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float32
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9.9
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int64
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297
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3
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[ 4.078144073486328, -50.02698516845703, -3.511171817779541, -83.4978256225586, 1.5384615659713745, 48.33555221557617, 12.673993110656738, -68.57923126220703, 21.011672973632812, -84.31372833251953, 5.006104946136475, 44.268775939941406 ]
[ 4.420024394989014, -49.8774528503418, -4.403669834136963, -84.05289459228516, 1.9291819334030151, 48.332096099853516, 12.283272743225098, -67.58448028564453, 19.640321731567383, -85.6156005859375, 4.859584808349609, 45.19731903076172 ]
3.133333
94
0
94
0
[ 4.126984119415283, -50.02698516845703, -3.511171817779541, -83.57678985595703, 1.4896215200424194, 48.33555221557617, 12.673993110656738, -68.57923126220703, 20.622568130493164, -83.68627166748047, 5.006104946136475, 44.268775939941406 ]
[ 4.420024394989014, -49.8774528503418, -4.403669834136963, -84.05289459228516, 1.9291819334030151, 48.332096099853516, 12.332112312316895, -67.4593276977539, 19.545669555664062, -85.6156005859375, 4.859584808349609, 44.82501983642578 ]
3.166667
95
0
95
0
[ 4.126984119415283, -50.02698516845703, -3.6023712158203125, -83.57678985595703, 1.4896215200424194, 48.33555221557617, 12.673993110656738, -68.44261932373047, 20.428014755249023, -83.37255096435547, 4.9572649002075195, 44.268775939941406 ]
[ 4.420024394989014, -49.8774528503418, -4.403669834136963, -84.05289459228516, 1.9291819334030151, 48.332096099853516, 12.332112312316895, -67.4593276977539, 19.545669555664062, -85.53433227539062, 4.859584808349609, 44.82501983642578 ]
3.2
96
0
96
0
[ 4.078144073486328, -50.02698516845703, -3.6023712158203125, -83.57678985595703, 1.5384615659713745, 48.33555221557617, 12.722832679748535, -68.44261932373047, 20.038909912109375, -82.82353210449219, 4.9572649002075195, 44.268775939941406 ]
[ 4.420024394989014, -49.8774528503418, -4.403669834136963, -84.05289459228516, 1.9291819334030151, 48.332096099853516, 12.332112312316895, -67.58448028564453, 19.545669555664062, -85.29053497314453, 4.859584808349609, 44.82501983642578 ]
3.233333
97
0
97
0
[ 4.126984119415283, -50.02698516845703, -3.6023712158203125, -83.4978256225586, 1.5384615659713745, 48.33555221557617, 12.820512771606445, -68.44261932373047, 19.747081756591797, -82.35294342041016, 4.9572649002075195, 44.268775939941406 ]
[ 4.420024394989014, -49.8774528503418, -4.403669834136963, -84.05289459228516, 1.9291819334030151, 48.332096099853516, 12.332112312316895, -67.4593276977539, 19.545669555664062, -84.96546173095703, 4.859584808349609, 44.82501983642578 ]
3.266667
98
0
98
0
[ 4.126984119415283, -50.02698516845703, -3.6023712158203125, -83.4978256225586, 1.5384615659713745, 48.33555221557617, 13.015872955322266, -68.16939544677734, 19.552528381347656, -82.03921508789062, 4.9572649002075195, 44.268775939941406 ]
[ 4.420024394989014, -49.8774528503418, -4.495412826538086, -84.05289459228516, 1.9291819334030151, 48.332096099853516, 12.380952835083008, -67.4593276977539, 19.07240867614746, -84.64038848876953, 4.859584808349609, 44.82501983642578 ]
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": 2536,
    "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"
            ],
            "shape": [
                12
            ]
        },
        "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": [
                12
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "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
            }
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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