375, -86.396484375, 22.060546875 ]
2.833333
85
0
85
0
[ -38.935546875, 76.025390625, 66.708984375, -5.9765625, -85.341796875, 12.65625 ]
[ -40.25390625, 75.9375, 73.30078125, -1.93359375, -85.95703125, 22.060546875 ]
2.866667
86
0
86
0
[ -38.671875, 75.498046875, 65.91796875, -5.9765625, -85.166015625, 12.65625 ]
[ -39.990234375, 75.5859375, 72.333984375, -1.93359375, -85.517578125, 22.060546875 ]
2.9
87
0
87
0
[ -38.3203125, 75.05859375, 65.126953125, -5.9765625, -84.90234375, 12.744140625 ]
[ -39.638671875, 75.05859375, 71.54296875, -1.93359375, -85.25390625, 22.060546875 ]
2.933333
88
0
88
0
[ -38.056640625, 74.619140625, 64.423828125, -5.9765625, -84.7265625, 12.65625 ]
[ -39.19921875, 74.619140625, 70.751953125, -2.021484375, -85.166015625, 22.060546875 ]
2.966667
89
0
89
0
[ -37.96875, 74.1796875, 63.896484375, -5.9765625, -84.638671875, 12.744140625 ]
[ -38.408203125, 73.740234375, 69.9609375, -1.93359375, -84.7265625, 22.060546875 ]
3
90
0
90
0
[ -37.705078125, 73.564453125, 62.9296875, -5.9765625, -84.462890625, 12.744140625 ]
[ -38.232421875, 73.65234375, 69.873046875, -2.021484375, -84.7265625, 22.060546875 ]
3.033333
91
0
91
0
[ -37.6171875, 73.125, 62.578125, -5.9765625, -84.375, 12.744140625 ]
[ -37.96875, 73.125, 69.345703125, -1.93359375, -84.638671875, 22.060546875 ]
3.066667
92
0
92
0
[ -37.353515625, 72.685546875, 62.2265625, -6.064453125, -84.111328125, 12.744140625 ]
[ -37.529296875, 72.0703125, 68.642578125, -2.021484375, -84.287109375, 22.060546875 ]
3.1
93
0
93
0
[ -37.177734375, 72.0703125, 61.611328125, -6.064453125, -83.84765625, 12.744140625 ]
[ -37.177734375, 70.927734375, 68.642578125, -1.93359375, -84.287109375, 22.060546875 ]
3.133333
94
0
94
0
[ -36.298828125, 70.400390625, 59.677734375, -6.240234375, -83.056640625, 12.65625 ]
[ -37.177734375, 70.927734375, 68.73046875, -1.93359375, -84.287109375, 22.060546875 ]
3.166667
95
0
95
0
[ -36.123046875, 69.78515625, 58.7109375, -6.240234375, -82.96875, 12.65625 ]
[ -36.73828125, 69.345703125, 65.302734375, -1.93359375, -83.408203125, 22.060546875 ]
3.2
96
0
96
0
[ -35.595703125, 68.818359375, 56.77734375, -6.15234375, -82.79296875, 12.65625 ]
[ -36.73828125, 68.994140625, 64.3359375, -1.93359375, -83.232421875, 22.060546875 ]
3.233333
97
0
97
0
[ -35.15625, 68.115234375, 55.634765625, -6.15234375, -82.6171875, 12.65625 ]
[ -36.474609375, 68.291015625, 63.10546875, -1.93359375, -82.79296875, 22.060546875 ]
3.266667
98
0
98
0
[ -34.8046875, 67.32421875, 54.052734375, -6.064453125, -82.353515625, 12.65625 ]
[ -35.595703125, 66.708984375, 59.94140625, -2.021484375, -82.353515625, 22.060546875 ]
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": 77,
    "total_frames": 77186,
    "total_tasks": 1,
    "total_videos": 154,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:77"
    },
    "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.wrist": {
            "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": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.fixed": {
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
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                "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": {
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            ],
            "names": null
        },
        "episode_index": {
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        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

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