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float32
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61.3
frame_index
int64
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1.84k
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2.1
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[ 4.420024394989014, -52.59711837768555, 46.230072021484375, 32.302406311035156, -4.224664211273193, 73.5042724609375, -0.8547008633613586, 10.85814380645752, -14.719930648803711, -7.89930534362793, 10.329669952392578, 75.3747329711914 ]
[ 4.126984119415283, -62.65114212036133, 51.47058868408203, 41.44838333129883, -3.8339438438415527, 73.46939086914062, -0.7081807255744934, 8.961213111877441, -20.980222702026367, -7.716913223266602, 9.20634937286377, 75.03075408935547 ]
3.2
96
0
96
0
[ 5.05494499206543, -51.11305236816406, 46.40241241455078, 30.8419246673584, -4.273504257202148, 73.5042724609375, -1.0012210607528687, 10.770578384399414, -14.980460166931152, -8.072916984558105, 10.378510475158691, 75.3747329711914 ]
[ 4.126984119415283, -58.97895050048828, 51.47058868408203, 41.2943000793457, -3.8339438438415527, 73.46939086914062, -0.7570207715034485, 8.337048530578613, -20.980222702026367, -9.076369285583496, 9.352869033813477, 75.2767562866211 ]
3.233333
97
0
97
0
[ 5.885225772857666, -49.8035774230957, 46.66092300415039, 29.46735382080078, -4.3223443031311035, 73.5042724609375, -1.0012210607528687, 10.770578384399414, -15.32783317565918, -8.246527671813965, 10.378510475158691, 75.3747329711914 ]
[ 4.175824165344238, -55.75458908081055, 51.47058868408203, 40.83205032348633, -3.8339438438415527, 73.46939086914062, -0.7570207715034485, 8.158716201782227, -20.980222702026367, -10.195921897888184, 9.450549125671387, 75.2767562866211 ]
3.266667
98
0
98
0
[ 6.715506553649902, -48.668704986572266, 47.09177017211914, 28.436426162719727, -4.371184349060059, 73.5042724609375, -1.0012210607528687, 10.332749366760254, -15.32783317565918, -8.072916984558105, 10.378510475158691, 75.3747329711914 ]
[ 4.468864440917969, -53.157188415527344, 51.47058868408203, 39.830509185791016, -3.8339438438415527, 73.46939086914062, -0.8058608174324036, 7.980383396148682, -20.980222702026367, -10.915634155273438, 9.450549125671387, 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": 5836,
    "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": {
            "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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