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float32
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12.1
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int64
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363
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int64
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11
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2.73k
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[ -23.125762939453125, 2.0833332538604736, 44.49541473388672, -88.4091796875, -4.517704486846924, 8.228317260742188, 22.58852195739746, -10.76345443725586, 36.67770767211914, -82.6899642944336, 0.3663003742694855, 4.244229316711426 ]
3.1
93
0
93
0
[ -21.46520233154297, -15.920129776000977, 38.53169250488281, -91.63047790527344, -5.44566535949707, 0.6657789349555969, 20.537240982055664, -19.945354461669922, 40.56420135498047, -88, 0.6105006337165833, 0.9222661256790161 ]
[ -22.63736343383789, -1.715686321258545, 42.018348693847656, -89.18708801269531, -4.566544532775879, 7.2646403312683105, 22.05128288269043, -12.515645027160645, 36.86701202392578, -83.90898132324219, 0.3663003742694855, 4.244229316711426 ]
3.133333
94
0
94
0
[ -21.0256404876709, -20.23745346069336, 35.79571533203125, -91.70943450927734, -5.34798526763916, 0.6657789349555969, 19.755800247192383, -21.448087692260742, 40.56420135498047, -89.09803771972656, 0.6105006337165833, 0.9222661256790161 ]
[ -22.24664306640625, -5.882352828979492, 38.44036865234375, -89.6538314819336, -4.615384578704834, 6.6716084480285645, 21.562881469726562, -14.017521858215332, 36.86701202392578, -85.3718032836914, 0.3663003742694855, 4.244229316711426 ]
3.166667
95
0
95
0
[ -20.39072036743164, -24.446842193603516, 33.33333206176758, -91.70943450927734, -5.299145221710205, 0.7989347577095032, 18.925518035888672, -22.814207077026367, 40.56420135498047, -90.19607543945312, 0.5616605877876282, 0.9222661256790161 ]
[ -21.758241653442383, -9.803921699523926, 34.95412826538086, -89.96499633789062, -4.664224624633789, 6.6716084480285645, 20.9768009185791, -15.644556045532227, 36.86701202392578, -86.67208099365234, 0.3663003742694855, 4.244229316711426 ]
3.2
96
0
96
0
[ -19.706958770751953, -28.332433700561523, 31.144550323486328, -91.70943450927734, -5.34798526763916, 0.7989347577095032, 17.99755859375, -23.9071044921875, 40.56420135498047, -91.05882263183594, 0.46398046612739563, 0.9222661256790161 ]
[ -21.318681716918945, -13.848039627075195, 32.20183563232422, -90.12057495117188, -4.664224624633789, 6.6716084480285645, 20.244199752807617, -17.146432876586914, 36.86701202392578, -87.80982971191406, 0.3663003742694855, 4.244229316711426 ]
3.233333
97
0
97
0
[ -18.925518035888672, -32.325958251953125, 28.77337074279785, -91.70943450927734, -5.299145221710205, 0.7989347577095032, 16.923076629638672, -25, 40.56420135498047, -91.8431396484375, 0.3663003742694855, 0.9222661256790161 ]
[ -20.78144073486328, -18.259803771972656, 30.183486938476562, -90.27615356445312, -4.664224624633789, 6.6716084480285645, 19.462759017944336, -18.6483097076416, 36.772361755371094, -88.78504943847656, 0.3663003742694855, 4.244229316711426 ]
3.266667
98
0
98
0
[ -18.046398162841797, -36.103614807128906, 26.49338722229004, -91.70943450927734, -5.299145221710205, 0.7989347577095032, 15.702075958251953, -25.956283569335938, 40.56420135498047, -92.47058868408203, 0.17094017565250397, 0.9222661256790161 ]
[ -20.097681045532227, -22.794116973876953, 29.174312591552734, -90.35395050048828, -4.664224624633789, 6.6716084480285645, 18.632478713989258, -19.89987564086914, 36.86701202392578, -89.59772491455078, 0.3663003742694855, 4.244229316711426 ]
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": 12,
    "total_frames": 2727,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:12"
    },
    "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
            ],
            "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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