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abraranwar
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usc_koch_suboptimal_separate_the_purple_and_red_and_red_cups

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Robotics
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float32
0
14.8
frame_index
int64
0
445
episode_index
int64
0
5
index
int64
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2.01k
task_index
int64
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[ -17.118436813354492, -23.406862258911133, 20.27522850036621, -78.29637908935547, -10.085470199584961, 48.183841705322266, 11.746031761169434, -32.66583251953125, 17.179365158081055, -83.82771301269531, -3.8339438438415527, 47.95234680175781 ]
3.033333
91
0
91
0
[ -17.313796997070312, -20.669185638427734, 24.94300079345703, -78.52349090576172, -11.69719123840332, 48.202396392822266, 12.625152587890625, -25.409835815429688, 23.832685470581055, -85.17646789550781, -3.6874237060546875, 48.48484802246094 ]
[ -17.118436813354492, -22.058822631835938, 21.009174346923828, -78.29637908935547, -10.085470199584961, 48.183841705322266, 11.89255142211914, -30.037546157836914, 18.59914779663086, -83.90898132324219, -3.882783889770508, 47.95234680175781 ]
3.066667
92
0
92
0
[ -17.313796997070312, -19.266054153442383, 25.581396102905273, -78.52349090576172, -11.69719123840332, 48.202396392822266, 12.722832679748535, -22.814207077026367, 25.48638153076172, -85.4117660522461, -3.6874237060546875, 48.48484802246094 ]
[ -17.118436813354492, -20.710784912109375, 21.651376724243164, -78.29637908935547, -10.085470199584961, 48.183841705322266, 12.039072036743164, -27.784730911254883, 20.208234786987305, -83.99024963378906, -3.8339438438415527, 47.95234680175781 ]
3.1
93
0
93
0
[ -17.313796997070312, -17.539125442504883, 26.402189254760742, -78.52349090576172, -11.746031761169434, 48.202396392822266, 12.869353294372559, -20.355192184448242, 27.140077590942383, -85.49019622802734, -3.6874237060546875, 48.48484802246094 ]
[ -17.118436813354492, -19.485294342041016, 21.743120193481445, -78.29637908935547, -10.134309768676758, 48.183841705322266, 12.185592651367188, -25.28160285949707, 21.72266960144043, -84.15278625488281, -3.8339438438415527, 47.95234680175781 ]
3.133333
94
0
94
0
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[ -17.16727638244629, -18.014705657958984, 22.018348693847656, -78.29637908935547, -10.085470199584961, 48.183841705322266, 12.283272743225098, -22.778472900390625, 23.521060943603516, -84.31531524658203, -3.8339438438415527, 47.95234680175781 ]
3.166667
95
0
95
0
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[ -17.16727638244629, -16.66666603088379, 22.935779571533203, -78.29637908935547, -10.134309768676758, 48.183841705322266, 12.332112312316895, -20.150188446044922, 25.130146026611328, -84.3965835571289, -3.8339438438415527, 47.95234680175781 ]
3.2
96
0
96
0
[ -16.77655601501465, -12.790070533752441, 29.229366302490234, -78.52349090576172, -11.746031761169434, 48.202396392822266, 12.869353294372559, -13.251365661621094, 32.295719146728516, -85.96078491210938, -3.8339438438415527, 48.48484802246094 ]
[ -17.16727638244629, -15.196078300476074, 24.036697387695312, -78.29637908935547, -10.134309768676758, 48.183841705322266, 12.332112312316895, -17.271589279174805, 26.928537368774414, -84.55912017822266, -3.882783889770508, 47.95234680175781 ]
3.233333
97
0
97
0
[ -16.483516693115234, -11.710739135742188, 30.141359329223633, -78.52349090576172, -11.59951114654541, 48.33555221557617, 12.869353294372559, -11.612021446228027, 33.657588958740234, -85.96078491210938, -3.980463981628418, 48.48484802246094 ]
[ -17.16727638244629, -13.602941513061523, 25.137615203857422, -78.29637908935547, -10.134309768676758, 48.183841705322266, 12.380952835083008, -14.518147468566895, 28.7269287109375, -84.7216567993164, -3.882783889770508, 47.95234680175781 ]
3.266667
98
0
98
0
[ -16.288156509399414, -10.523475646972656, 30.9621524810791, -78.60244750976562, -11.550671577453613, 48.202396392822266, 12.869353294372559, -9.972677230834961, 34.63035202026367, -86.03921508789062, -3.980463981628418, 47.95783996582031 ]
[ -17.069597244262695, -12.254901885986328, 26.33027458190918, -78.29637908935547, -10.134309768676758, 48.183841705322266, 12.380952835083008, -12.265331268310547, 30.146711349487305, -84.7216567993164, -3.882783889770508, 47.95234680175781 ]
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": 6,
    "total_frames": 2008,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:6"
    },
    "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"
            ],
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        "observation.images.top": {
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            "info": {
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            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

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