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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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2
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5.4
81
0
81
0
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5.466667
82
0
82
0
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5.533333
83
0
83
0
[ -46, 55.5, 55, -80, -1.21875, 93.5, 26.375, -98.5, 101.5, 54.5, -3.59375, -0.0625, 0, 0, 0 ]
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5.6
84
0
84
0
[ -46, 55.5, 55.25, -80, -1.1953125, 94, 26.375, -98.5, 101.5, 54.5, -3.5625, -0.0625, 0, 0, 0 ]
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5.666667
85
0
85
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5.733333
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86
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5.8
87
0
87
0
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5.866667
88
0
88
0
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5.933333
89
0
89
0
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6
90
0
90
0
[ -46, 50, 59, -80, -1.3203125, 98.5, 26.125, -98, 101, 53.5, -3.25, -0.0625, 0, 0, 0 ]
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6.066667
91
0
91
0
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6.133333
92
0
92
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[ -45.75, 47.5, 60.75, -80, -1.484375, 99, 26, -97.5, 100, 53, -3.03125, -0.0625, 0, 0, 0 ]
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6.2
93
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93
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[ -45.5, 45, 62.75, -80, -1.578125, 99.5, 25.875, -97, 100, 52, -2.875, 0, 0, 0, 0 ]
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6.266667
94
0
94
0
[ -45.5, 44, 63.25, -80, -1.640625, 99.5, 25.875, -97, 100, 52, -2.75, 0, 0, 0, 0 ]
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6.333333
95
0
95
0
[ -46.5, 52, 60.75, -83, -1.25, 94, 26.125, -97, 100.5, 52.75, -2.84375, 0.125, 0, 0, 0 ]
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6.4
96
0
96
0
[ -46.5, 52.5, 61.25, -83, -1.2109375, 89.5, 26, -98, 101, 52.75, -2.875, 0.125, 0, 0, 0 ]
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6.466667
97
0
97
0
[ -46.5, 53, 61.5, -83, -1.1953125, 86.5, 26, -98, 101.5, 53, -2.875, 0.125, 0, 0, 0 ]
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6.533333
98
0
98
0
[ -46.5, 53.5, 61.5, -84, -1.171875, 84, 26, -98.5, 101.5, 53.25, -2.875, 0.125, 0, 0, 0 ]
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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": 1985,
    "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
            ]
        },
        "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",
                "base_x",
                "base_y",
                "base_theta"
            ],
            "shape": [
                15
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        },
        "observation.images.image3": {
            "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": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.image2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "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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        },
        "observation.images.image": {
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            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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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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