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int64
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[ -9.157508850097656, -32.256656646728516, 40.37052917480469, 19.587629318237305, -11.843711853027344, 59.31623840332031, 5.836385726928711, 7.35551643371582, -19.23577880859375, 2.430555582046509, 5.934065818786621, 0 ]
[ -9.10866928100586, -34.67561340332031, 44.82758712768555, 23.724884033203125, -8.864468574523926, 73.9219741821289, 5.934065818786621, 4.5028977394104, -24.075666427612305, -0.03998400643467903, 4.859584808349609, 0 ]
3.2
96
0
96
0
[ -9.10866928100586, -32.431251525878906, 40.542869567871094, 20.017181396484375, -11.99023151397705, 45.64102554321289, 5.787545680999756, 7.35551643371582, -19.756839752197266, 2.34375, 6.764346599578857, 0 ]
[ -9.10866928100586, -32.5279655456543, 44.482757568359375, 23.724884033203125, -9.4993896484375, 69.81519317626953, 5.885225772857666, 4.5028977394104, -24.075666427612305, -0.03998400643467903, 4.9572649002075195, 0 ]
3.233333
97
0
97
0
[ -9.10866928100586, -33.04233932495117, 40.542869567871094, 20.017181396484375, -12.039072036743164, 37.9487190246582, 5.787545680999756, 7.793344974517822, -20.45158576965332, 2.1701388359069824, 7.4481072425842285, 0 ]
[ -9.10866928100586, -31.454137802124023, 44.482757568359375, 23.724884033203125, -10.427350044250488, 55.236141204833984, 5.885225772857666, 4.5028977394104, -24.075666427612305, -0.03998400643467903, 5.15262508392334, 0.12300123274326324 ]
3.266667
98
0
98
0
[ -9.255188941955566, -33.39153289794922, 41.23222732543945, 20.189002990722656, -12.576313018798828, 32.478633880615234, 5.738705635070801, 8.31873893737793, -21.320016860961914, 2.0833332538604736, 7.594627380371094, 0 ]
[ -9.10866928100586, -31.18568229675293, 44.482757568359375, 23.724884033203125, -11.062271118164062, 41.375770568847656, 5.885225772857666, 4.5028977394104, -24.075666427612305, -0.03998400643467903, 5.689865589141846, 0 ]
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": 3055,
    "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": {
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            "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": {
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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