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abraranwar
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usc_koch_separate_the_purple_and_red_and_red_cups

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Robotics
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float32
0
11.3
frame_index
int64
0
339
episode_index
int64
0
9
index
int64
0
2.56k
task_index
int64
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[ -27.5213680267334, -13.437668800354004, 20.383037567138672, -78.3655776977539, 0.3174603283405304, 47.93608474731445, 27.619047164916992, -8.879781723022461, 36.57587432861328, -92.31372833251953, -5.299145221710205, 45.58629608154297 ]
[ -27.47252655029297, -14.70588207244873, 16.14678955078125, -79.92998504638672, 0.2686202824115753, 48.85100173950195, 26.935287475585938, -9.887359619140625, 35.54188537597656, -93.01097106933594, -5.641025543212891, 47.80342483520508 ]
3.1
93
0
93
0
[ -27.570207595825195, -13.005936622619629, 20.5654354095459, -78.12870025634766, 0.2686202824115753, 47.66977310180664, 27.765567779541016, -7.7868852615356445, 36.57587432861328, -92, -5.299145221710205, 43.4782600402832 ]
[ -27.47252655029297, -13.72549057006836, 16.23853302001953, -79.61882781982422, 0.2686202824115753, 48.77687072753906, 27.081806182861328, -8.886107444763184, 35.54188537597656, -92.84843444824219, -5.641025543212891, 46.90990447998047 ]
3.133333
94
0
94
0
[ -27.619047164916992, -12.142471313476562, 20.747833251953125, -77.97078704833984, 0.17094017565250397, 47.536617279052734, 27.86324691772461, -6.693989276885986, 36.57587432861328, -91.76470947265625, -5.25030517578125, 40.84321594238281 ]
[ -27.570207595825195, -12.745098114013672, 16.605504989624023, -78.8409194946289, 0.3663003742694855, 48.85100173950195, 27.22832679748535, -7.634542942047119, 35.54188537597656, -92.60462951660156, -5.641025543212891, 45.644081115722656 ]
3.166667
95
0
95
0
[ -27.66788673400879, -11.602806091308594, 21.20383071899414, -77.97078704833984, 0.02442002482712269, 46.7376823425293, 27.91208839416504, -5.464480876922607, 36.57587432861328, -91.45098114013672, -5.05494499206543, 36.627140045166016 ]
[ -27.570207595825195, -12.132352828979492, 16.972476959228516, -78.37417602539062, 0.3663003742694855, 48.332096099853516, 27.423686981201172, -6.633291721343994, 35.54188537597656, -92.36083221435547, -5.641025543212891, 44.08041763305664 ]
3.2
96
0
96
0
[ -27.71672821044922, -11.063140869140625, 21.477428436279297, -77.97078704833984, -0.12210012227296829, 44.20772171020508, 27.960927963256836, -4.371584892272949, 36.57587432861328, -91.13725280761719, -5.006104946136475, 33.72859191894531 ]
[ -27.619047164916992, -11.519607543945312, 17.43119239807129, -78.37417602539062, 0.3663003742694855, 47.73906707763672, 27.47252655029297, -5.50688362121582, 35.54188537597656, -92.03575897216797, -5.5921854972839355, 41.548770904541016 ]
3.233333
97
0
97
0
[ -27.765567779541016, -11.063140869140625, 21.659826278686523, -77.97078704833984, -0.3174603283405304, 41.41145324707031, 28.009767532348633, -3.551912546157837, 36.57587432861328, -90.90196228027344, -4.9084248542785645, 33.20158004760742 ]
[ -27.619047164916992, -10.90686321258545, 18.165138244628906, -78.29637908935547, 0.3174603283405304, 47.146034240722656, 27.5213680267334, -4.255319118499756, 35.54188537597656, -91.71068572998047, -5.44566535949707, 38.272525787353516 ]
3.266667
98
0
98
0
[ -27.765567779541016, -11.063140869140625, 21.659826278686523, -77.89183044433594, -0.46398046612739563, 38.482025146484375, 28.10744857788086, -3.005464553833008, 36.57587432861328, -90.90196228027344, -4.713064670562744, 33.069828033447266 ]
[ -27.66788673400879, -10.661765098571777, 18.62385368347168, -77.90743255615234, 0.2686202824115753, 45.366939544677734, 27.570207595825195, -3.128911256790161, 35.54188537597656, -91.060546875, -5.299145221710205, 35.070735931396484 ]
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": 2561,
    "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_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": {
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            "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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        "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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            "names": null
        }
    }
}

Citation

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