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observation.state
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float32
0
25.8
frame_index
int64
0
516
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int64
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int64
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int64
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1.6
32
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32
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1.65
33
0
33
0
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1.7
34
0
34
0
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1.75
35
0
35
0
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1.8
36
0
36
0
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1.85
37
0
37
0
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1.9
38
0
38
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1.95
39
0
39
0
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2
40
0
40
0
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2.05
41
0
41
0
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2.1
42
0
42
0
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2.15
43
0
43
0
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2.2
44
0
44
0
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2.25
45
0
45
0
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2.3
46
0
46
0
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2.35
47
0
47
0
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2.4
48
0
48
0
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2.45
49
0
49
0
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
52
0
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2.65
53
0
53
0
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2.7
54
0
54
0
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2.75
55
0
55
0
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2.8
56
0
56
0
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2.85
57
0
57
0
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2.9
58
0
58
0
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
0
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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
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4.75
95
0
95
0
[ 2.6140799522399902, -102.7591781616211, 91.72628021240234, 74.0483627319336, 13.984296798706055, 2.5075998306274414, -3.4305896759033203, -26.50091552734375, -19.695772171020508, 88.12322998046875, -3.612483501434326, 2.1873815059661865 ]
[ 2.6373627185821533, -102.24176025390625, 94.02198028564453, 74.15384674072266, 14.197802543640137, 2.808621883392334, -4.92307710647583, -27.604394912719727, -13.758241653442383, 86.81318664550781, -4, 2.2280471324920654 ]
4.8
96
0
96
0
[ 2.5520262718200684, -102.53042602539062, 91.75972747802734, 73.93821716308594, 13.735708236694336, 2.481771945953369, -3.275247573852539, -24.984378814697266, -21.05196762084961, 88.00286865234375, -3.332897186279297, 2.068230390548706 ]
[ 2.6373627185821533, -102.24176025390625, 94.02198028564453, 74.15384674072266, 14.197802543640137, 2.808621883392334, -4.5714287757873535, -27.604394912719727, -15.604395866394043, 87.25274658203125, -4, 2.2280471324920654 ]
4.85
97
0
97
0
[ 2.654148578643799, -102.52854919433594, 91.7724609375, 74.10432434082031, 14.269083023071289, 2.4389991760253906, -2.960968017578125, -24.321264266967773, -22.29722023010254, 89.34477996826172, -3.1863152980804443, 2.1903555393218994 ]
[ 2.6373627185821533, -102.24176025390625, 94.02198028564453, 74.15384674072266, 14.197802543640137, 2.808621883392334, -4.131868362426758, -26.813186645507812, -16.923076629638672, 87.6043930053711, -4, 2.2280471324920654 ]
4.9
98
0
98
0
[ 2.685328960418701, -102.49272155761719, 91.97870635986328, 73.89192199707031, 14.146711349487305, 2.4685583114624023, -3.200193405151367, -22.034141540527344, -24.004959106445312, 89.2095718383789, -3.1368861198425293, 2.209750175476074 ]
[ 2.6373627185821533, -102.24176025390625, 94.02198028564453, 74.15384674072266, 14.197802543640137, 2.808621883392334, -3.780219793319702, -25.670330047607422, -18.329669952392578, 87.78022003173828, -3.8241758346557617, 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": 517,
    "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,
                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": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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