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[ 0.8299832344055176, -102.49883270263672, 92.934326171875, 73.07936096191406, 5.519824981689453, 2.4966063499450684, -3.9441986083984375, -104.63129425048828, 99.09086608886719, 57.18069076538086, -5.469367980957031, 2.252528190612793 ]
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1.55
31
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31
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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
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1.8
36
0
36
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1.85
37
0
37
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1.9
38
0
38
0
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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
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2.1
42
0
42
0
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2.15
43
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43
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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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[ 1.8461538553237915, -102.24176025390625, 94.02198028564453, 74.32967376708984, 12.087912559509277, 2.808621883392334, -6.593406677246094, -32.17582321166992, 4.483516693115234, 76.87911987304688, -2.857142925262451, 2.1203830242156982 ]
3.15
63
0
63
0
[ 2.1698966026306152, -102.63241577148438, 91.47639465332031, 74.66931915283203, 13.131452560424805, 2.7007200717926025, -6.460285186767578, -23.96460723876953, -10.89323902130127, 79.8559799194336, -2.279832363128662, 2.24023699760437 ]
[ 1.9340659379959106, -102.24176025390625, 94.02198028564453, 74.32967376708984, 12.087912559509277, 2.808621883392334, -6.593406677246094, -29.626373291015625, 0.9670329689979553, 77.31867980957031, -2.857142925262451, 2.1203830242156982 ]
3.2
64
0
64
0
[ 2.2270426750183105, -102.6294174194336, 91.25607299804688, 74.87014770507812, 12.974363327026367, 2.692476511001587, -6.261283874511719, -22.51726531982422, -13.958667755126953, 80.39779663085938, -2.238771915435791, 2.0658063888549805 ]
[ 2.0219781398773193, -102.24176025390625, 94.02198028564453, 74.32967376708984, 12.087912559509277, 2.808621883392334, -6.681318759918213, -27.69230842590332, -2.461538553237915, 77.93406677246094, -2.857142925262451, 2.1203830242156982 ]
3.25
65
0
65
0
[ 2.5831170082092285, -102.5914306640625, 91.46805572509766, 74.88479614257812, 12.759401321411133, 2.5828003883361816, -6.076074600219727, -19.758686065673828, -18.373374938964844, 81.58403015136719, -2.276360273361206, 2.0257081985473633 ]
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3.3
66
0
66
0
[ 2.391296863555908, -102.37127685546875, 91.17591857910156, 74.71888732910156, 13.185834884643555, 2.664564609527588, -6.206053733825684, -18.69812774658203, -21.360336303710938, 82.10516357421875, -2.2960073947906494, 2.0778658390045166 ]
[ 2.1098902225494385, -102.24176025390625, 94.02198028564453, 74.32967376708984, 12.263736724853516, 2.808621883392334, -6.681318759918213, -23.47252655029297, -9.142857551574707, 79.86813354492188, -2.857142925262451, 2.1203830242156982 ]
3.35
67
0
67
0
[ 2.4103522300720215, -102.492919921875, 91.49172973632812, 74.52638244628906, 12.747835159301758, 2.6641125679016113, -6.377533912658691, -16.816028594970703, -23.247947692871094, 82.27128601074219, -2.338548421859741, 1.9706025123596191 ]
[ 2.1098902225494385, -102.24176025390625, 94.02198028564453, 74.32967376708984, 12.263736724853516, 2.808621883392334, -6.681318759918213, -21.36263656616211, -12.659340858459473, 80.83516693115234, -2.857142925262451, 2.1203830242156982 ]
3.4
68
0
68
0
[ 2.268184185028076, -102.67272186279297, 91.31098175048828, 74.53389739990234, 13.123586654663086, 2.774066209793091, -6.571438789367676, -16.30606460571289, -26.023439407348633, 83.1328125, -2.130382776260376, 1.973452091217041 ]
[ 2.1978023052215576, -102.24176025390625, 94.02198028564453, 74.32967376708984, 12.439560890197754, 2.808621883392334, -6.681318759918213, -19.340660095214844, -16.263736724853516, 81.53845977783203, -2.857142925262451, 2.1203830242156982 ]
3.45
69
0
69
0
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3.5
70
0
70
0
[ 2.599783420562744, -102.62275695800781, 91.41011047363281, 74.72376251220703, 12.462484359741211, 2.689929485321045, -6.797616004943848, -13.116297721862793, -30.515060424804688, 82.89982604980469, -2.404789447784424, 2.0041065216064453 ]
[ 2.1978023052215576, -102.24176025390625, 94.02198028564453, 74.32967376708984, 12.439560890197754, 2.808621883392334, -6.681318759918213, -16.52747344970703, -21.538461685180664, 82.5054931640625, -2.5934066772460938, 2.1203830242156982 ]
