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float32
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49.7
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int64
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1.49k
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2.366667
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2.533333
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2.6
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2.633333
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3
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3.1
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[ -13.538461685180664, -96.35164642333984, 94.54945373535156, 72.96703338623047, 0.21978022158145905, 2.4967148303985596, -11.252747535705566, -34.989009857177734, -3.2087912559509277, 78.9011001586914, -10.417582511901855, 2.0969855785369873 ]
3.133333
94
0
94
0
[ -13.931803703308105, -101.08370971679688, 91.88128662109375, 72.88623046875, -0.12589645385742188, 2.158994674682617, -11.911495208740234, -27.011688232421875, -15.751588821411133, 80.29278564453125, -10.873017311096191, 2.379319667816162 ]
[ -13.538461685180664, -96.35164642333984, 94.54945373535156, 72.96703338623047, 0.21978022158145905, 2.4967148303985596, -11.252747535705566, -32.70329666137695, -5.5824174880981445, 79.25274658203125, -10.417582511901855, 2.0969855785369873 ]
3.166667
95
0
95
0
[ -13.934584617614746, -101.30035400390625, 91.69692993164062, 73.09078979492188, -0.3051910400390625, 2.043912887573242, -11.656253814697266, -25.369455337524414, -17.71298599243164, 80.3684310913086, -10.900115966796875, 2.3424503803253174 ]
[ -13.538461685180664, -96.35164642333984, 94.54945373535156, 72.96703338623047, 0.21978022158145905, 2.4967148303985596, -11.516483306884766, -30.593406677246094, -7.956043720245361, 79.78022003173828, -10.505494117736816, 2.0969855785369873 ]
3.2
96
0
96
0
[ -14.070880889892578, -101.09193420410156, 91.75459289550781, 72.65555572509766, -0.27474212646484375, 2.0858068466186523, -12.024978637695312, -27.155467987060547, -17.276153564453125, 80.63435363769531, -10.74146842956543, 2.436044931411743 ]
[ -13.538461685180664, -96.35164642333984, 94.54945373535156, 72.96703338623047, 0.21978022158145905, 2.4967148303985596, -11.604395866394043, -29.098901748657227, -9.978021621704102, 79.95604705810547, -10.681318283081055, 2.0969855785369873 ]
3.233333
97
0
97
0
[ -13.723896980285645, -101.47899627685547, 91.48896026611328, 72.93782043457031, -0.7754745483398438, 1.9819746017456055, -12.684917449951172, -24.65679359436035, -20.21344757080078, 80.805419921875, -10.743927955627441, 2.3302526473999023 ]
[ -13.538461685180664, -96.35164642333984, 94.54945373535156, 72.96703338623047, 0.21978022158145905, 2.4967148303985596, -11.604395866394043, -27.78022003173828, -12.175824165344238, 80.04395294189453, -10.681318283081055, 2.0969855785369873 ]
3.266667
98
0
98
0
[ -14.153616905212402, -101.37115478515625, 91.55389404296875, 72.99674987792969, -0.15151596069335938, 2.064558982849121, -12.145954132080078, -24.888633728027344, -19.80293083190918, 80.8742904663086, -10.834125518798828, 2.3752074241638184 ]
[ -13.538461685180664, -96.35164642333984, 94.54945373535156, 72.96703338623047, 0.21978022158145905, 2.4967148303985596, -11.604395866394043, -26.72527503967285, -13.582417488098145, 80.30769348144531, -10.681318283081055, 2.0969855785369873 ]
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_so_follower",
    "total_episodes": 1,
    "total_frames": 1492,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "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": 30,
                "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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera3": {
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            "shape": [
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            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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