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int64
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3
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3.1
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[ 10.280830383300781, -46.39895248413086, 71.13313293457031, -0.7731958627700806, -24.24908447265625, 76.92308044433594, -12.185592651367188, 50.08756637573242, -62.83108901977539, -16.14583396911621, 17.851037979125977, 76.01712799072266 ]
[ 10.280830383300781, -49.955238342285156, 72.8971939086914, 10.811850547790527, -23.27228355407715, 76.73019409179688, -12.234432220458984, 51.93936538696289, -64.48839569091797, -25.62974739074707, 16.77655601501465, 76.01476287841797 ]
3.133333
94
0
94
0
[ 10.280830383300781, -45.264076232910156, 71.13313293457031, -1.975944995880127, -24.24908447265625, 76.92308044433594, -12.185592651367188, 49.211910247802734, -62.74424743652344, -15.01736068725586, 17.899877548217773, 76.01712799072266 ]
[ 10.280830383300781, -48.61235427856445, 72.8971939086914, 9.426702499389648, -23.27228355407715, 76.93079376220703, -12.234432220458984, 51.04770278930664, -64.57437896728516, -24.430227279663086, 16.825397491455078, 76.01476287841797 ]
3.166667
95
0
95
0
[ 10.280830383300781, -44.56569290161133, 71.21929931640625, -2.749140977859497, -24.24908447265625, 76.92308044433594, -12.185592651367188, 48.07355499267578, -62.65740203857422, -14.14930534362793, 17.899877548217773, 76.01712799072266 ]
[ 10.280830383300781, -47.17994689941406, 72.8971939086914, 7.887649059295654, -23.27228355407715, 76.83049011230469, -12.234432220458984, 50.06687545776367, -64.48839569091797, -23.390644073486328, 16.825397491455078, 76.01476287841797 ]
3.2
96
0
96
0
[ 10.329669952392578, -44.04190444946289, 71.21929931640625, -3.178694248199463, -24.24908447265625, 76.92308044433594, -12.185592651367188, 46.93519973754883, -62.65740203857422, -13.45486068725586, 17.899877548217773, 76.01712799072266 ]
[ 10.329669952392578, -45.92658996582031, 72.8971939086914, 6.271643161773682, -23.27228355407715, 76.83049011230469, -12.234432220458984, 49.17521286010742, -64.48839569091797, -22.351058959960938, 16.825397491455078, 76.01476287841797 ]
3.233333
97
0
97
0
[ 10.378510475158691, -43.51811599731445, 71.30547332763672, -3.522336721420288, -24.24908447265625, 76.75213623046875, -12.185592651367188, 45.70928192138672, -62.570560455322266, -12.934027671813965, 17.99755859375, 76.01712799072266 ]
[ 10.280830383300781, -44.8522834777832, 72.8971939086914, 5.1173529624938965, -23.27228355407715, 76.83049011230469, -12.234432220458984, 48.19438171386719, -64.48839569091797, -21.151538848876953, 16.874237060546875, 76.01476287841797 ]
3.266667
98
0
98
0
[ 10.525030136108398, -43.168922424316406, 71.39163970947266, -3.8659794330596924, -24.24908447265625, 76.75213623046875, -12.185592651367188, 44.65849304199219, -62.65740203857422, -12.239583015441895, 18.241758346557617, 76.01712799072266 ]
[ 10.280830383300781, -44.04655456542969, 72.8971939086914, 4.270873546600342, -23.27228355407715, 76.83049011230469, -12.234432220458984, 47.124385833740234, -64.48839569091797, -19.95201873779297, 16.874237060546875, 76.01476287841797 ]
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_otter_follower",
    "total_episodes": 2,
    "total_frames": 1827,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "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.front": {
            "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,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left": {
            "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,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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