3.55
71
0
71
0
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[ 2.1978023052215576, -102.24176025390625, 94.02198028564453, 74.32967376708984, 12.439560890197754, 2.808621883392334, -6.681318759918213, -14.94505500793457, -24.351648330688477, 82.5054931640625, -2.5934066772460938, 2.1203830242156982 ]
3.6
72
0
72
0
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[ 2.2857143878936768, -102.24176025390625, 94.02198028564453, 74.32967376708984, 12.439560890197754, 2.808621883392334, -6.681318759918213, -13.538461685180664, -26.72527503967285, 82.5934066772461, -2.5934066772460938, 2.1203830242156982 ]
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
[ 2.464231014251709, -102.03689575195312, 90.7035903930664, 74.8296127319336, 12.634130477905273, 2.62864351272583, -14.630515098571777, -10.183647155761719, -38.17976379394531, 85.12054443359375, -3.710156202316284, 2.043407440185547 ]
[ 2.2857143878936768, -102.24176025390625, 93.67032623291016, 74.4175796508789, 12.263736724853516, 2.808621883392334, -12.659340858459473, -7.560439586639404, -38.41758346557617, 86.28571319580078, -3.472527503967285, 2.1203830242156982 ]
4.7
94
0
94
0
[ 2.4245991706848145, -102.03683471679688, 90.84471130371094, 74.6829833984375, 12.636785507202148, 2.6231696605682373, -14.664400100708008, -10.462370872497559, -37.757991790771484, 84.83644104003906, -3.6532816886901855, 2.0875821113586426 ]
[ 2.2857143878936768, -102.24176025390625, 93.67032623291016, 74.4175796508789, 12.263736724853516, 2.808621883392334, -13.450549125671387, -7.648351669311523, -38.41758346557617, 86.28571319580078, -3.5604395866394043, 2.1203830242156982 ]
4.75
95
0
95
0
[ 2.6730456352233887, -101.82955169677734, 90.64808654785156, 74.94522094726562, 12.472150802612305, 2.6942074298858643, -14.855944633483887, -11.32484245300293, -36.95272445678711, 84.64753723144531, -3.7657289505004883, 2.119077682495117 ]
[ 2.2857143878936768, -102.24176025390625, 93.67032623291016, 74.4175796508789, 12.263736724853516, 2.808621883392334, -14.15384578704834, -7.648351669311523, -38.06593322753906, 85.84615325927734, -3.5604395866394043, 2.1203830242156982 ]
4.8
96
0
96
0
[ 2.6199116706848145, -101.86627197265625, 90.92715454101562, 74.4815673828125, 12.634672164916992, 2.693178415298462, -15.801301002502441, -10.88582706451416, -37.009056091308594, 84.46537017822266, -3.707108974456787, 1.9858336448669434 ]
[ 2.2857143878936768, -102.24176025390625, 93.67032623291016, 74.4175796508789, 12.263736724853516, 2.808621883392334, -14.417582511901855, -7.736263751983643, -37.80219650268555, 85.67032623291016, -3.5604395866394043, 2.1203830242156982 ]
4.85
97
0
97
0
[ 2.5979838371276855, -101.6314697265625, 90.7724838256836, 74.44923400878906, 12.88072395324707, 2.710925817489624, -16.210718154907227, -11.133691787719727, -36.719078063964844, 84.68831634521484, -3.5596518516540527, 2.061444044113159 ]
[ 2.2857143878936768, -102.24176025390625, 93.67032623291016, 74.4175796508789, 12.263736724853516, 2.808621883392334, -14.505494117736816, -8.175824165344238, -37.098899841308594, 85.4065933227539, -3.5604395866394043, 2.1203830242156982 ]
4.9
98
0
98
0
[ 2.7099452018737793, -101.68809509277344, 90.82591247558594, 74.59664154052734, 13.219301223754883, 2.670133352279663, -16.50911521911621, -11.462102890014648, -37.57286071777344, 84.67739868164062, -3.449030876159668, 2.206796169281006 ]
[ 2.2857143878936768, -102.24176025390625, 93.67032623291016, 74.4175796508789, 12.263736724853516, 2.808621883392334, -15.120879173278809, -8.351648330688477, -37.010990142822266, 85.4065933227539, -3.5604395866394043, 2.1203830242156982 ]
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": 2,
    "total_frames": 686,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:2"
    },
    "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": [
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                640,
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            ],
            "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": [
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                640,
                3
            ],
            "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
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        },
        "observation.images.camera3": {
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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,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "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
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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