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Datasets:
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/
pick_place_lego

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
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License:
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action
sequence
observation.state
sequence
timestamp
float32
0
16.3
frame_index
int64
0
490
episode_index
int64
0
49
index
int64
0
23k
task_index
int64
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2.566667
77
0
77
0
[ 8.0859375, 134.12109375, 157.060546875, -17.2265625, -10.283203125, 32.87109375 ]
[ 7.119140625, 129.814453125, 161.630859375, -16.083984375, -9.580078125, 33.22265625 ]
2.6
78
0
78
0
[ 8.61328125, 134.12109375, 156.005859375, -16.083984375, -10.1953125, 32.87109375 ]
[ 7.3828125, 129.814453125, 160.751953125, -15.99609375, -9.580078125, 33.22265625 ]
2.633333
79
0
79
0
[ 8.876953125, 134.12109375, 154.6875, -14.326171875, -10.01953125, 32.87109375 ]
[ 7.470703125, 129.814453125, 159.609375, -15.99609375, -9.580078125, 33.22265625 ]
2.666667
80
0
80
0
[ 9.052734375, 134.12109375, 153.193359375, -12.392578125, -10.01953125, 32.87109375 ]
[ 7.822265625, 129.814453125, 157.763671875, -14.94140625, -9.580078125, 33.22265625 ]
2.7
81
0
81
0
[ 9.404296875, 134.12109375, 152.2265625, -11.77734375, -10.01953125, 32.87109375 ]
[ 8.4375, 129.814453125, 155.830078125, -12.83203125, -9.580078125, 33.22265625 ]
2.733333
82
0
82
0
[ 9.140625, 134.033203125, 151.34765625, -11.689453125, -10.1953125, 32.87109375 ]
[ 8.701171875, 129.814453125, 154.951171875, -10.72265625, -9.580078125, 33.22265625 ]
2.766667
83
0
83
0
[ 9.052734375, 133.9453125, 150.64453125, -11.25, -10.283203125, 32.87109375 ]
[ 8.876953125, 129.814453125, 154.951171875, -10.107421875, -9.580078125, 33.22265625 ]
2.8
84
0
84
0
[ 9.31640625, 133.857421875, 149.765625, -10.1953125, -10.283203125, 32.783203125 ]
[ 8.96484375, 129.7265625, 153.896484375, -9.66796875, -9.580078125, 33.22265625 ]
2.833333
85
0
85
0
[ 10.1953125, 133.857421875, 148.623046875, -8.61328125, -9.931640625, 32.87109375 ]
[ 8.96484375, 129.7265625, 153.10546875, -9.4921875, -9.580078125, 33.22265625 ]
2.866667
86
0
86
0
[ 10.1953125, 133.857421875, 147.216796875, -6.240234375, -9.931640625, 32.87109375 ]
[ 9.404296875, 129.7265625, 151.171875, -8.525390625, -9.4921875, 33.22265625 ]
2.9
87
0
87
0
[ 10.1953125, 133.76953125, 145.810546875, -3.33984375, -9.84375, 32.87109375 ]
[ 9.84375, 129.7265625, 150.029296875, -6.767578125, -9.31640625, 33.22265625 ]
2.933333
88
0
88
0
[ 10.1953125, 133.41796875, 144.755859375, -1.7578125, -9.84375, 32.87109375 ]
[ 9.931640625, 129.7265625, 149.23828125, -4.921875, -9.228515625, 33.22265625 ]
2.966667
89
0
89
0
[ 10.37109375, 133.2421875, 143.876953125, -0.17578125, -9.4921875, 32.87109375 ]
[ 9.931640625, 129.7265625, 147.919921875, -1.93359375, -9.228515625, 33.22265625 ]
3
90
0
90
0
[ 10.634765625, 133.06640625, 142.3828125, 3.076171875, -9.31640625, 32.87109375 ]
[ 9.931640625, 129.7265625, 146.689453125, 0.439453125, -9.140625, 33.22265625 ]
3.033333
91
0
91
0
[ 11.42578125, 132.36328125, 140.009765625, 8.349609375, -8.173828125, 32.87109375 ]
[ 9.931640625, 129.7265625, 145.634765625, 2.28515625, -9.228515625, 33.22265625 ]
3.066667
92
0
92
0
[ 11.865234375, 131.484375, 137.8125, 13.095703125, -7.294921875, 32.87109375 ]
[ 10.458984375, 129.7265625, 144.052734375, 5.44921875, -9.052734375, 33.22265625 ]
3.1
93
0
93
0
[ 12.568359375, 130.869140625, 137.109375, 14.4140625, -6.85546875, 32.87109375 ]
[ 10.72265625, 129.55078125, 141.591796875, 9.580078125, -8.26171875, 33.22265625 ]
3.133333
94
0
94
0
[ 12.919921875, 130.166015625, 136.845703125, 15.029296875, -6.85546875, 33.046875 ]
[ 11.337890625, 129.375, 140.009765625, 12.3046875, -7.55859375, 33.22265625 ]
3.166667
95
0
95
0
[ 13.359375, 129.287109375, 136.23046875, 16.5234375, -6.85546875, 33.486328125 ]
[ 11.865234375, 129.19921875, 139.04296875, 15.029296875, -6.767578125, 33.22265625 ]
3.2
96
0
96
0
[ 14.58984375, 128.49609375, 135.966796875, 17.05078125, -6.767578125, 33.486328125 ]
[ 12.392578125, 128.84765625, 139.04296875, 16.5234375, -6.328125, 33.22265625 ]
3.233333
97
0
97
0
[ 15.380859375, 127.79296875, 135.791015625, 17.40234375, -6.85546875, 33.57421875 ]
[ 13.095703125, 128.408203125, 139.04296875, 17.2265625, -6.240234375, 33.22265625 ]
3.266667
98
0
98
0
[ 16.34765625, 126.9140625, 135.17578125, 18.720703125, -6.85546875, 34.013671875 ]
[ 13.88671875, 127.96875, 139.04296875, 17.490234375, -6.240234375, 33.22265625 ]
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": 23027,
    "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"
            ],
            "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,
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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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                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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