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float32
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50
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int64
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1.5k
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int64
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2.133333
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2.333333
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2.533333
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2.6
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2.633333
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2.666667
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2.7
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2.8
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2.9
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3
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[ -12.307692527770996, -96.35164642333984, 93.4945068359375, 71.9120864868164, -11.296703338623047, 2.8252298831939697, -50.19780349731445, -26.0219783782959, -20.96703338623047, 72.30769348144531, -12.439560890197754, 2.55570125579834 ]
3.1
93
0
93
0
[ -11.995952606201172, -101.15119934082031, 91.17681884765625, 72.53748321533203, -11.210168838500977, 2.581350803375244, -52.115726470947266, -27.842308044433594, -21.583545684814453, 72.03094482421875, -16.15818977355957, 2.4798007011413574 ]
[ -12.307692527770996, -96.35164642333984, 93.4945068359375, 71.9120864868164, -11.296703338623047, 2.8252298831939697, -50.63736343383789, -26.10988998413086, -20.96703338623047, 72.30769348144531, -12.615385055541992, 2.55570125579834 ]
3.133333
94
0
94
0
[ -11.963210105895996, -101.17693328857422, 90.89846801757812, 72.47935485839844, -10.35599136352539, 2.6283202171325684, -52.04084777832031, -28.0792236328125, -20.753982543945312, 71.70191192626953, -16.329608917236328, 2.476492166519165 ]
[ -12.307692527770996, -96.35164642333984, 93.4945068359375, 71.9120864868164, -11.296703338623047, 2.8252298831939697, -50.989009857177734, -26.19780158996582, -20.96703338623047, 72.30769348144531, -13.142857551574707, 2.55570125579834 ]
3.166667
95
0
95
0
[ -11.985753059387207, -101.44145965576172, 91.01786804199219, 72.44007110595703, -10.571495056152344, 2.6504111289978027, -52.66311264038086, -28.32744789123535, -20.871009826660156, 71.37250518798828, -16.17230796813965, 2.4134457111358643 ]
[ -12.307692527770996, -96.35164642333984, 93.4945068359375, 71.9120864868164, -11.296703338623047, 2.8252298831939697, -51.25274658203125, -26.373626708984375, -20.96703338623047, 72.30769348144531, -14.373626708984375, 2.55570125579834 ]
3.2
96
0
96
0
[ -12.002126693725586, -100.93443298339844, 90.79776000976562, 72.59201049804688, -10.513839721679688, 2.763303279876709, -53.14295196533203, -28.07029151916504, -20.688268661499023, 71.52217102050781, -15.614428520202637, 2.4954962730407715 ]
[ -12.307692527770996, -96.35164642333984, 93.4945068359375, 71.9120864868164, -11.296703338623047, 2.8252298831939697, -51.516483306884766, -26.549449920654297, -20.879121780395508, 72.30769348144531, -15.252747535705566, 2.55570125579834 ]
3.233333
97
0
97
0
[ -11.812896728515625, -101.15525817871094, 90.79646301269531, 72.03630065917969, -10.975740432739258, 2.4824490547180176, -52.562461853027344, -28.12940216064453, -20.76287078857422, 71.34001159667969, -17.353248596191406, 2.531559944152832 ]
[ -12.307692527770996, -96.35164642333984, 93.4945068359375, 71.9120864868164, -11.032966613769531, 2.8252298831939697, -51.868133544921875, -26.813186645507812, -20.703296661376953, 72.30769348144531, -15.428571701049805, 2.55570125579834 ]
3.266667
98
0
98
0
[ -11.659772872924805, -101.61007690429688, 90.9659194946289, 72.08302307128906, -10.645814895629883, 2.3739113807678223, -52.84272766113281, -27.8861141204834, -20.967199325561523, 71.9072036743164, -19.3399658203125, 2.531658172607422 ]
[ -12.307692527770996, -96.35164642333984, 93.4945068359375, 71.9120864868164, -10.94505500793457, 2.8252298831939697, -52.39560317993164, -26.989011764526367, -20.703296661376953, 72.30769348144531, -15.516483306884766, 2.55570125579834 ]
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": 1501,
    "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": [
                360,
                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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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