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Datasets:
HWJ658970
/
lego_100_class

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
15.6
frame_index
int64
0
469
episode_index
int64
0
99
index
int64
0
25.8k
task_index
int64
0
0
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[ 0, 49.306640625, 48.427734375, 78.22265625, -103.53515625, 32.607421875 ]
2.533333
76
0
76
0
[ 1.142578125, 49.658203125, 46.494140625, 78.57421875, -105.8203125, 23.291015625 ]
[ 0, 48.779296875, 48.33984375, 78.310546875, -103.623046875, 32.431640625 ]
2.566667
77
0
77
0
[ 1.142578125, 49.5703125, 46.7578125, 78.75, -106.875, 19.6875 ]
[ 0.3515625, 48.603515625, 48.251953125, 78.310546875, -103.88671875, 31.201171875 ]
2.6
78
0
78
0
[ 1.142578125, 49.5703125, 47.021484375, 78.837890625, -107.75390625, 16.083984375 ]
[ 0.52734375, 48.603515625, 47.98828125, 78.310546875, -104.0625, 29.794921875 ]
2.633333
79
0
79
0
[ 1.142578125, 49.5703125, 47.109375, 78.92578125, -108.544921875, 12.12890625 ]
[ 0.791015625, 48.603515625, 47.900390625, 77.958984375, -105.029296875, 27.509765625 ]
2.666667
80
0
80
0
[ 1.142578125, 49.658203125, 47.109375, 79.1015625, -109.51171875, 6.591796875 ]
[ 0.791015625, 48.603515625, 47.900390625, 77.958984375, -105.556640625, 25.751953125 ]
2.7
81
0
81
0
[ 1.142578125, 49.74609375, 47.109375, 79.8046875, -110.0390625, 2.109375 ]
[ 0.87890625, 48.603515625, 47.8125, 78.046875, -106.259765625, 23.466796875 ]
2.733333
82
0
82
0
[ 1.142578125, 50.2734375, 46.845703125, 81.298828125, -110.390625, -2.021484375 ]
[ 0.966796875, 48.603515625, 47.8125, 78.22265625, -107.138671875, 21.4453125 ]
2.766667
83
0
83
0
[ 1.142578125, 50.44921875, 46.23046875, 82.96875, -110.478515625, -6.943359375 ]
[ 0.966796875, 48.69140625, 47.724609375, 78.57421875, -107.9296875, 19.951171875 ]
2.8
84
0
84
0
[ 1.142578125, 50.625, 46.142578125, 84.90234375, -110.56640625, -8.61328125 ]
[ 0.966796875, 48.69140625, 47.4609375, 79.189453125, -108.544921875, 19.599609375 ]
2.833333
85
0
85
0
[ 1.142578125, 51.15234375, 45.791015625, 85.78125, -111.005859375, -8.4375 ]
[ 0.966796875, 48.69140625, 47.373046875, 80.5078125, -108.896484375, 19.599609375 ]
2.866667
86
0
86
0
[ 1.142578125, 52.734375, 45.263671875, 86.572265625, -111.97265625, -8.4375 ]
[ 0.966796875, 48.8671875, 47.021484375, 81.826171875, -109.16015625, 19.599609375 ]
2.9
87
0
87
0
[ 1.142578125, 54.404296875, 45.087890625, 86.66015625, -112.8515625, -8.4375 ]
[ 0.966796875, 49.306640625, 46.845703125, 82.96875, -109.599609375, 19.599609375 ]
2.933333
88
0
88
0
[ 1.142578125, 56.07421875, 44.912109375, 86.748046875, -113.642578125, -8.4375 ]
[ 0.966796875, 50.009765625, 46.93359375, 84.287109375, -110.126953125, 19.599609375 ]
2.966667
89
0
89
0
[ 1.142578125, 57.65625, 44.736328125, 86.748046875, -114.2578125, -8.4375 ]
[ 0.966796875, 51.064453125, 47.021484375, 85.693359375, -110.7421875, 19.599609375 ]
3
90
0
90
0
[ 1.23046875, 59.0625, 44.560546875, 86.748046875, -114.78515625, -8.4375 ]
[ 1.0546875, 52.20703125, 47.021484375, 86.044921875, -111.533203125, 19.599609375 ]
3.033333
91
0
91
0
[ 1.318359375, 60.46875, 44.47265625, 86.748046875, -115.3125, -8.4375 ]
[ 0.966796875, 54.4921875, 46.93359375, 85.869140625, -112.5, 19.599609375 ]
3.066667
92
0
92
0
[ 1.845703125, 61.962890625, 44.384765625, 86.748046875, -116.015625, -8.4375 ]
[ 0.966796875, 55.8984375, 46.93359375, 86.1328125, -113.115234375, 19.599609375 ]
3.1
93
0
93
0
[ 2.900390625, 62.841796875, 44.384765625, 86.66015625, -116.630859375, -8.349609375 ]
[ 0.966796875, 57.12890625, 46.93359375, 86.220703125, -113.73046875, 19.599609375 ]
3.133333
94
0
94
0
[ 4.306640625, 63.45703125, 44.208984375, 86.572265625, -117.509765625, -8.4375 ]
[ 1.23046875, 58.18359375, 46.93359375, 86.1328125, -114.345703125, 19.599609375 ]
3.166667
95
0
95
0
[ 5.888671875, 63.720703125, 43.76953125, 86.572265625, -118.564453125, -8.4375 ]
[ 2.109375, 59.23828125, 46.93359375, 86.1328125, -114.873046875, 19.599609375 ]
3.2
96
0
96
0
[ 7.55859375, 63.6328125, 42.978515625, 86.572265625, -119.53125, -8.4375 ]
[ 3.603515625, 60.029296875, 46.23046875, 86.1328125, -115.927734375, 19.599609375 ]
3.233333
97
0
97
0
[ 9.580078125, 63.6328125, 41.748046875, 86.572265625, -120.76171875, -8.349609375 ]
[ 4.833984375, 60.029296875, 45, 86.1328125, -116.630859375, 19.599609375 ]
3.266667
98
0
98
0
[ 11.513671875, 63.28125, 40.60546875, 86.484375, -121.640625, -8.349609375 ]
[ 6.50390625, 60.1171875, 44.033203125, 86.1328125, -117.421875, 19.599609375 ]
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": 100,
    "total_frames": 25825,
    "total_tasks": 1,
    "total_videos": 200,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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.front": {
            "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": [
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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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Size of the auto-converted Parquet files:
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Number of rows:
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