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float32
0
52.5
frame_index
int64
0
1.05k
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int64
0
0
index
int64
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1.55
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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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1.85
37
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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
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2.1
42
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42
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2.15
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2.2
44
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2.25
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2.3
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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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50
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2.55
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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
55
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55
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2.8
56
0
56
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2.85
57
0
57
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2.9
58
0
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2.95
59
0
59
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3
60
0
60
0
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3.05
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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[ -16.263736724853516, -96.35164642333984, 91.47252655029297, 72.26373291015625, -5.934065818786621, 2.6281208992004395, -24.439559936523438, -36.131866455078125, -8.483516693115234, 79.95604705810547, -10.065934181213379, 2.2935779094696045 ]
4.75
95
0
95
0
[ -16.610980987548828, -101.40498352050781, 90.70809173583984, 73.14449310302734, -6.396186828613281, 2.2708725929260254, -30.965194702148438, -37.287376403808594, -9.317131042480469, 80.03448486328125, -9.643049240112305, 2.2788593769073486 ]
[ -16.263736724853516, -96.35164642333984, 91.47252655029297, 72.26373291015625, -5.934065818786621, 2.6281208992004395, -25.846153259277344, -36.131866455078125, -8.483516693115234, 79.95604705810547, -9.978021621704102, 2.2935779094696045 ]
4.8
96
0
96
0
[ -16.724973678588867, -101.53602600097656, 90.81422424316406, 73.30986785888672, -6.4641571044921875, 2.2647342681884766, -32.441368103027344, -36.18687438964844, -9.994388580322266, 79.68511962890625, -9.607056617736816, 2.3554768562316895 ]
[ -16.351648330688477, -96.35164642333984, 91.47252655029297, 72.43955993652344, -5.934065818786621, 2.6281208992004395, -27.868131637573242, -36.131866455078125, -8.483516693115234, 79.95604705810547, -9.978021621704102, 2.2935779094696045 ]
4.85
97
0
97
0
[ -16.586313247680664, -101.54550170898438, 90.9058837890625, 73.53515625, -6.480289459228516, 2.3334527015686035, -34.10496520996094, -36.08157730102539, -10.238494873046875, 79.8974838256836, -9.421738624572754, 2.3171825408935547 ]
[ -16.351648330688477, -96.35164642333984, 91.47252655029297, 72.52747344970703, -5.934065818786621, 2.6281208992004395, -29.89011001586914, -36.131866455078125, -8.483516693115234, 79.95604705810547, -9.978021621704102, 2.2935779094696045 ]
4.9
98
0
98
0
[ -16.466590881347656, -101.56692504882812, 90.67413330078125, 73.35795593261719, -6.131954193115234, 2.4580907821655273, -35.069305419921875, -36.45506286621094, -9.895673751831055, 79.88276672363281, -9.455187797546387, 2.3048648834228516 ]
[ -16.351648330688477, -96.35164642333984, 91.47252655029297, 72.52747344970703, -5.934065818786621, 2.6281208992004395, -31.208791732788086, -35.9560432434082, -8.483516693115234, 79.95604705810547, -9.89011001586914, 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": [
                12
            ]
        },
        "observation.images.camera1": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
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                "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": [
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "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,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "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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