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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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1.05k
task_index
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1
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1.55
31
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31
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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
34
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1.75
35
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35
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1.8
36
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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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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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2.1
42
0
42
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2.15
43
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43
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2.2
44
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44
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2.25
45
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45
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2.3
46
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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
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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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2.65
53
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2.7
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
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2.95
59
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3
60
0
60
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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
[ -14.529458999633789, -100.7513427734375, 92.29955291748047, 73.29963684082031, 0.16979217529296875, 2.0599050521850586, -8.206523895263672, -89.3800277709961, 58.9184455871582, 75.01470184326172, -3.987338066101074, 2.238081216812134 ]
[ -14.065934181213379, -96.61538696289062, 94.81318664550781, 72.87911987304688, 0.48351648449897766, 2.7595269680023193, -8.79120922088623, -93.18681335449219, 64.04395294189453, 75.29669952392578, -3.6483516693115234, 2.2280471324920654 ]
4.75
95
0
95
0
[ -14.614425659179688, -101.04545593261719, 92.00029754638672, 73.7837142944336, 0.06258773803710938, 2.2854461669921875, -8.353885650634766, -87.57695007324219, 55.50638198852539, 77.61251068115234, -4.797926425933838, 2.1749215126037598 ]
[ -14.065934181213379, -96.61538696289062, 94.81318664550781, 72.87911987304688, 0.48351648449897766, 2.7595269680023193, -8.79120922088623, -91.42857360839844, 62.10988998413086, 75.20879364013672, -3.912087917327881, 2.2280471324920654 ]
4.8
96
0
96
0
[ -14.245667457580566, -101.1985092163086, 92.12281036376953, 73.5181655883789, -0.22758865356445312, 2.1572256088256836, -8.572269439697266, -84.81210327148438, 53.2218132019043, 76.59468841552734, -4.856317520141602, 2.2471890449523926 ]
[ -14.065934181213379, -96.61538696289062, 94.81318664550781, 72.87911987304688, 0.48351648449897766, 2.7595269680023193, -8.79120922088623, -90.72527313232422, 61.58241653442383, 75.29669952392578, -4.087912082672119, 2.2280471324920654 ]
4.85
97
0
97
0
[ -14.221305847167969, -101.11294555664062, 92.34028625488281, 73.47676849365234, -0.16053390502929688, 2.2180252075195312, -8.284797668457031, -82.5923080444336, 49.8420295715332, 76.221923828125, -5.074004650115967, 2.2064294815063477 ]
[ -14.065934181213379, -96.61538696289062, 94.81318664550781, 72.87911987304688, 0.48351648449897766, 2.7595269680023193, -8.79120922088623, -89.14286041259766, 59.56044006347656, 76.61538696289062, -4.527472496032715, 2.2280471324920654 ]
4.9
98
0
98
0
[ -14.146167755126953, -100.8896484375, 92.48961639404297, 73.58483123779297, -0.06825637817382812, 1.9703302383422852, -8.782943725585938, -80.50717163085938, 47.932552337646484, 76.47340393066406, -4.998779773712158, 2.169769048690796 ]
[ -14.065934181213379, -96.61538696289062, 94.81318664550781, 72.79120635986328, 0.3956044018268585, 2.7595269680023193, -8.79120922088623, -87.12088012695312, 57.010990142822266, 76.43955993652344, -4.615384578704834, 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,
                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",
                "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",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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