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float32
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30.5
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int64
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916
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[ 2.759462833404541, -26.23308563232422, 41.92158508300781, 22.079038619995117, -10.183150291442871, 74.87179565429688, -4.420024394989014, 39.22942352294922, -63.7863655090332, -11.89236068725586, 18.53479766845703, 73.01927185058594 ]
[ 0.7081807255744934, -24.854455947875977, 46.10726547241211, 22.342063903808594, -9.59706974029541, 74.86085510253906, -2.5641026496887207, 38.653587341308594, -63.54256057739258, -13.074769973754883, 19.21855926513672, 72.93972778320312 ]
3.166667
95
0
95
0
[ 3.1990232467651367, -26.145788192749023, 41.83541488647461, 22.079038619995117, -10.134309768676758, 74.87179565429688, -4.859584808349609, 39.22942352294922, -63.873207092285156, -11.89236068725586, 18.241758346557617, 73.01927185058594 ]
[ 1.2942613363265991, -24.854455947875977, 45.84775161743164, 22.419105529785156, -9.59706974029541, 74.86085510253906, -3.1501832008361816, 38.653587341308594, -63.88650131225586, -12.754898071289062, 18.9743595123291, 72.93972778320312 ]
3.2
96
0
96
0
[ 3.5897436141967773, -25.621999740600586, 41.749244689941406, 21.993127822875977, -10.085470199584961, 75.04273223876953, -5.299145221710205, 39.22942352294922, -63.873207092285156, -11.89236068725586, 17.851037979125977, 73.23340606689453 ]
[ 1.9780219793319702, -24.854455947875977, 45.84775161743164, 22.419105529785156, -9.59706974029541, 74.86085510253906, -3.7851037979125977, 38.653587341308594, -64.14445495605469, -12.275090217590332, 18.73015785217285, 72.93972778320312 ]
3.233333
97
0
97
0
[ 4.126984119415283, -24.399826049804688, 41.40456771850586, 21.993127822875977, -9.645909309387207, 75.04273223876953, -5.689865589141846, 39.22942352294922, -63.873207092285156, -11.89236068725586, 17.16727638244629, 73.23340606689453 ]
[ 2.612942695617676, -24.944021224975586, 45.84775161743164, 22.419105529785156, -9.59706974029541, 74.86085510253906, -4.273504257202148, 38.653587341308594, -64.23043823242188, -12.035185813903809, 18.437118530273438, 72.93972778320312 ]
3.266667
98
0
98
0
[ 4.468864440917969, -23.17765235900879, 40.7152099609375, 22.079038619995117, -8.913309097290039, 75.04273223876953, -5.982905864715576, 39.22942352294922, -63.960052490234375, -11.979166984558105, 16.874237060546875, 73.23340606689453 ]
[ 3.0525031089782715, -24.854455947875977, 45.84775161743164, 22.419105529785156, -9.59706974029541, 74.86085510253906, -4.810744762420654, 38.653587341308594, -64.31642150878906, -12.035185813903809, 18.241758346557617, 73.18572998046875 ]
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": 3351,
    "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
            }
        },
        "observation.images.right": {
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            "shape": [
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            ],
            "names": [
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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
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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