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float32
0
52.5
frame_index
int64
0
1.05k
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int64
0
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index
int64
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1.05k
task_index
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1.55
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1.6
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1.65
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1.7
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1.75
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1.8
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1.85
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1.9
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1.95
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2
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2.05
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
57
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2.9
58
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2.95
59
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3
60
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3.05
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3.1
62
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62
0
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3.15
63
0
63
0
[ -10.142905235290527, -100.17317962646484, 91.05908203125, 72.72077178955078, 5.503795623779297, 2.663733959197998, -9.497516632080078, -101.68756866455078, 78.27117919921875, 74.85425567626953, -8.948582649230957, 2.250999927520752 ]
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
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4.55
91
0
91
0
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4.6
92
0
92
0
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4.65
93
0
93
0
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4.7
94
0
94
0
[ -10.415384292602539, -100.2625961303711, 90.0392837524414, 72.47028350830078, 4.359714508056641, 2.353087902069092, -9.444053649902344, -49.845149993896484, 13.988250732421875, 77.63169860839844, -10.230599403381348, 2.5154640674591064 ]
[ -10.373626708984375, -96.17582702636719, 93.14286041259766, 72.35164642333984, 4.791208744049072, 2.69382381439209, -8.703296661376953, -53.978023529052734, 21.846153259277344, 76.0879135131836, -10.15384578704834, 2.1625163555145264 ]
4.75
95
0
95
0
[ -10.79331111907959, -100.39453887939453, 90.19255828857422, 72.08616638183594, 4.291339874267578, 2.372708320617676, -9.316364288330078, -48.97660827636719, 12.650768280029297, 77.42912292480469, -9.93692684173584, 2.443448543548584 ]
[ -10.373626708984375, -96.17582702636719, 93.14286041259766, 72.35164642333984, 4.791208744049072, 2.69382381439209, -8.79120922088623, -52.30769348144531, 20, 76.26373291015625, -10.15384578704834, 2.1625163555145264 ]
4.8
96
0
96
0
[ -10.793938636779785, -100.47415161132812, 90.11363220214844, 72.47712707519531, 3.8738327026367188, 2.690443515777588, -9.636760711669922, -46.962642669677734, 10.325519561767578, 78.26679992675781, -10.239984512329102, 2.399505853652954 ]
[ -10.373626708984375, -96.17582702636719, 93.05494689941406, 72.35164642333984, 4.791208744049072, 2.69382381439209, -8.967033386230469, -50.72527313232422, 17.80219841003418, 76.96703338623047, -10.15384578704834, 2.1625163555145264 ]
4.85
97
0
97
0
[ -10.813379287719727, -100.35688781738281, 90.12423706054688, 72.3486099243164, 3.8298377990722656, 2.6955699920654297, -9.560821533203125, -44.65338134765625, 6.440799713134766, 78.06197357177734, -10.204221725463867, 2.4548208713531494 ]
[ -10.373626708984375, -96.17582702636719, 92.96703338623047, 72.35164642333984, 4.791208744049072, 2.69382381439209, -9.142857551574707, -49.758243560791016, 16.131868362426758, 77.23076629638672, -10.15384578704834, 2.1625163555145264 ]
4.9
98
0
98
0
[ -10.650094032287598, -100.23532104492188, 90.22525787353516, 72.2298355102539, 4.091560363769531, 2.6400375366210938, -9.605792999267578, -43.20558547973633, 3.77532958984375, 78.49979400634766, -10.361947059631348, 2.489978551864624 ]
[ -10.373626708984375, -96.17582702636719, 92.96703338623047, 72.35164642333984, 4.615384578704834, 2.69382381439209, -9.142857551574707, -48.35165023803711, 14.10988998413086, 77.84615325927734, -10.15384578704834, 2.1625163555145264 ]
4.95
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_so_follower",
    "total_episodes": 1,
    "total_frames": 1051,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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.camera1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera3": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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