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Datasets:
abraranwar
/
usc_koch_suboptimal_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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observation.state
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timestamp
float32
0
24.2
frame_index
int64
0
727
episode_index
int64
0
4
index
int64
0
3.44k
task_index
int64
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2.133333
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2.233333
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2.6
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2.7
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[ 1.196581244468689, -44.240196228027344, -12.568807601928711, -63.82730484008789, -2.4664225578308105, 47.887325286865234, -24.297924041748047, -41.05131530761719, -8.755324363708496, -64.64851379394531, -12.576313018798828, 47.05882263183594 ]
3
90
0
90
0
[ 1.1477411985397339, -46.249324798583984, -11.445508003234863, -62.416107177734375, -3.0525031089782715, 47.80292892456055, -25.323564529418945, -36.88524627685547, -6.3229570388793945, -61.17647171020508, -13.308913230895996, 46.640316009521484 ]
[ 1.196581244468689, -44.240196228027344, -12.568807601928711, -63.82730484008789, -2.4664225578308105, 47.887325286865234, -24.493284225463867, -39.67459487915039, -8.849976539611816, -64.24217987060547, -12.625152587890625, 47.05882263183594 ]
3.033333
91
0
91
0
[ 1.196581244468689, -46.249324798583984, -11.445508003234863, -62.416107177734375, -3.0525031089782715, 47.80292892456055, -25.567766189575195, -34.562843322753906, -6.225680828094482, -59.843135833740234, -13.35775375366211, 46.640316009521484 ]
[ 1.196581244468689, -44.240196228027344, -12.568807601928711, -63.82730484008789, -2.4664225578308105, 47.887325286865234, -24.688644409179688, -38.17271423339844, -8.755324363708496, -63.592037200927734, -12.722832679748535, 47.05882263183594 ]
3.066667
92
0
92
0
[ 1.196581244468689, -46.249324798583984, -11.35430908203125, -62.416107177734375, -3.0525031089782715, 47.80292892456055, -25.811965942382812, -32.37704849243164, -6.225680828094482, -58.66666793823242, -13.35775375366211, 46.640316009521484 ]
[ 1.196581244468689, -44.240196228027344, -12.568807601928711, -63.82730484008789, -2.4664225578308105, 47.887325286865234, -24.932844161987305, -36.17021179199219, -8.755324363708496, -62.77935791015625, -12.820512771606445, 47.05882263183594 ]
3.1
93
0
93
0
[ 1.245421290397644, -46.249324798583984, -11.263110160827637, -62.416107177734375, -3.0525031089782715, 47.80292892456055, -26.007326126098633, -30.73770523071289, -6.12840461730957, -57.882354736328125, -13.35775375366211, 46.640316009521484 ]
[ 1.196581244468689, -44.240196228027344, -12.568807601928711, -63.82730484008789, -2.4664225578308105, 47.887325286865234, -25.177045822143555, -33.917396545410156, -8.755324363708496, -61.64160919189453, -12.820512771606445, 47.05882263183594 ]
3.133333
94
0
94
0
[ 1.245421290397644, -46.249324798583984, -11.263110160827637, -62.416107177734375, -3.0525031089782715, 47.80292892456055, -26.105005264282227, -29.23497200012207, -6.031128406524658, -57.01960754394531, -13.35775375366211, 45.059288024902344 ]
[ 1.196581244468689, -44.240196228027344, -12.568807601928711, -63.82730484008789, -2.4664225578308105, 47.887325286865234, -25.47008514404297, -31.789737701416016, -8.755324363708496, -60.42259216308594, -12.820512771606445, 47.05882263183594 ]
3.166667
95
0
95
0
[ 1.196581244468689, -46.249324798583984, -11.35430908203125, -62.416107177734375, -3.0525031089782715, 47.80292892456055, -26.153846740722656, -28.005464553833008, -6.031128406524658, -55.843135833740234, -13.35775375366211, 39.92094802856445 ]
[ 1.196581244468689, -44.240196228027344, -12.568807601928711, -63.82730484008789, -2.4664225578308105, 47.887325286865234, -25.616605758666992, -30.037546157836914, -8.660672187805176, -59.12230682373047, -12.869353294372559, 46.760982513427734 ]
3.2
96
0
96
0
[ 1.1477411985397339, -46.249324798583984, -11.35430908203125, -62.416107177734375, -3.0525031089782715, 47.80292892456055, -26.202686309814453, -26.502731323242188, -6.031128406524658, -54.039215087890625, -13.113553047180176, 33.992095947265625 ]
[ 1.196581244468689, -44.240196228027344, -12.568807601928711, -63.82730484008789, -2.4664225578308105, 47.887325286865234, -25.714284896850586, -28.660825729370117, -8.660672187805176, -57.903289794921875, -12.967033386230469, 45.122859954833984 ]
3.233333
97
0
97
0
[ 1.0012210607528687, -46.249324798583984, -11.445508003234863, -62.49506378173828, -3.0525031089782715, 47.93608474731445, -26.153846740722656, -25, -6.031128406524658, -51.92156982421875, -12.918192863464355, 26.61396598815918 ]
[ 1.196581244468689, -44.240196228027344, -12.568807601928711, -63.82730484008789, -2.4664225578308105, 47.887325286865234, -25.811965942382812, -27.28410530090332, -8.660672187805176, -56.928077697753906, -12.918192863464355, 41.772151947021484 ]
3.266667
98
0
98
0
[ 0.8547008633613586, -46.14139175415039, -11.627906799316406, -62.416107177734375, -3.1013431549072266, 47.93608474731445, -26.105005264282227, -23.770492553710938, -6.031128406524658, -50.35293960571289, -13.113553047180176, 15.019762992858887 ]
[ 1.196581244468689, -44.240196228027344, -12.568807601928711, -63.82730484008789, -2.4664225578308105, 47.887325286865234, -25.811965942382812, -25.782228469848633, -8.660672187805176, -55.62779235839844, -12.918192863464355, 37.0067024230957 ]
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": 3436,
    "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"
            ],
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        "observation.state": {
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                "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": [
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        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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            "info": {
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                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        "observation.images.side": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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