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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
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1.6
32
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1.65
33
0
33
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1.7
34
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34
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1.75
35
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1.8
36
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36
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1.85
37
0
37
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1.9
38
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38
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1.95
39
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39
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2
40
0
40
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2.05
41
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41
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2.1
42
0
42
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2.15
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43
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2.2
44
0
44
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2.25
45
0
45
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2.3
46
0
46
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2.35
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2.4
48
0
48
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2.45
49
0
49
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2.5
50
0
50
0
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2.55
51
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51
0
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2.6
52
0
52
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2.65
53
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53
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2.7
54
0
54
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2.75
55
0
55
0
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2.8
56
0
56
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2.85
57
0
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2.9
58
0
58
0
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
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61
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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
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4.7
94
0
94
0
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4.75
95
0
95
0
[ -13.647903442382812, -100.86955261230469, 90.80793762207031, 72.92996215820312, 3.9659805297851562, 2.244283676147461, -17.89958953857422, -31.408676147460938, -10.090185165405273, 79.27418518066406, 5.147751808166504, 2.401451826095581 ]
[ -13.538461685180664, -96.79120635986328, 93.84615325927734, 73.05494689941406, 5.142857074737549, 2.69382381439209, -14.241758346557617, -30.329669952392578, -8.923076629638672, 79.78022003173828, 5.230769157409668, 2.2935779094696045 ]
4.8
96
0
96
0
[ -13.680042266845703, -100.80174255371094, 90.5732421875, 73.01410675048828, 4.181861877441406, 2.3952102661132812, -18.6240177154541, -31.272891998291016, -9.644821166992188, 79.29011535644531, 5.034394264221191, 2.432772159576416 ]
[ -13.538461685180664, -96.79120635986328, 93.84615325927734, 73.05494689941406, 5.142857074737549, 2.69382381439209, -15.120879173278809, -30.329669952392578, -8.923076629638672, 79.78022003173828, 5.230769157409668, 2.2935779094696045 ]
4.85
97
0
97
0
[ -13.564850807189941, -100.96847534179688, 90.69943237304688, 73.26263427734375, 4.482364654541016, 2.5220561027526855, -20.320085525512695, -31.100826263427734, -10.231979370117188, 79.11503601074219, 5.069624900817871, 2.4306209087371826 ]
[ -13.538461685180664, -96.79120635986328, 93.84615325927734, 73.05494689941406, 4.9670329093933105, 2.69382381439209, -16.703296661376953, -30.329669952392578, -8.923076629638672, 79.78022003173828, 5.230769157409668, 2.2935779094696045 ]
4.9
98
0
98
0
[ -13.71866226196289, -101.259521484375, 90.925048828125, 73.55750274658203, 3.9937477111816406, 2.367415428161621, -19.45558738708496, -31.366230010986328, -9.187955856323242, 79.28116607666016, 5.121459007263184, 2.3368990421295166 ]
[ -13.538461685180664, -96.79120635986328, 93.84615325927734, 73.05494689941406, 4.879120826721191, 2.69382381439209, -17.670330047607422, -30.329669952392578, -8.923076629638672, 79.78022003173828, 5.230769157409668, 2.2935779094696045 ]
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": [
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            ]
        },
        "observation.images.camera1": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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            "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": {
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            "shape": [
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            ],
            "names": [
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            "info": {
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        },
        "observation.images.camera3": {
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            "names": [
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            "info": {
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                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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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": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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