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float32
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33.6
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int64
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1.01k
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[ -3.980463981628418, -32.10926818847656, 40.74394607543945, 28.50539207458496, -6.471306324005127, 72.63450622558594, -0.5128205418586731, 19.39366912841797, -26.741186141967773, -30.187925338745117, 5.982905864715576, 75.2767562866211 ]
3.233333
97
0
97
0
[ -4.126984119415283, -26.407682418823242, 32.18440246582031, 26.030927658081055, -8.815629005432129, 72.82051086425781, -0.02442002482712269, 21.453590393066406, -22.18844985961914, -27.69097137451172, 6.373626232147217, 75.3747329711914 ]
[ -3.980463981628418, -29.95969581604004, 39.01383972167969, 28.50539207458496, -6.764346599578857, 72.82003784179688, -0.21978022158145905, 19.39366912841797, -26.655202865600586, -30.187925338745117, 5.982905864715576, 75.2767562866211 ]
3.266667
98
0
98
0
[ -4.126984119415283, -26.407682418823242, 31.925893783569336, 25.859106063842773, -8.913309097290039, 72.82051086425781, 0.3663003742694855, 21.453590393066406, -21.927919387817383, -27.43055534362793, 6.520146369934082, 75.3747329711914 ]
[ -3.980463981628418, -27.63098907470703, 37.80276870727539, 28.4283504486084, -7.301587104797363, 72.91280364990234, -0.17094017565250397, 19.39366912841797, -26.655202865600586, -30.187925338745117, 5.982905864715576, 75.2767562866211 ]
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": 3664,
    "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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            "shape": [
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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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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                1
            ],
            "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": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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