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float32
0
52.5
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int64
0
1.05k
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int64
0
0
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int64
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1.05k
task_index
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1.55
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31
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1.6
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1.65
33
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1.7
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1.75
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1.8
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36
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1.85
37
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37
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1.9
38
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1.95
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39
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2
40
0
40
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2.05
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2.1
42
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42
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2.15
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2.2
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44
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2.25
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2.3
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46
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2.35
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2.4
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2.45
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2.5
50
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50
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2.55
51
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2.6
52
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2.65
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2.7
54
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2.75
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2.8
56
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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
0
60
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3.05
61
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3.1
62
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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
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4.7
94
0
94
0
[ -13.500536918640137, -101.5664291381836, 91.20176696777344, 74.20767974853516, 6.307765960693359, 1.8997802734375, -11.538284301757812, -48.59232711791992, 13.665653228759766, 76.8265151977539, -9.949621200561523, 2.204252243041992 ]
[ -13.538461685180664, -96.35164642333984, 93.4065933227539, 74.19779968261719, 6.989010810852051, 2.4967148303985596, -11.95604419708252, -53.626373291015625, 21.05494499206543, 76.96703338623047, -9.450549125671387, 2.2280471324920654 ]
4.75
95
0
95
0
[ -13.627887725830078, -101.11091613769531, 91.27554321289062, 74.04608154296875, 6.856693267822266, 1.9241371154785156, -11.072322845458984, -47.37746810913086, 11.289608001708984, 77.21836853027344, -9.736688613891602, 2.1998555660247803 ]
[ -13.538461685180664, -96.35164642333984, 93.4065933227539, 74.19779968261719, 6.637362480163574, 2.4967148303985596, -11.95604419708252, -51.868133544921875, 18.85714340209961, 77.14286041259766, -9.450549125671387, 2.2280471324920654 ]
4.8
96
0
96
0
[ -13.606115341186523, -101.37269592285156, 91.48816680908203, 74.34555053710938, 6.508892059326172, 1.923924446105957, -11.096214294433594, -45.15354919433594, 9.726219177246094, 77.18095397949219, -9.58709716796875, 2.153899908065796 ]
[ -13.538461685180664, -96.35164642333984, 93.4065933227539, 74.19779968261719, 6.637362480163574, 2.4967148303985596, -11.95604419708252, -50.10988998413086, 16.83516502380371, 77.14286041259766, -9.450549125671387, 2.2280471324920654 ]
4.85
97
0
97
0
[ -13.626437187194824, -101.18687438964844, 91.4367446899414, 74.08460235595703, 6.683982849121094, 1.7900676727294922, -11.24692153930664, -44.081424713134766, 8.215583801269531, 77.34638214111328, -9.669920921325684, 2.146207809448242 ]
[ -13.538461685180664, -96.35164642333984, 93.4065933227539, 74.19779968261719, 6.637362480163574, 2.4967148303985596, -11.95604419708252, -48.52747344970703, 14.98901081085205, 77.23076629638672, -9.450549125671387, 2.2280471324920654 ]
4.9
98
0
98
0
[ -13.373897552490234, -101.40487670898438, 91.32186889648438, 74.31355285644531, 6.486293792724609, 1.8503904342651367, -11.400283813476562, -41.36580276489258, 4.6202850341796875, 77.23150634765625, -9.828389167785645, 2.1869544982910156 ]
[ -13.538461685180664, -96.35164642333984, 93.4065933227539, 74.19779968261719, 6.637362480163574, 2.4967148303985596, -11.692307472229004, -46.769229888916016, 13.142857551574707, 77.23076629638672, -9.450549125671387, 2.2280471324920654 ]
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,
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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": 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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            ],
            "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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            "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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