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abraranwar
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usc_koch_failure_throw_the_orange_cup_away_red_trash_can

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Robotics
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observation.state
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float32
0
12.8
frame_index
int64
0
385
episode_index
int64
0
4
index
int64
0
1.65k
task_index
int64
0
0
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[ -13.2600736618042, -66.2169418334961, -9.07432746887207, -80.81326293945312, -1.5384615659713745, 47.40346145629883, -15.115995407104492, -25.136611938476562, -20.525291442871094, -33.33333206176758, -0.8547008633613586, 48.35309600830078 ]
[ -12.673993110656738, -63.84803771972656, -10.183485984802246, -80.00778198242188, -0.9035409092903137, 47.96145248413086, -14.725275039672852, -24.906131744384766, -21.249408721923828, -33.36042404174805, -0.41514042019844055, 47.58004379272461 ]
3.033333
91
0
91
0
[ -13.55311393737793, -66.97248077392578, -9.165526390075684, -81.4449234008789, -1.5384615659713745, 47.536617279052734, -15.164834976196289, -25.136611938476562, -20.525291442871094, -33.33333206176758, -0.8547008633613586, 48.221343994140625 ]
[ -12.869353294372559, -64.21568298339844, -10.183485984802246, -80.00778198242188, -1.0500611066818237, 47.96145248413086, -14.822955131530762, -24.906131744384766, -21.249408721923828, -33.36042404174805, -0.41514042019844055, 47.58004379272461 ]
3.066667
92
0
92
0
[ -13.94383430480957, -68.15974426269531, -9.712721824645996, -81.68180084228516, -1.5384615659713745, 47.536617279052734, -15.115995407104492, -25.136611938476562, -20.525291442871094, -33.33333206176758, -0.8547008633613586, 48.221343994140625 ]
[ -13.113553047180176, -64.70587921142578, -10.183485984802246, -80.0855712890625, -1.0989011526107788, 47.96145248413086, -14.871794700622559, -24.906131744384766, -21.249408721923828, -33.36042404174805, -0.46398046612739563, 47.58004379272461 ]
3.1
93
0
93
0
[ -14.285714149475098, -69.45494079589844, -10.259918212890625, -81.68180084228516, -1.5384615659713745, 47.536617279052734, -15.115995407104492, -25, -20.525291442871094, -33.411766052246094, -0.8058608174324036, 48.221343994140625 ]
[ -13.45543384552002, -65.44117736816406, -10.275229454040527, -80.31893920898438, -1.1477411985397339, 47.96145248413086, -14.871794700622559, -24.906131744384766, -21.249408721923828, -33.36042404174805, -0.5616605877876282, 47.58004379272461 ]
3.133333
94
0
94
0
[ -14.578754425048828, -70.75013732910156, -10.715914726257324, -81.68180084228516, -1.5384615659713745, 47.40346145629883, -15.115995407104492, -25, -20.525291442871094, -33.490196228027344, -0.8058608174324036, 48.221343994140625 ]
[ -13.797313690185547, -66.42156982421875, -11.009174346923828, -80.55231475830078, -1.196581244468689, 47.96145248413086, -14.920635223388672, -24.906131744384766, -21.249408721923828, -33.36042404174805, -0.5616605877876282, 47.58004379272461 ]
3.166667
95
0
95
0
[ -14.676434516906738, -71.18186950683594, -10.89831256866455, -81.76075744628906, -1.5873016119003296, 47.40346145629883, -15.115995407104492, -25, -20.525291442871094, -33.490196228027344, -0.8058608174324036, 48.221343994140625 ]
[ -14.090353965759277, -67.76960754394531, -11.651375770568848, -81.01905822753906, -1.196581244468689, 47.96145248413086, -14.920635223388672, -24.906131744384766, -21.249408721923828, -33.36042404174805, -0.5616605877876282, 47.58004379272461 ]
3.2
96
0
96
0
[ -14.676434516906738, -71.39773559570312, -10.807113647460938, -82.07659149169922, -1.6361416578292847, 47.536617279052734, -15.115995407104492, -25, -20.525291442871094, -33.490196228027344, -0.8547008633613586, 48.221343994140625 ]
[ -14.334554672241211, -68.75, -12.110092163085938, -81.09684753417969, -1.196581244468689, 47.96145248413086, -14.969474792480469, -24.906131744384766, -21.249408721923828, -33.36042404174805, -0.5616605877876282, 47.58004379272461 ]
3.233333
97
0
97
0
[ -14.725275039672852, -71.39773559570312, -10.715914726257324, -82.6292953491211, -1.6361416578292847, 47.536617279052734, -15.067154884338379, -25, -20.525291442871094, -33.490196228027344, -0.8058608174324036, 48.221343994140625 ]
[ -14.432234764099121, -69.48529052734375, -12.201834678649902, -81.17463684082031, -1.196581244468689, 47.887325286865234, -15.018315315246582, -24.906131744384766, -21.249408721923828, -33.36042404174805, -0.5616605877876282, 47.58004379272461 ]
3.266667
98
0
98
0
[ -14.822955131530762, -71.39773559570312, -10.715914726257324, -82.7872085571289, -1.6361416578292847, 47.536617279052734, -15.067154884338379, -25.136611938476562, -20.525291442871094, -33.490196228027344, -0.8058608174324036, 48.221343994140625 ]
[ -14.529914855957031, -69.85294342041016, -12.201834678649902, -81.40801239013672, -1.196581244468689, 47.887325286865234, -15.018315315246582, -24.906131744384766, -21.249408721923828, -33.36042404174805, -0.5616605877876282, 47.58004379272461 ]
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": 1646,
    "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": [
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        },
        "observation.state": {
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            "names": [
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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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            "names": [
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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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            "shape": [
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            "names": [
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        },
        "timestamp": {
            "dtype": "float32",
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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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