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Datasets:
abraranwar
/
usc_koch_failure_move_the_orange_cup_from_left_to_right

Tasks:
Robotics
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1K - 10K
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LeRobot
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float32
0
16.6
frame_index
int64
0
498
episode_index
int64
0
5
index
int64
0
1.92k
task_index
int64
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0
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[ 18.33943748474121, 12.745098114013672, 44.7706413269043, -81.17463684082031, 6.666666507720947, 2.6686434745788574, -8.083027839660645, -40.801002502441406, -21.249408721923828, -60.50386047363281, -6.617826461791992, 48.473567962646484 ]
3.066667
92
0
92
0
[ 18.33943748474121, 9.983810424804688, 47.01322555541992, -81.76075744628906, 6.520146369934082, 0.7989347577095032, -7.545787334442139, -42.75956344604492, -20.330739974975586, -60.7843132019043, -6.422466278076172, 48.221343994140625 ]
[ 18.33943748474121, 12.745098114013672, 44.7706413269043, -81.17463684082031, 6.617826461791992, 2.6686434745788574, -8.034188270568848, -40.801002502441406, -21.249408721923828, -60.50386047363281, -6.617826461791992, 48.473567962646484 ]
3.1
93
0
93
0
[ 18.046398162841797, 9.552077293395996, 47.01322555541992, -82.31346130371094, 6.520146369934082, 0.7989347577095032, -7.545787334442139, -42.75956344604492, -20.330739974975586, -60.86274337768555, -6.422466278076172, 48.221343994140625 ]
[ 18.33943748474121, 12.745098114013672, 44.7706413269043, -81.17463684082031, 6.617826461791992, 2.6686434745788574, -7.985347747802734, -40.801002502441406, -21.249408721923828, -60.50386047363281, -6.617826461791992, 48.473567962646484 ]
3.133333
94
0
94
0
[ 17.75335693359375, 9.444144248962402, 46.92202377319336, -82.94512176513672, 6.471306324005127, 0.7989347577095032, -7.545787334442139, -42.896175384521484, -20.428014755249023, -61.09803771972656, -6.422466278076172, 48.221343994140625 ]
[ 18.290597915649414, 12.745098114013672, 44.7706413269043, -81.17463684082031, 6.617826461791992, 2.6686434745788574, -7.985347747802734, -40.675846099853516, -21.249408721923828, -60.50386047363281, -6.617826461791992, 48.473567962646484 ]
3.166667
95
0
95
0
[ 17.460317611694336, 9.228278160095215, 46.92202377319336, -83.65574645996094, 6.471306324005127, 0.7989347577095032, -7.545787334442139, -42.896175384521484, -20.428014755249023, -61.25490188598633, -6.422466278076172, 48.221343994140625 ]
[ 18.19291877746582, 12.745098114013672, 44.86238479614258, -81.3302230834961, 6.617826461791992, 2.6686434745788574, -7.936507701873779, -40.801002502441406, -21.249408721923828, -60.50386047363281, -6.617826461791992, 48.473567962646484 ]
3.2
96
0
96
0
[ 17.118436813354492, 8.79654598236084, 46.92202377319336, -84.28740692138672, 6.422466278076172, 0.7989347577095032, -7.545787334442139, -42.896175384521484, -20.428014755249023, -61.25490188598633, -6.422466278076172, 48.221343994140625 ]
[ 18.046398162841797, 12.745098114013672, 44.7706413269043, -81.64138793945312, 6.617826461791992, 2.6686434745788574, -7.936507701873779, -40.801002502441406, -21.249408721923828, -60.66639709472656, -6.617826461791992, 48.473567962646484 ]
3.233333
97
0
97
0
[ 16.825397491455078, 8.364813804626465, 46.92202377319336, -84.8401107788086, 6.373626232147217, 0.7989347577095032, -7.545787334442139, -42.75956344604492, -20.525291442871094, -61.25490188598633, -6.422466278076172, 48.221343994140625 ]
[ 17.80219841003418, 12.745098114013672, 44.7706413269043, -82.1081314086914, 6.617826461791992, 2.6686434745788574, -7.936507701873779, -40.801002502441406, -21.249408721923828, -60.74766540527344, -6.617826461791992, 48.473567962646484 ]
3.266667
98
0
98
0
[ 16.483516693115234, 8.041014671325684, 46.92202377319336, -85.23490142822266, 6.324786186218262, 0.7989347577095032, -7.545787334442139, -42.75956344604492, -20.525291442871094, -61.25490188598633, -6.422466278076172, 48.221343994140625 ]
[ 17.55799674987793, 12.622549057006836, 44.7706413269043, -82.73045349121094, 6.568986415863037, 2.6686434745788574, -7.936507701873779, -40.801002502441406, -21.249408721923828, -60.91019821166992, -6.617826461791992, 48.473567962646484 ]
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": 1918,
    "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"
            ],
            "shape": [
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            ]
        },
        "observation.state": {
            "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.images.top": {
            "dtype": "video",
            "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,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.side": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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