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Datasets:
abraranwar
/
usc_koch_open_the_blue_trash_bin_blue_trash_bin

Tasks:
Robotics
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Tabular
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1K - 10K
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LeRobot
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float32
0
11.9
frame_index
int64
0
356
episode_index
int64
0
9
index
int64
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2.33k
task_index
int64
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[ -7.155066967010498, -66.17646789550781, 3.761467933654785, -75.18475341796875, -3.6874237060546875, 40.47442626953125, 3.980463981628418, -10.88861083984375, 10.932323455810547, -64.56724548339844, 3.882783889770508, 49.59046936035156 ]
3.1
93
0
93
0
[ -6.275946140289307, -67.62007904052734, 6.794345855712891, -73.86498260498047, -3.6385836601257324, 40.07989501953125, 4.273504257202148, -11.748634338378906, 11.964980125427246, -64.62744903564453, 3.7851037979125977, 49.53886795043945 ]
[ -6.959706783294678, -66.05392456054688, 3.761467933654785, -75.18475341796875, -3.6385836601257324, 40.47442626953125, 3.980463981628418, -10.88861083984375, 10.932323455810547, -64.56724548339844, 3.882783889770508, 49.59046936035156 ]
3.133333
94
0
94
0
[ -6.1782660484313965, -67.62007904052734, 7.067943572998047, -74.02289581298828, -3.492063522338867, 40.07989501953125, 4.273504257202148, -11.748634338378906, 11.964980125427246, -64.62744903564453, 3.7851037979125977, 49.53886795043945 ]
[ -6.8131866455078125, -66.17646789550781, 3.853210926055908, -75.18475341796875, -3.5897436141967773, 40.40029525756836, 3.980463981628418, -10.88861083984375, 10.932323455810547, -64.56724548339844, 3.882783889770508, 49.59046936035156 ]
3.166667
95
0
95
0
[ -6.129426002502441, -67.83594512939453, 7.432740688323975, -74.10185241699219, -3.1990232467651367, 40.07989501953125, 4.273504257202148, -11.748634338378906, 11.964980125427246, -64.62744903564453, 3.7851037979125977, 49.53886795043945 ]
[ -6.617826461791992, -66.17646789550781, 3.853210926055908, -75.18475341796875, -3.5897436141967773, 40.40029525756836, 3.980463981628418, -10.88861083984375, 10.932323455810547, -64.56724548339844, 3.882783889770508, 49.59046936035156 ]
3.2
96
0
96
0
[ -5.982905864715576, -68.15974426269531, 7.888736724853516, -74.25977325439453, -3.1013431549072266, 40.07989501953125, 4.3223443031311035, -11.748634338378906, 11.964980125427246, -64.62744903564453, 3.7851037979125977, 49.53886795043945 ]
[ -6.471306324005127, -66.17646789550781, 3.853210926055908, -75.18475341796875, -3.492063522338867, 40.326168060302734, 3.980463981628418, -10.88861083984375, 10.932323455810547, -64.56724548339844, 3.882783889770508, 49.59046936035156 ]
3.233333
97
0
97
0
[ -5.934065818786621, -68.15974426269531, 8.527132034301758, -74.41768646240234, -3.1013431549072266, 40.07989501953125, 4.273504257202148, -11.748634338378906, 11.964980125427246, -64.62744903564453, 3.7851037979125977, 49.53886795043945 ]
[ -6.324786186218262, -66.17646789550781, 3.853210926055908, -75.18475341796875, -3.345543384552002, 40.10377883911133, 3.980463981628418, -10.88861083984375, 10.932323455810547, -64.56724548339844, 3.882783889770508, 49.59046936035156 ]
3.266667
98
0
98
0
[ -5.836385726928711, -68.15974426269531, 9.07432746887207, -74.49664306640625, -3.0525031089782715, 40.07989501953125, 4.3223443031311035, -11.748634338378906, 11.964980125427246, -64.62744903564453, 3.7851037979125977, 49.53886795043945 ]
[ -6.324786186218262, -66.05392456054688, 4.403669834136963, -75.26254272460938, -3.247863292694092, 40.0296516418457, 3.980463981628418, -10.88861083984375, 10.932323455810547, -64.56724548339844, 3.882783889770508, 49.59046936035156 ]
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": 10,
    "total_frames": 2329,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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_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": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.pix_fmt": "yuv420p",
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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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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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        }
    }
}

Citation

BibTeX:

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