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float32
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56.1
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int64
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1.68k
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[ 0.7081807255744934, -46.31165313720703, 49.24601364135742, 14.862543106079102, -5.934065818786621, 74.35897064208984, 6.129426002502441, 47.63572692871094, -59.704734802246094, 5.034722328186035, 14.432234764099121, 76.01712799072266 ]
[ 0.8547008633613586, -45.6336784362793, 55.53633117675781, 15.716486930847168, -4.9084248542785645, 74.11873626708984, 4.224664211273193, 52.474365234375, -65.86414337158203, 2.199120283126831, 11.159951210021973, 76.01476287841797 ]
3.2
96
0
96
0
[ 0.7081807255744934, -46.13705825805664, 49.24601364135742, 15.120274543762207, -5.934065818786621, 74.35897064208984, 6.373626232147217, 45.97197723388672, -59.617889404296875, 5.034722328186035, 15.65323543548584, 76.01712799072266 ]
[ 0.9035409092903137, -45.54410934448242, 55.53633117675781, 16.6409854888916, -5.15262508392334, 74.11873626708984, 4.9572649002075195, 50.334373474121094, -65.52020263671875, 2.199120283126831, 11.5018310546875, 76.01476287841797 ]
3.233333
97
0
97
0
[ 0.7081807255744934, -46.04975891113281, 49.24601364135742, 15.120274543762207, -5.934065818786621, 74.35897064208984, 6.8131866455078125, 44.65849304199219, -59.617889404296875, 4.947916507720947, 16.678876876831055, 76.01712799072266 ]
[ 0.8058608174324036, -45.54410934448242, 55.53633117675781, 17.026193618774414, -5.25030517578125, 74.30426788330078, 5.5921854972839355, 48.46187973022461, -65.52020263671875, 2.199120283126831, 12.234432220458984, 76.01476287841797 ]
3.266667
98
0
98
0
[ 0.7081807255744934, -45.96246337890625, 49.332183837890625, 15.034364700317383, -5.885225772857666, 74.52991485595703, 7.643467426300049, 43.345008850097656, -59.79157638549805, 4.947916507720947, 17.655677795410156, 76.01712799072266 ]
[ 0.8058608174324036, -45.3649787902832, 55.53633117675781, 17.2573184967041, -5.34798526763916, 74.30426788330078, 6.031745910644531, 46.67855453491211, -65.52020263671875, 2.119152307510376, 13.2600736618042, 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": 4,
    "total_frames": 5310,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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
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        },
        "observation.images.right": {
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            ],
            "names": [
                "height",
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                "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": {
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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
            "dtype": "int64",
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                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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