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float32
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44.6
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int64
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669
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[ -45.26974105834961, -3.6356372833251953, 67.9305648803711, -27.959270477294922, -2.4664225578308105, 96.38040924072266, 19.002201080322266, -94.47077178955078, 97.10800170898438, 57.10572052001953, -1.196581244468689, 1.2893983125686646, 0, 0, 0 ]
5.4
81
0
81
0
[ -40.5, -20.375, 64.5, -17.75, -2.390625, 99.5, 17.625, -93.5, 92, 54, -0.8359375, 0.9375, 0, 0, 0 ]
[ -44.09695053100586, -7.071514129638672, 67.9305648803711, -24.649978637695312, -2.4664225578308105, 96.38040924072266, 18.488628387451172, -94.31279754638672, 96.56575012207031, 56.412479400634766, -1.0989011526107788, 1.2893983125686646, 0, 0, 0 ]
5.466667
82
0
82
0
[ -39.25, -23, 64.5, -15, -2.40625, 99.5, 17.375, -93, 91, 53.75, -0.80078125, 1, 0, 0, 0 ]
[ -42.92416000366211, -10.267679214477539, 67.9305648803711, -21.595247268676758, -2.4664225578308105, 96.38040924072266, 18.121789932250977, -93.91785430908203, 96.2042465209961, 55.63258361816406, -0.9523809552192688, 1.2893983125686646, 0, 0, 0 ]
5.533333
83
0
83
0
[ -38, -25.625, 64, -12.5, -2.328125, 99.5, 16.75, -93, 91, 52.75, -0.75390625, 0.9375, 0, 0, 0 ]
[ -41.59499740600586, -13.224130630493164, 67.9305648803711, -18.540517807006836, -2.4664225578308105, 96.38040924072266, 17.608217239379883, -93.44391632080078, 95.8427505493164, 55.025997161865234, -0.8547008633613586, 1.2893983125686646, 0, 0, 0 ]
5.6
84
0
84
0
[ -36.75, -27.75, 63.75, -10.375, -2.296875, 99.5, 16, -92, 90, 52, -0.734375, 0.9375, 0, 0, 0 ]
[ -40.422203063964844, -16.020774841308594, 67.9305648803711, -15.655494689941406, -2.4664225578308105, 96.38040924072266, 17.168012619018555, -93.20694732666016, 95.390869140625, 54.506065368652344, -0.8547008633613586, 1.2893983125686646, 0, 0, 0 ]
5.666667
85
0
85
0
[ -35, -30.5, 63.5, -7.625, -2.25, 99.5, 15.5, -92, 89.5, 51, -0.7421875, 0.8125, 0, 0, 0 ]
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5.733333
86
0
86
0
[ -33.5, -32, 63.25, -5.625, -2.21875, 99.5, 14.9375, -91, 89, 50, -0.73828125, 0.75, 0, 0, 0 ]
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5.8
87
0
87
0
[ -32.25, -34.5, 63, -3.125, -2.15625, 99.5, 14.25, -90, 87.5, 49, -0.68359375, 0.625, 0, 0, 0 ]
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5.866667
88
0
88
0
[ -30.75, -36, 62.75, -1.125, -2.125, 99.5, 13.625, -89, 86, 47.5, -0.6640625, 0.4375, 0, 0, 0 ]
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5.933333
89
0
89
0
[ -29.5, -37, 62.5, 0.5, -2.171875, 99.5, 13.0625, -88.5, 85, 46.5, -0.60546875, 0.375, 0, 0, 0 ]
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6
90
0
90
0
[ -28.125, -38.75, 62, 2.5, -2.1875, 99.5, 12.25, -87.5, 83.5, 45.25, -0.48828125, 0.25, 0, 0, 0 ]
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6.066667
91
0
91
0
[ -26.625, -40.25, 61.75, 4.375, -2.203125, 99.5, 11.375, -86, 82, 44, -0.42578125, 0.125, 0, 0, 0 ]
[ -30.805316925048828, -31.522172927856445, 68.02192687988281, 0.12728044390678406, -2.222222328186035, 96.38040924072266, 12.91269302368164, -88.30963897705078, 89.15499114990234, 47.40034484863281, -0.8547008633613586, 1.2893983125686646, 0, 0, 0 ]
6.133333
92
0
92
0
[ -25, -41.25, 61.25, 5.8125, -2.28125, 99.5, 10.5, -85, 80.5, 43, -0.337890625, 0.25, 0, 0, 0 ]
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6.2
93
0
93
0
[ -23.625, -42, 60.5, 6.875, -2.25, 99.5, 9.5625, -84, 79, 41.5, -0.23046875, 0.4375, 0, 0, 0 ]
