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float32
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49.8
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int64
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1.49k
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[ -19.00031280517578, -101.50883483886719, 89.69530487060547, 73.13367462158203, 0.24818801879882812, 2.1300220489501953, -4.747383117675781, -28.778762817382812, -12.34881591796875, 80.22602081298828, 2.7595367431640625, 2.054917335510254 ]
[ -19.25274658203125, -96.35164642333984, 92.26373291015625, 72.70330047607422, 0.3956044018268585, 2.3653087615966797, -3.604395627975464, -28.395605087280273, -10.94505500793457, 80.3956069946289, 2.769230842590332, 2.621232032775879 ]
3.166667
95
0
95
0
[ -19.200773239135742, -101.73570251464844, 89.95458221435547, 72.96857452392578, 0.4504051208496094, 2.116410255432129, -5.025119781494141, -28.118528366088867, -12.939306259155273, 80.46015930175781, 2.710759162902832, 2.19199538230896 ]
[ -19.25274658203125, -96.35164642333984, 92.26373291015625, 72.70330047607422, 0.3956044018268585, 2.3653087615966797, -3.9560439586639404, -28.395605087280273, -10.94505500793457, 80.3956069946289, 2.769230842590332, 2.621232032775879 ]
3.2
96
0
96
0
[ -18.99748420715332, -101.69573974609375, 89.89419555664062, 73.1009292602539, 0.5286865234375, 2.0165109634399414, -5.955528259277344, -27.420318603515625, -14.353126525878906, 80.51353454589844, 2.7409305572509766, 2.257777690887451 ]
[ -19.25274658203125, -96.35164642333984, 92.26373291015625, 72.70330047607422, 0.3956044018268585, 2.3653087615966797, -4.307692527770996, -28.395605087280273, -10.94505500793457, 80.3956069946289, 2.769230842590332, 2.621232032775879 ]
3.233333
97
0
97
0
[ -19.325130462646484, -101.4294204711914, 90.05136108398438, 73.29840087890625, 0.5936470031738281, 2.037594795227051, -7.156497955322266, -28.616893768310547, -12.932218551635742, 80.45699310302734, 2.5677719116210938, 2.283501148223877 ]
[ -19.25274658203125, -96.35164642333984, 92.26373291015625, 72.70330047607422, 0.3956044018268585, 2.3653087615966797, -4.5714287757873535, -28.21977996826172, -11.032966613769531, 80.3956069946289, 2.769230842590332, 2.621232032775879 ]
3.266667
98
0
98
0
[ -19.260093688964844, -101.5241928100586, 90.04997253417969, 73.29319763183594, 0.7563858032226562, 2.1657981872558594, -6.6004791259765625, -28.666749954223633, -12.671920776367188, 80.10951232910156, 2.5481958389282227, 2.2991044521331787 ]
[ -19.25274658203125, -96.35164642333984, 92.26373291015625, 72.70330047607422, 0.3956044018268585, 2.3653087615966797, -5.098901271820068, -27.78022003173828, -11.560439109802246, 80.3956069946289, 2.769230842590332, 2.621232032775879 ]
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": 1495,
    "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,
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            ],
            "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",
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                "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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            ],
            "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
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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