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float32
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15.2
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int64
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457
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2.17k
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[ 7.008546829223633, -44.36274337768555, -7.064219951629639, -75.96266174316406, -10.183150291442871, 48.03558349609375, 10.671550750732422, -93.36670684814453, 6.199716091156006, -74.07557678222656, 6.080585956573486, 47.05882263183594 ]
3.1
93
0
93
0
[ 6.568986415863037, -44.95412826538086, -5.882352828979492, -74.18081665039062, -11.062271118164062, 48.601863861083984, 11.5018310546875, -93.3060073852539, 7.976653575897217, -70.90196228027344, 9.01098918914795, 46.640316009521484 ]
[ 7.008546829223633, -44.36274337768555, -7.064219951629639, -75.80707550048828, -10.231989860534668, 48.03558349609375, 10.818070411682129, -93.36670684814453, 6.199716091156006, -74.07557678222656, 6.910866737365723, 47.05882263183594 ]
3.133333
94
0
94
0
[ 6.373626232147217, -44.41446304321289, -5.882352828979492, -73.78602600097656, -11.159951210021973, 48.601863861083984, 11.69719123840332, -93.16939544677734, 7.976653575897217, -70.2745132446289, 8.962148666381836, 46.640316009521484 ]
[ 7.008546829223633, -44.36274337768555, -7.064219951629639, -75.5737075805664, -10.231989860534668, 48.03558349609375, 10.964591026306152, -93.36670684814453, 6.199716091156006, -73.99430847167969, 7.692307472229004, 47.05882263183594 ]
3.166667
95
0
95
0
[ 6.227106094360352, -43.982730865478516, -5.791153907775879, -73.62810516357422, -11.20879077911377, 48.601863861083984, 12.039072036743164, -93.16939544677734, 7.976653575897217, -69.49019622802734, 8.913309097290039, 46.640316009521484 ]
[ 6.862026691436768, -44.240196228027344, -7.064219951629639, -75.41812896728516, -10.329669952392578, 48.03558349609375, 11.11111068725586, -93.2415542602539, 6.199716091156006, -73.91304016113281, 8.278388023376465, 47.05882263183594 ]
3.2
96
0
96
0
[ 6.129426002502441, -43.658931732177734, -5.882352828979492, -73.3122787475586, -11.355311393737793, 48.601863861083984, 12.429792404174805, -93.03278350830078, 7.587548732757568, -68.54901885986328, 8.913309097290039, 46.640316009521484 ]
[ 6.764346599578857, -43.8725471496582, -7.064219951629639, -75.10696411132812, -10.329669952392578, 48.03558349609375, 11.40415096282959, -93.2415542602539, 6.199716091156006, -73.4254379272461, 8.669108390808105, 47.05882263183594 ]
3.233333
97
0
97
0
[ 6.080585956573486, -43.22719955444336, -5.882352828979492, -73.23332214355469, -11.40415096282959, 48.601863861083984, 12.918192863464355, -93.03278350830078, 6.614786148071289, -67.13725280761719, 9.01098918914795, 46.640316009521484 ]
[ 6.617826461791992, -43.50490188598633, -7.064219951629639, -74.7957992553711, -10.378510475158691, 48.03558349609375, 11.746031761169434, -93.11639404296875, 6.199716091156006, -72.85655975341797, 8.815629005432129, 47.05882263183594 ]
3.266667
98
0
98
0
[ 6.031745910644531, -42.795467376708984, -5.791153907775879, -73.15436553955078, -11.452991485595703, 48.601863861083984, 13.406593322753906, -93.03278350830078, 5.739299774169922, -65.7254867553711, 8.913309097290039, 46.640316009521484 ]
[ 6.471306324005127, -43.259803771972656, -7.064219951629639, -74.48463439941406, -10.427350044250488, 48.03558349609375, 12.185592651367188, -93.11639404296875, 6.010411739349365, -71.96261596679688, 8.913309097290039, 47.05882263183594 ]
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": 5,
    "total_frames": 2168,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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BibTeX:

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