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float32
0
50
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int64
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1.5k
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int64
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int64
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2.133333
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2.3
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2.466667
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2.5
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2.566667
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2.6
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2.633333
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2.666667
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2.7
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2.8
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2.833333
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2.9
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3
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3.1
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3.133333
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94
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[ -12.713356018066406, -99.62460327148438, 90.15142822265625, 72.81842803955078, 4.53289794921875, 2.150310516357422, -21.43362808227539, -21.71603775024414, -23.05405616760254, 85.71141815185547, 0.6136713027954102, 2.695028781890869 ]
[ -13.01098918914795, -96.17582702636719, 93.14286041259766, 72.0879135131836, 4.615384578704834, 2.7595269680023193, -19.69230842590332, -20.74725341796875, -21.230770111083984, 85.84615325927734, 0.8351648449897766, 2.490170478820801 ]
3.166667
95
0
95
0
[ -12.848495483398438, -99.59855651855469, 90.0146713256836, 72.40895080566406, 4.049659729003906, 2.072338104248047, -22.84441375732422, -21.375755310058594, -23.42379379272461, 85.9770736694336, 0.6536903381347656, 2.7951598167419434 ]
[ -13.01098918914795, -96.17582702636719, 93.14286041259766, 72.17582702636719, 4.703296661376953, 2.7595269680023193, -20.21977996826172, -20.74725341796875, -21.230770111083984, 85.84615325927734, 0.8351648449897766, 2.490170478820801 ]
3.2
96
0
96
0
[ -12.984975814819336, -99.79930114746094, 90.41899108886719, 72.5753173828125, 4.465484619140625, 1.9432315826416016, -25.369943618774414, -20.538225173950195, -24.39569854736328, 85.53367614746094, 0.8205404281616211, 2.6782774925231934 ]
[ -13.01098918914795, -96.17582702636719, 93.14286041259766, 72.17582702636719, 4.703296661376953, 2.7595269680023193, -20.659339904785156, -20.74725341796875, -21.230770111083984, 85.84615325927734, 0.7472527623176575, 2.490170478820801 ]
3.233333
97
0
97
0
[ -12.960525512695312, -99.36519622802734, 90.35093688964844, 72.6181411743164, 4.063037872314453, 2.143425941467285, -26.568883895874023, -21.4882755279541, -22.24011993408203, 84.93928527832031, 0.8346033096313477, 2.760568380355835 ]
[ -13.01098918914795, -96.17582702636719, 93.05494689941406, 72.17582702636719, 4.615384578704834, 2.7595269680023193, -21.186813354492188, -20.74725341796875, -21.318681716918945, 85.93406677246094, 0.7472527623176575, 2.490170478820801 ]
3.266667
98
0
98
0
[ -12.8009672164917, -99.60464477539062, 90.3206787109375, 72.44613647460938, 4.224250793457031, 2.2416887283325195, -27.77694320678711, -21.38919448852539, -22.91063690185547, 85.29041290283203, 0.7193899154663086, 2.831878185272217 ]
[ -13.01098918914795, -96.17582702636719, 92.96703338623047, 72.17582702636719, 4.615384578704834, 2.7595269680023193, -22.41758155822754, -20.659339904785156, -21.58241844177246, 85.93406677246094, 0.7472527623176575, 2.490170478820801 ]
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": 1500,
    "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": {
            "dtype": "video",
            "shape": [
                360,
                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": 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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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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