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float32
0
52.5
frame_index
int64
0
1.05k
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int64
0
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index
int64
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1.05k
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1.5
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1.55
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1.6
32
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1.65
33
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33
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1.7
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1.75
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1.8
36
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36
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1.85
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1.9
38
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38
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1.95
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2
40
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40
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2.05
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2.1
42
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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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
57
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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
61
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0
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3.1
62
0
62
0
[ -14.052148818969727, -100.98268127441406, 92.15584564208984, 71.98480224609375, -3.7922935485839844, 2.4398598670959473, -8.481632232666016, -29.065629959106445, -11.97207260131836, 68.89350891113281, -8.893104553222656, 2.292562484741211 ]
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3.15
63
0
63
0
[ -14.200484275817871, -100.82746887207031, 91.92432403564453, 72.13037872314453, -3.4426231384277344, 2.419633388519287, -8.116397857666016, -28.868993759155273, -12.413877487182617, 69.35653686523438, -9.01708984375, 2.2518112659454346 ]
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3.2
64
0
64
0
[ -14.467029571533203, -100.9235610961914, 91.68536376953125, 72.16314697265625, -3.5984840393066406, 2.549973964691162, -8.343799591064453, -28.314058303833008, -14.124582290649414, 70.06309509277344, -8.931175231933594, 2.1878836154937744 ]
[ -13.89011001586914, -96.26373291015625, 95.16483306884766, 71.12088012695312, -4, 2.4967148303985596, -9.05494499206543, -29.27472496032715, -9.538461685180664, 68.70330047607422, -9.09890079498291, 2.0314548015594482 ]
3.25
65
0
65
0
[ -14.489242553710938, -101.08216857910156, 91.62869262695312, 72.1229476928711, -3.582469940185547, 2.5218701362609863, -8.359447479248047, -28.49362564086914, -14.172836303710938, 70.05931091308594, -8.896586418151855, 2.256725549697876 ]
[ -13.89011001586914, -96.26373291015625, 95.16483306884766, 71.38461303710938, -4, 2.4967148303985596, -9.05494499206543, -28.83516502380371, -9.978021621704102, 69.14286041259766, -9.09890079498291, 2.0314548015594482 ]
3.3
66
0
66
0
[ -14.427450180053711, -101.06185150146484, 91.56868743896484, 72.19096374511719, -3.7232437133789062, 2.364658832550049, -8.526962280273438, -27.349348068237305, -15.44439697265625, 70.49029541015625, -8.534212112426758, 2.1953258514404297 ]
[ -13.978021621704102, -96.26373291015625, 95.16483306884766, 71.38461303710938, -4, 2.4967148303985596, -8.879120826721191, -28.483516693115234, -11.120879173278809, 69.75823974609375, -9.09890079498291, 2.0314548015594482 ]
3.35
67
0
67
0
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[ -14.065934181213379, -96.26373291015625, 95.16483306884766, 71.38461303710938, -4, 2.4967148303985596, -8.703296661376953, -28.483516693115234, -11.736263275146484, 69.84615325927734, -9.09890079498291, 2.0314548015594482 ]
3.4
68
0
68
0
[ -14.518260955810547, -100.94050598144531, 92.05856323242188, 72.07723236083984, -3.567913055419922, 2.492344856262207, -8.591487884521484, -28.635513305664062, -14.416278839111328, 71.02458190917969, -8.603446960449219, 2.2928731441497803 ]
[ -14.065934181213379, -96.26373291015625, 95.07691955566406, 71.38461303710938, -4, 2.4967148303985596, -8.703296661376953, -27.78022003173828, -12.879120826721191, 70.19779968261719, -9.09890079498291, 2.0314548015594482 ]
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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[ -14.417582511901855, -96.26373291015625, 94.46154022216797, 71.82417297363281, -3.8241758346557617, 2.4967148303985596, -25.406593322753906, -28.659339904785156, -14.373626708984375, 71.42857360839844, -8.747252464294434, 2.0969855785369873 ]
4.65
93
0
93
0
[ -14.94748306274414, -101.38200378417969, 91.7673568725586, 72.79242706298828, -4.475254058837891, 2.478160858154297, -29.098196029663086, -29.158889770507812, -15.06544303894043, 70.60803985595703, -8.337733268737793, 2.4144718647003174 ]
[ -14.417582511901855, -96.26373291015625, 94.46154022216797, 71.9120864868164, -3.8241758346557617, 2.4967148303985596, -26.549449920654297, -28.659339904785156, -14.373626708984375, 71.42857360839844, -8.747252464294434, 2.0969855785369873 ]
4.7
94
0
94
0
[ -15.05764102935791, -101.78849792480469, 91.89463806152344, 72.73543548583984, -4.7696075439453125, 2.4534053802490234, -30.608671188354492, -29.149673461914062, -14.098541259765625, 70.66336059570312, -8.236474990844727, 2.3814804553985596 ]
[ -14.417582511901855, -96.26373291015625, 94.46154022216797, 71.9120864868164, -3.8241758346557617, 2.4967148303985596, -27.69230842590332, -28.659339904785156, -14.373626708984375, 71.42857360839844, -8.747252464294434, 2.0969855785369873 ]
4.75
95
0
95
0
[ -15.155527114868164, -101.63533020019531, 91.83997344970703, 73.09129333496094, -4.850837707519531, 2.429901599884033, -32.154327392578125, -29.31706428527832, -14.590217590332031, 70.46044921875, -8.289734840393066, 2.3184640407562256 ]
[ -14.417582511901855, -96.26373291015625, 94.46154022216797, 71.9120864868164, -3.8241758346557617, 2.4967148303985596, -28.395605087280273, -28.571428298950195, -14.373626708984375, 71.42857360839844, -8.747252464294434, 2.0969855785369873 ]
4.8
96
0
96
0
[ -15.032039642333984, -101.5630874633789, 91.78851318359375, 72.7713623046875, -4.974460601806641, 2.598440647125244, -33.476951599121094, -29.15715217590332, -14.440004348754883, 70.79132843017578, -8.250924110412598, 2.289344549179077 ]
[ -14.417582511901855, -96.26373291015625, 94.46154022216797, 71.9120864868164, -4, 2.4967148303985596, -29.626373291015625, -28.571428298950195, -14.10988998413086, 71.42857360839844, -8.747252464294434, 2.0969855785369873 ]
4.85
97
0
97
0
[ -15.236183166503906, -101.75106811523438, 91.86961364746094, 72.92548370361328, -4.867549896240234, 2.5006556510925293, -35.13103485107422, -30.009695053100586, -13.271369934082031, 70.57492065429688, -8.355264663696289, 2.297401189804077 ]
[ -14.417582511901855, -96.26373291015625, 94.46154022216797, 72.0879135131836, -4.175824165344238, 2.4967148303985596, -30.94505500793457, -28.571428298950195, -14.10988998413086, 71.42857360839844, -8.747252464294434, 2.0969855785369873 ]
4.9
98
0
98
0
[ -15.208548545837402, -101.67280578613281, 91.61845397949219, 72.77669525146484, -5.030342102050781, 2.6331067085266113, -36.07804489135742, -29.398223876953125, -14.277137756347656, 70.45564270019531, -8.355772018432617, 2.304081439971924 ]
[ -14.417582511901855, -96.26373291015625, 94.46154022216797, 72.0879135131836, -4.175824165344238, 2.4967148303985596, -32.43955993652344, -28.571428298950195, -14.10988998413086, 71.42857360839844, -8.747252464294434, 2.0969855785369873 ]
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": [
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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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                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
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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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