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96.4
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3.2
96
0
96
0
[ -35.645755767822266, 4.093567371368408, 98.38492584228516, -86.58634185791016, 2.857142925262451, 3.1664211750030518, 76.2863540649414, 32.00972366333008, -0.36133694648742676, 62.11649703979492, -11.550671577453613, 61.448429107666016 ]
[ -35.54502487182617, 4.290968418121338, 97.80509185791016, -85.08528137207031, 2.710622787475586, 3.0042917728424072, 77.0571517944336, 26.45480728149414, 13.662156105041504, 52.23033142089844, -8.424908638000488, 61.135101318359375 ]
3.233333
97
0
97
0
[ -35.645755767822266, 4.093567371368408, 98.38492584228516, -86.58634185791016, 2.857142925262451, 3.1664211750030518, 76.2863540649414, 34.116695404052734, -3.5230352878570557, 63.71720886230469, -11.550671577453613, 61.448429107666016 ]
[ -35.54502487182617, 4.290968418121338, 97.80509185791016, -85.08528137207031, 2.710622787475586, 3.0042917728424072, 77.0571517944336, 28.600908279418945, 10.257529258728027, 54.74452590942383, -9.4993896484375, 61.135101318359375 ]
3.266667
98
0
98
0
[ -35.645755767822266, 4.0100250244140625, 98.38492584228516, -86.58634185791016, 2.857142925262451, 3.1664211750030518, 76.21178436279297, 35.899513244628906, -5.781391143798828, 64.51756286621094, -11.550671577453613, 61.448429107666016 ]
[ -35.54502487182617, 4.290968418121338, 97.80509185791016, -85.08528137207031, 2.710622787475586, 3.0042917728424072, 77.0571517944336, 30.664464950561523, 6.765604496002197, 57.177616119384766, -10.280830383300781, 61.135101318359375 ]
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": 8,
    "total_frames": 17795,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:8"
    },
    "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.left_wrist": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "observation.images.right_top": {
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            "names": [
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            "info": {
                "video.height": 480,
                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "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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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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