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6.266667
94
0
94
0
[ -22.375, -42.75, 60.5, 7.75, -2.34375, 99.5, 8.875, -83.5, 78.5, 41, -0.189453125, 0.625, 0, 0, 0 ]
[ -26.114151000976562, -35.916900634765625, 67.9305648803711, 5.473059177398682, -2.17338228225708, 96.38040924072266, 10.418194770812988, -84.83412170410156, 84.63623809814453, 43.93414306640625, -0.5616605877876282, 1.2893983125686646, 0, 0, 0 ]
6.333333
95
0
95
0
[ -19.375, -41.5, 65, 5.4375, -2.28125, 100, 7.125, -84, 80, 38, -0.53125, -0.9375, 0, 0, 0 ]
[ -24.863174438476562, -36.55613327026367, 67.01689910888672, 6.491302490234375, -2.222222328186035, 96.38040924072266, 9.611151695251465, -83.96524810791016, 83.37098693847656, 42.720970153808594, -0.3174603283405304, 1.2893983125686646, 0, 0, 0 ]
6.4
96
0
96
0
[ -17.875, -41.75, 64, 6.0625, -2.296875, 100, 6.25, -82, 79, 36.25, -0.5, -0.8125, 0, 0, 0 ]
[ -23.846755981445312, -37.19536590576172, 66.3773422241211, 7.170131683349609, -2.222222328186035, 96.38040924072266, 8.950843811035156, -83.72827911376953, 82.73836517333984, 42.2010383605957, -0.2686202824115753, 1.2893983125686646, 0, 0, 0 ]
6.466667
97
0
97
0
[ -15.75, -42.25, 63, 6.8125, -2.1875, 100, 5, -79, 77.5, 33, -0.546875, -0.375, 0, 0, 0 ]
[ -23.06489372253418, -37.19536590576172, 66.28597259521484, 7.254985332489014, -2.17338228225708, 96.38040924072266, 8.290535926818848, -83.4913101196289, 82.73836517333984, 41.247833251953125, -0.46398046612739563, 1.2893983125686646, 0, 0, 0 ]
6.533333
98
0
98
0
[ -14.25, -42.75, 62.25, 7.25, -2.0625, 100.5, 4, -77, 76.5, 30.25, -0.55859375, -0.25, 0, 0, 0 ]
[ -20.172008514404297, -37.19536590576172, 66.28597259521484, 7.254985332489014, -2.17338228225708, 96.38040924072266, 6.3096113204956055, -81.91152954101562, 82.46723937988281, 37.7816276550293, -0.41514042019844055, 1.2893983125686646, 0, 0, 0 ]
6.6
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": "mimic_follower",
    "total_episodes": 3,
    "total_frames": 2002,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 15,
    "splits": {
        "train": "0:3"
    },
    "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",
                "base_vx",
                "base_vy",
                "base_omega"
            ],
            "shape": [
                15
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        },
        "observation.state": {
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                "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",
                "base_x",
                "base_y",
                "base_theta"
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            "shape": [
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        },
        "observation.images.image3": {
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            "shape": [
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            "names": [
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                "channels"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.image2": {
            "dtype": "video",
            "shape": [
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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                "video.is_depth_map": false,
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                "video.channels": 3,
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        "observation.images.image": {
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            "names": [
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            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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