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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
task_index
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1.55
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1.6
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1.65
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1.7
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1.75
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1.8
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1.85
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1.9
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1.95
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2
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2.05
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2.1
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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
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2.9
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2.95
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3
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3.05
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3.1
62
0
62
0
[ -9.057069778442383, -100.16635131835938, 91.41018676757812, 70.52159118652344, -3.0573768615722656, 2.8176655769348145, -6.876262664794922, -106.08540344238281, 74.84971618652344, 72.88999938964844, -4.751491546630859, 2.284127950668335 ]
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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
[ -9.021740913391113, -100.25532531738281, 91.62165832519531, 69.91358947753906, -2.368297576904297, 2.7089295387268066, -7.619808197021484, -104.07598876953125, 73.19013977050781, 73.3297348022461, -4.8182373046875, 2.360748529434204 ]
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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
[ -9.74782943725586, -100.82294464111328, 90.65681457519531, 70.32453918457031, -3.2834815979003906, 2.7278451919555664, -7.5595855712890625, -48.181297302246094, 9.26688003540039, 70.63772583007812, -8.88192367553711, 2.5123839378356934 ]
[ -9.406593322753906, -96.35164642333984, 93.67032623291016, 70.32967376708984, -3.2087912559509277, 3.0880420207977295, -7.560439586639404, -55.29670333862305, 18.681318283081055, 71.6043930053711, -8.219779968261719, 2.2935779094696045 ]
4.7
94
0
94
0
[ -9.595582008361816, -100.67766571044922, 90.70594024658203, 69.85585021972656, -3.573833465576172, 2.4609603881835938, -7.821754455566406, -46.38773727416992, 6.428363800048828, 70.52677154541016, -8.667637825012207, 2.506588935852051 ]
[ -9.406593322753906, -96.35164642333984, 93.67032623291016, 70.32967376708984, -3.2087912559509277, 3.0880420207977295, -7.560439586639404, -53.36263656616211, 16.83516502380371, 71.6043930053711, -8.307692527770996, 2.2935779094696045 ]
4.75
95
0
95
0
[ -9.460920333862305, -100.93522644042969, 90.69412994384766, 69.89122009277344, -3.4269866943359375, 2.5822830200195312, -7.578777313232422, -45.017372131347656, 4.948081970214844, 71.45758819580078, -8.536958694458008, 2.5125887393951416 ]
[ -9.406593322753906, -96.35164642333984, 93.67032623291016, 70.32967376708984, -3.2087912559509277, 3.0880420207977295, -7.560439586639404, -51.07692337036133, 14.373626708984375, 71.6043930053711, -8.571428298950195, 2.2935779094696045 ]
4.8
96
0
96
0
[ -9.54963493347168, -100.6180419921875, 90.52958679199219, 69.90931701660156, -3.3157386779785156, 2.584331512451172, -7.331214904785156, -43.85551452636719, 2.9594383239746094, 71.52758026123047, -8.436501502990723, 2.462315559387207 ]
[ -9.406593322753906, -96.35164642333984, 93.67032623291016, 70.32967376708984, -3.2087912559509277, 3.0880420207977295, -7.560439586639404, -48.35165023803711, 11.032966613769531, 71.51648712158203, -8.571428298950195, 2.2935779094696045 ]
4.85
97
0
97
0
[ -9.433313369750977, -101.33171081542969, 90.63232421875, 70.10762023925781, -3.2412872314453125, 2.5539565086364746, -7.661155700683594, -44.11880874633789, 3.2280654907226562, 71.76136779785156, -8.600484848022461, 2.6167240142822266 ]
[ -9.406593322753906, -96.35164642333984, 93.67032623291016, 70.32967376708984, -3.2087912559509277, 3.0880420207977295, -7.560439586639404, -46.593406677246094, 8.835165023803711, 71.69230651855469, -8.571428298950195, 2.2935779094696045 ]
4.9
98
0
98
0
[ -9.142428398132324, -101.02784729003906, 90.46798706054688, 70.20811462402344, -3.524700164794922, 2.4874143600463867, -8.067218780517578, -45.761173248291016, 4.317943572998047, 72.32540130615234, -7.493011474609375, 2.6270861625671387 ]
[ -9.406593322753906, -96.35164642333984, 93.67032623291016, 70.32967376708984, -3.2087912559509277, 3.0880420207977295, -7.560439586639404, -45.098899841308594, 6.901098728179932, 71.78022003173828, -8.571428298950195, 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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                "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": [
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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,
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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
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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