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float32
0
52.6
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int64
0
1.05k
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int64
0
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int64
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1.05k
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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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40
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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
46
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46
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2.35
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2.4
48
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2.45
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2.5
50
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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
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2.9
58
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2.95
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3
60
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3.05
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3.1
62
0
62
0
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3.15
63
0
63
0
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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
[ -13.009865760803223, -101.80790710449219, 91.74787902832031, 69.43463134765625, -3.433319091796875, 2.762455940246582, -19.371761322021484, -37.392425537109375, 5.558998107910156, 55.10025405883789, -5.535090446472168, 2.475562572479248 ]
[ -12.483516693115234, -96.87911987304688, 94.10989379882812, 68.74725341796875, -3.2087912559509277, 2.562417984008789, -17.05494499206543, -36.83516311645508, 6.1978020668029785, 55.16483688354492, -5.5824174880981445, 2.490170478820801 ]
4.7
94
0
94
0
[ -12.87320327758789, -101.78104400634766, 91.98844146728516, 69.32514953613281, -3.179851531982422, 2.748826026916504, -19.581674575805664, -37.3535270690918, 6.123439788818359, 53.76274871826172, -5.414732933044434, 2.434189558029175 ]
[ -12.483516693115234, -96.87911987304688, 94.10989379882812, 68.92308044433594, -3.2087912559509277, 2.562417984008789, -17.670330047607422, -36.83516311645508, 6.1978020668029785, 55.16483688354492, -5.5824174880981445, 2.490170478820801 ]
4.75
95
0
95
0
[ -12.893892288208008, -102.01380920410156, 91.87777709960938, 69.33916473388672, -3.708911895751953, 2.867626190185547, -20.43229103088379, -37.45768356323242, 6.5015869140625, 53.89341735839844, -5.2442426681518555, 2.461745262145996 ]
[ -12.483516693115234, -96.87911987304688, 94.10989379882812, 68.92308044433594, -3.2087912559509277, 2.562417984008789, -18.461538314819336, -36.83516311645508, 6.1978020668029785, 55.340660095214844, -5.5824174880981445, 2.490170478820801 ]
4.8
96
0
96
0
[ -12.874420166015625, -101.88467407226562, 91.9942626953125, 69.35250854492188, -3.831737518310547, 2.7756447792053223, -21.345293045043945, -37.12457275390625, 6.279537200927734, 53.76195526123047, -5.261437892913818, 2.4632534980773926 ]
[ -12.483516693115234, -96.87911987304688, 94.10989379882812, 68.92308044433594, -3.2087912559509277, 2.562417984008789, -19.076923370361328, -36.83516311645508, 6.461538314819336, 54.72527313232422, -5.5824174880981445, 2.490170478820801 ]
4.85
97
0
97
0
[ -12.87523078918457, -101.91404724121094, 92.07571411132812, 69.6081314086914, -4.177722930908203, 2.701021194458008, -21.967809677124023, -37.436649322509766, 7.5484619140625, 53.322635650634766, -5.144762992858887, 2.427676200866699 ]
[ -12.483516693115234, -96.87911987304688, 94.10989379882812, 68.92308044433594, -3.2087912559509277, 2.562417984008789, -20.043956756591797, -36.83516311645508, 6.8131866455078125, 54.63736343383789, -5.5824174880981445, 2.490170478820801 ]
4.9
98
0
98
0
[ -12.997421264648438, -101.73414611816406, 91.9108657836914, 69.64452362060547, -4.087028503417969, 2.8186912536621094, -21.699962615966797, -37.631813049316406, 8.433307647705078, 53.286128997802734, -5.2184367179870605, 2.2850522994995117 ]
[ -12.483516693115234, -96.87911987304688, 94.10989379882812, 68.92308044433594, -3.384615421295166, 2.562417984008789, -20.571428298950195, -36.83516311645508, 6.8131866455078125, 54.63736343383789, -5.5824174880981445, 2.490170478820801 ]
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": 1053,
    "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",
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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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