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float32
0
52.6
frame_index
int64
0
1.05k
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int64
0
0
index
int64
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1.05k
task_index
int64
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1
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1.4
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1.5
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1.55
31
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31
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1.6
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1.65
33
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33
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1.7
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1.75
35
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1.8
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36
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1.85
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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
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40
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2.05
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41
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2.1
42
0
42
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2.15
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2.2
44
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2.25
45
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2.3
46
0
46
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2.35
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2.4
48
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48
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2.45
49
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49
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2.5
50
0
50
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2.55
51
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2.6
52
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52
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2.65
53
0
53
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2.7
54
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54
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2.75
55
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2.8
56
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2.85
57
0
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2.9
58
0
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2.95
59
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59
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3
60
0
60
0
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3.05
61
0
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
[ -19.07544708251953, -101.31826782226562, 91.32121276855469, 72.32601165771484, -14.855018615722656, 2.66776180267334, -7.414081573486328, -82.13836669921875, 48.59556198120117, 80.0224380493164, -8.347665786743164, 2.1598639488220215 ]
[ -18.461538314819336, -97.05494689941406, 92.79120635986328, 72.17582702636719, -14.197802543640137, 3.0880420207977295, -8, -84.48351287841797, 55.516483306884766, 78.63735961914062, -8.571428298950195, 2.4246394634246826 ]
4.75
95
0
95
0
[ -19.095773696899414, -101.62110900878906, 91.38448333740234, 72.47924041748047, -14.67485237121582, 2.716446876525879, -7.146213531494141, -81.12004089355469, 47.743900299072266, 80.0499038696289, -8.472990036010742, 2.173548698425293 ]
[ -18.461538314819336, -97.05494689941406, 92.79120635986328, 72.17582702636719, -14.197802543640137, 3.0880420207977295, -8, -83.86813354492188, 53.4945068359375, 79.07691955566406, -8.571428298950195, 2.4246394634246826 ]
4.8
96
0
96
0
[ -19.196208953857422, -101.34715270996094, 91.25389099121094, 72.78692626953125, -14.919462203979492, 2.713569164276123, -7.54815673828125, -83.13920593261719, 48.338558197021484, 79.747314453125, -8.21995735168457, 2.194668769836426 ]
[ -18.461538314819336, -97.05494689941406, 92.79120635986328, 72.17582702636719, -14.197802543640137, 3.0880420207977295, -8, -83.25274658203125, 51.82417678833008, 79.6043930053711, -8.571428298950195, 2.4246394634246826 ]
4.85
97
0
97
0
[ -18.93356704711914, -100.8196029663086, 91.14171600341797, 72.37776184082031, -14.786842346191406, 2.49289608001709, -7.384162902832031, -83.51338958740234, 45.76457595825195, 79.87711334228516, -8.311208724975586, 2.142259359359741 ]
[ -18.461538314819336, -97.05494689941406, 92.79120635986328, 72.17582702636719, -14.197802543640137, 3.0880420207977295, -8, -82.54945373535156, 50.85714340209961, 79.78022003173828, -8.571428298950195, 2.4246394634246826 ]
4.9
98
0
98
0
[ -19.218244552612305, -101.07506561279297, 91.10635375976562, 72.4079818725586, -14.825666427612305, 2.7286767959594727, -7.276336669921875, -83.35452270507812, 47.13851547241211, 79.25298309326172, -8.397796630859375, 2.235323667526245 ]
[ -18.461538314819336, -97.05494689941406, 92.79120635986328, 72.17582702636719, -14.197802543640137, 3.0880420207977295, -8, -82.72527313232422, 50.68132019042969, 79.69230651855469, -8.571428298950195, 2.4246394634246826 ]
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": 1052,
    "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,
                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",
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "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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        },
        "observation.images.camera3": {
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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
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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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