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float32
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49.8
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int64
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1.49k
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3.066667
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92
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[ -18.26834487915039, -101.53323364257812, 91.67496490478516, 72.62202453613281, -3.9355201721191406, 2.2055253982543945, -19.621170043945312, -27.136306762695312, -16.84363555908203, 76.29214477539062, -6.294234275817871, 2.1593129634857178 ]
[ -18.461538314819336, -96.26373291015625, 94.9011001586914, 71.47252655029297, -3.7362637519836426, 2.2339026927948, -17.58241844177246, -25.05494499206543, -17.27472496032715, 76.52747344970703, -6.549450397491455, 2.2280471324920654 ]
3.1
93
0
93
0
[ -18.486589431762695, -101.64981842041016, 91.77372741699219, 72.4114990234375, -4.194313049316406, 2.103363037109375, -21.136756896972656, -25.7818660736084, -19.19017791748047, 77.1195068359375, -6.599270820617676, 2.1302623748779297 ]
[ -18.461538314819336, -96.26373291015625, 94.9011001586914, 71.47252655029297, -3.7362637519836426, 2.2339026927948, -18.0219783782959, -25.14285659790039, -17.27472496032715, 76.52747344970703, -6.549450397491455, 2.2280471324920654 ]
3.133333
94
0
94
0
[ -18.186277389526367, -101.2450942993164, 91.68682098388672, 72.31141662597656, -3.9793014526367188, 2.3280744552612305, -23.53813362121582, -26.69795036315918, -17.547767639160156, 76.66633605957031, -6.5506815910339355, 2.156583786010742 ]
[ -18.461538314819336, -96.26373291015625, 94.9011001586914, 71.56044006347656, -3.7362637519836426, 2.2339026927948, -18.549449920654297, -25.318681716918945, -17.010988235473633, 76.52747344970703, -6.549450397491455, 2.2280471324920654 ]
3.166667
95
0
95
0
[ -18.181190490722656, -101.50814056396484, 91.7450942993164, 72.23152160644531, -4.132946014404297, 2.1958999633789062, -23.433826446533203, -26.490358352661133, -18.115129470825195, 76.63777923583984, -6.531377792358398, 2.1181726455688477 ]
[ -18.461538314819336, -96.26373291015625, 94.9011001586914, 71.56044006347656, -3.7362637519836426, 2.2339026927948, -19.340660095214844, -25.230770111083984, -16.83516502380371, 76.61538696289062, -6.549450397491455, 2.2280471324920654 ]
3.2
96
0
96
0
[ -18.309356689453125, -101.52350616455078, 91.73420715332031, 72.17623901367188, -4.335948944091797, 2.1836929321289062, -25.09857177734375, -26.18436622619629, -18.662506103515625, 76.67473602294922, -6.508461952209473, 2.1647579669952393 ]
[ -18.461538314819336, -96.26373291015625, 94.9011001586914, 71.56044006347656, -3.7362637519836426, 2.2339026927948, -20.74725341796875, -25.230770111083984, -16.923076629638672, 76.70330047607422, -6.549450397491455, 2.2280471324920654 ]
3.233333
97
0
97
0
[ -18.148033142089844, -101.63615417480469, 91.7320327758789, 72.16267395019531, -4.490196228027344, 2.109729766845703, -28.123682022094727, -25.286108016967773, -20.10821533203125, 76.11604309082031, -6.55681848526001, 2.1494383811950684 ]
[ -18.461538314819336, -96.26373291015625, 94.9011001586914, 71.56044006347656, -3.7362637519836426, 2.2339026927948, -21.89011001586914, -25.230770111083984, -16.923076629638672, 76.70330047607422, -6.549450397491455, 2.2280471324920654 ]
3.266667
98
0
98
0
[ -18.257095336914062, -100.84634399414062, 91.77815246582031, 72.40740966796875, -4.473743438720703, 2.2770676612854004, -28.17745018005371, -25.29844856262207, -19.646686553955078, 76.37702178955078, -6.303680896759033, 2.152092218399048 ]
[ -18.461538314819336, -96.26373291015625, 94.9011001586914, 71.56044006347656, -3.7362637519836426, 2.2339026927948, -23.03296661376953, -25.230770111083984, -16.923076629638672, 76.70330047607422, -6.549450397491455, 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",
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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