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Datasets:
abraranwar
/
usc_koch_failure_move_the_orange_cup_from_right_to_left

Tasks:
Robotics
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1K - 10K
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LeRobot
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float32
0
15.7
frame_index
int64
0
470
episode_index
int64
0
4
index
int64
0
1.93k
task_index
int64
0
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[ -0.5128205418586731, -36.42741394042969, 9.256726264953613, -85.39281463623047, -8.278388023376465, 48.33555221557617, -16.630037307739258, 15.710382461547852, 41.14786148071289, -73.49019622802734, -15.164834976196289, 0.790513813495636 ]
[ -0.21978022158145905, -33.088233947753906, 8.62385368347168, -86.23104095458984, -5.103785037994385, 48.406227111816406, -16.288156509399414, 15.894868850708008, 39.6119270324707, -75.4571304321289, -15.067154884338379, 19.65748405456543 ]
3.066667
92
0
92
0
[ -0.5128205418586731, -36.75121307373047, 9.07432746887207, -85.39281463623047, -8.278388023376465, 48.33555221557617, -16.678876876831055, 16.12021827697754, 41.14786148071289, -73.49019622802734, -15.164834976196289, 0.9222661256790161 ]
[ -0.2686202824115753, -33.088233947753906, 8.62385368347168, -86.23104095458984, -5.15262508392334, 48.406227111816406, -16.385835647583008, 15.769712448120117, 39.990535736083984, -74.48191833496094, -15.164834976196289, 13.62621021270752 ]
3.1
93
0
93
0
[ -0.5616605877876282, -37.182945251464844, 8.891928672790527, -85.39281463623047, -8.278388023376465, 48.33555221557617, -16.77655601501465, 16.2568302154541, 41.14786148071289, -73.49019622802734, -15.115995407104492, 0.9222661256790161 ]
[ -0.3174603283405304, -33.33333206176758, 8.440366744995117, -86.15324401855469, -5.201465129852295, 48.406227111816406, -16.385835647583008, 15.894868850708008, 40.842403411865234, -73.7505111694336, -15.067154884338379, 10.796723365783691 ]
3.133333
94
0
94
0
[ -0.5616605877876282, -37.39881134033203, 8.709529876708984, -85.39281463623047, -8.278388023376465, 48.33555221557617, -16.874237060546875, 16.2568302154541, 41.14786148071289, -73.5686264038086, -15.115995407104492, 0.9222661256790161 ]
[ -0.3174603283405304, -33.57843017578125, 7.981651306152344, -86.15324401855469, -5.201465129852295, 48.406227111816406, -16.434677124023438, 16.27033805847168, 41.12636184692383, -73.58797454833984, -15.067154884338379, 10.72226333618164 ]
3.166667
95
0
95
0
[ -0.5616605877876282, -37.72261047363281, 8.527132034301758, -85.39281463623047, -8.278388023376465, 48.33555221557617, -16.97191619873047, 16.2568302154541, 41.14786148071289, -73.5686264038086, -15.115995407104492, 0.9222661256790161 ]
[ -0.3174603283405304, -33.94607925415039, 7.52293586730957, -86.15324401855469, -5.25030517578125, 48.406227111816406, -16.483516693115234, 16.27033805847168, 41.12636184692383, -73.50670623779297, -15.067154884338379, 10.72226333618164 ]
3.2
96
0
96
0
[ -0.6105006337165833, -38.15434265136719, 8.162334442138672, -85.39281463623047, -8.278388023376465, 48.33555221557617, -16.97191619873047, 16.12021827697754, 41.14786148071289, -73.5686264038086, -15.115995407104492, 0.9222661256790161 ]
[ -0.3174603283405304, -34.19117736816406, 7.431192874908447, -86.15324401855469, -5.299145221710205, 48.406227111816406, -16.53235626220703, 16.14518165588379, 41.12636184692383, -73.4254379272461, -15.018315315246582, 10.64780330657959 ]
3.233333
97
0
97
0
[ -0.5616605877876282, -38.58607482910156, 7.979936122894287, -85.39281463623047, -8.278388023376465, 48.33555221557617, -17.0207576751709, 15.983606338500977, 41.14786148071289, -73.64705657958984, -15.164834976196289, 0.9222661256790161 ]
[ -0.3174603283405304, -34.92647171020508, 7.15596342086792, -86.15324401855469, -5.299145221710205, 48.406227111816406, -16.53235626220703, 16.27033805847168, 41.12636184692383, -73.4254379272461, -15.018315315246582, 10.64780330657959 ]
3.266667
98
0
98
0
[ -0.5616605877876282, -38.90987777709961, 7.706338405609131, -85.31385803222656, -8.327228546142578, 48.33555221557617, -17.0207576751709, 15.846994400024414, 41.14786148071289, -73.80392456054688, -15.164834976196289, 0.9222661256790161 ]
[ -0.3663003742694855, -35.41666793823242, 6.7889909744262695, -86.15324401855469, -5.299145221710205, 48.406227111816406, -16.53235626220703, 16.27033805847168, 41.12636184692383, -73.4254379272461, -15.018315315246582, 10.64780330657959 ]
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": "v3.0",
    "robot_type": "bi_koch_follower",
    "total_episodes": 5,
    "total_frames": 1931,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
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                "width",
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            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.side": {
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            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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