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float32
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12.7
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int64
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381
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2.133333
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2.166667
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2.3
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2.333333
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2.366667
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2.433333
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2.466667
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2.5
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2.533333
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2.566667
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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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2.766667
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2.8
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2.833333
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2.9
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3
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3.066667
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3.1
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[ -7.814269542694092, -97.77206420898438, 99.27928161621094, 52.710201263427734, 49.401710510253906, 2.4716098308563232, 0.1947799026966095, -97.66277313232422, 99.36936950683594, 72.0154037475586, -5.689865589141846, 1.2787723541259766 ]
3.133333
94
0
94
0
[ -8.160122871398926, -98.32636260986328, 93.93390655517578, 51.217430114746094, 48.131866455078125, 0.9523809552192688, 0.5649717450141907, -97.89295959472656, 99.63882446289062, 71.71453094482422, -5.738705635070801, 1.0466989278793335 ]
[ -7.73876953125, -97.77206420898438, 99.1891860961914, 52.710201263427734, 49.010990142822266, 2.4716098308563232, 0.1947799026966095, -97.66277313232422, 99.36936950683594, 72.0154037475586, -5.689865589141846, 1.2787723541259766 ]
3.166667
95
0
95
0
[ -8.237105369567871, -98.32636260986328, 92.93798065185547, 51.217430114746094, 47.838829040527344, 0.9523809552192688, 0.5649717450141907, -97.89295959472656, 99.63882446289062, 71.71453094482422, -5.738705635070801, 1.0466989278793335 ]
[ -7.587769031524658, -97.77206420898438, 99.1891860961914, 52.710201263427734, 48.81562805175781, 2.4716098308563232, 0.1947799026966095, -97.66277313232422, 99.36936950683594, 72.0154037475586, -5.689865589141846, 1.2787723541259766 ]
3.2
96
0
96
0
[ -8.237105369567871, -98.24267578125, 91.94205474853516, 51.302860260009766, 46.910865783691406, 0.9523809552192688, 0.5649717450141907, -97.89295959472656, 99.63882446289062, 71.71453094482422, -5.738705635070801, 1.0466989278793335 ]
[ -7.587769031524658, -97.77206420898438, 98.9189224243164, 52.710201263427734, 48.66910934448242, 2.4048097133636475, 0.1947799026966095, -97.66277313232422, 99.36936950683594, 72.0154037475586, -5.689865589141846, 1.2787723541259766 ]
3.233333
97
0
97
0
[ -8.237105369567871, -98.15899658203125, 91.12720489501953, 51.73003005981445, 45.88522720336914, 0.9523809552192688, 0.5649717450141907, -97.89295959472656, 99.63882446289062, 71.71453094482422, -5.738705635070801, 1.0466989278793335 ]
[ -7.587769031524658, -97.77206420898438, 98.37837982177734, 52.710201263427734, 48.522586822509766, 2.4048097133636475, 0.1947799026966095, -97.66277313232422, 99.36936950683594, 72.0154037475586, -5.689865589141846, 1.2787723541259766 ]
3.266667
98
0
98
0
[ -8.237105369567871, -98.15899658203125, 90.67451477050781, 51.81546401977539, 44.61538314819336, 0.9523809552192688, 0.5649717450141907, -97.89295959472656, 99.63882446289062, 71.71453094482422, -5.738705635070801, 1.0466989278793335 ]
[ -7.66326904296875, -97.77206420898438, 97.56756591796875, 52.710201263427734, 48.27838897705078, 2.4048097133636475, 0.1947799026966095, -97.66277313232422, 99.36936950683594, 72.0154037475586, -5.689865589141846, 1.2787723541259766 ]
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": 12,
    "total_frames": 3416,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:12"
    },
    "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_head": {
            "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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
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                "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,
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        },
        "observation.images.right_wrist": {
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            "shape": [
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            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "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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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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