DAIM-KAIST/kairos-oht-sample

KAIROS OHT telemetry (sample)

Raw sensor data and onboard video from five overhead hoist transport vehicles (OHTp_01 to OHTp_05) on the KAIROS lab rail at KAIST. Each split is one time window. There are no labels yet.

from datasets import load_dataset
adc = load_dataset("DAIM-KAIST/kairos-oht-sample", "adc", split="w01")

Windows

split	KST	notes
w01	2026-11-10 09:00 to 09:10	all data stops at 09:07:06; no ops from OHTp_05; moving: OHTp_04 (max 0.12 m/s); no audio

Files

config	path	rate	columns
adc	adc/<split>/<vehicle>/*.parquet	1000 Hz moving, 100 Hz parked	ch0..ch7: speed and torque of drive, rear wheel, slide, hoist (in that order, speed first)
vib	vib/<split>/...	200 Hz	sensor (vib, vib_1, vib_2), accel_x/y/z in g, angle_x/y/z
ops	ops/<split>/...	100 Hz	rail_tag, offset_mm (mm from the last tag), speed_mps
coverage	metadata/coverage-<split>.parquet	1 row/s	samples per vehicle, sensor and second
video_index	video/index-<split>.parquet		one row per 1-minute MP4, stored at video/<split>/<file_name>

Every table has time (UTC, microseconds) and vehicle. Values are the float32 the vehicles sent; nothing is filtered or derived. Files are split per vehicle per hour. The rates differ, so resample before joining tables.

angle_* is degrees on vib_1/vib_2 and degrees per second on vib. The adc channel scales have not been checked against the vendor's documentation.

A sensor with no row in coverage for a given second sent nothing, or sent only zeros, which the ingest drops.

Video is H.264, 1280x720, 15 fps. Camera OHT00N is on vehicle OHTp_0N. Segments that overlap the window are included whole, so video starts up to a minute early.

Clocks

Sensor times come from the vehicle's clock and video times from the recording server's NTP clock, so the two can be about a second apart. On 2026-11-11 vehicle time ran up to 0.7 s behind the server, and camera latency was not measured. Align video and sensors on a visible event, such as the vehicle starting to move.

Known issues

• There is no audio. The vehicles are not sending the microphone streams right now.
• Which sensors report changes over time while the rig is being set up.

License

Not decided yet. Ask DAIM-KAIST before redistributing.