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float32
0
49.8
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int64
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1.49k
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int64
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92
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[ -14.46504020690918, -101.21791076660156, 91.25667572021484, 71.77125549316406, -5.492801666259766, 2.2121591567993164, -7.625568389892578, -25.281034469604492, -21.388927459716797, 75.83930969238281, -9.209172248840332, 2.1927719116210938 ]
[ -14.681318283081055, -96.35164642333984, 92.52747344970703, 72.17582702636719, -5.758241653442383, 2.431011915206909, -6.94505500793457, -29.626373291015625, -13.230769157409668, 75.82417297363281, -9.450549125671387, 2.2280471324920654 ]
3.1
93
0
93
0
[ -14.494927406311035, -101.24732208251953, 91.30127716064453, 71.6349868774414, -5.527393341064453, 2.2795286178588867, -7.901451110839844, -23.86249542236328, -23.425525665283203, 76.12901306152344, -9.365636825561523, 2.175750255584717 ]
[ -14.681318283081055, -96.35164642333984, 92.52747344970703, 72.17582702636719, -5.758241653442383, 2.431011915206909, -6.857142925262451, -28.483516693115234, -14.813186645507812, 75.82417297363281, -9.450549125671387, 2.2280471324920654 ]
3.133333
94
0
94
0
[ -14.634119033813477, -101.27413940429688, 91.40206909179688, 71.66876220703125, -5.646003723144531, 2.191904067993164, -8.473007202148438, -24.012853622436523, -23.641345977783203, 76.34966278076172, -9.205604553222656, 2.0770044326782227 ]
[ -14.681318283081055, -96.35164642333984, 92.52747344970703, 72.17582702636719, -5.758241653442383, 2.431011915206909, -7.0329670906066895, -27.428571701049805, -16.131868362426758, 75.82417297363281, -9.450549125671387, 2.2280471324920654 ]
3.166667
95
0
95
0
[ -14.610718727111816, -101.2379150390625, 91.50868225097656, 71.88577270507812, -5.641460418701172, 2.284201145172119, -7.883796691894531, -24.877979278564453, -23.184906005859375, 76.56895446777344, -9.546822547912598, 2.1418871879577637 ]
[ -14.681318283081055, -96.35164642333984, 92.52747344970703, 72.17582702636719, -5.758241653442383, 2.431011915206909, -7.296703338623047, -25.934066772460938, -17.9780216217041, 75.82417297363281, -9.450549125671387, 2.2280471324920654 ]
3.2
96
0
96
0
[ -14.632162094116211, -101.01788330078125, 91.7381820678711, 71.42040252685547, -5.893035888671875, 2.27333927154541, -8.054191589355469, -24.043380737304688, -23.531635284423828, 76.41022491455078, -9.40501880645752, 2.076218843460083 ]
[ -14.681318283081055, -96.35164642333984, 92.52747344970703, 72.17582702636719, -5.758241653442383, 2.431011915206909, -7.648351669311523, -24.96703338623047, -19.560440063476562, 75.82417297363281, -9.450549125671387, 2.2280471324920654 ]
3.233333
97
0
97
0
[ -14.482054710388184, -101.16551971435547, 91.31806182861328, 71.6539306640625, -5.679069519042969, 2.263758659362793, -7.944797515869141, -23.4288387298584, -24.876121520996094, 76.48351287841797, -9.112951278686523, 2.0557520389556885 ]
[ -14.681318283081055, -96.35164642333984, 92.52747344970703, 72.17582702636719, -5.758241653442383, 2.431011915206909, -7.912087917327881, -24.96703338623047, -20, 76.0879135131836, -9.450549125671387, 2.2280471324920654 ]
3.266667
98
0
98
0
[ -14.366979598999023, -101.12370300292969, 91.45410919189453, 71.49406433105469, -5.418071746826172, 2.2791690826416016, -8.490867614746094, -23.0197696685791, -25.830245971679688, 76.73226928710938, -8.70415210723877, 2.179858922958374 ]
[ -14.681318283081055, -96.35164642333984, 92.52747344970703, 72.17582702636719, -5.758241653442383, 2.431011915206909, -8, -24.703296661376953, -20.615385055541992, 76.17582702636719, -9.450549125671387, 2.2280471324920654 ]
3.3
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": 1495,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "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": 30,
                "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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera3": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                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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