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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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[ -47.771697998046875, 49.021175384521484, 68.02192687988281, -83.19898223876953, 1.88034188747406, 51.73882293701172, 18.488628387451172, -92.0221176147461, 99.90962219238281, 42.2010383605957, 0.3174603283405304, 8.595988273620605, 0, 0, 0 ]
5.466667
82
0
82
0
[ -49.75, 53, 63.5, -86, 1.65625, 50.75, 18.875, -92, 101, 40.25, 0.6171875, 8.5625, 0, 0, 0 ]
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5.533333
83
0
83
0
[ -49.75, 53.5, 62.25, -86, 1.71875, 50.5, 19, -92, 100.5, 40, 0.6484375, 8.625, 0, 0, 0 ]
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5.6
84
0
84
0
[ -49.75, 55.5, 60.5, -85, 1.65625, 50.5, 19, -91, 100.5, 39.5, 0.6875, 8.5, 0, 0, 0 ]
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5.666667
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0
85
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5.733333
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86
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5.8
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5.866667
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5.933333
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0
89
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[ -50, 60.5, 54.25, -83, 1.265625, 54, 19, -89, 99, 37.5, 0.9140625, 7.625, 0, 0, 0 ]
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6
90
0
90
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[ -50.25, 60.5, 53.75, -83, 1.046875, 57, 19, -89, 99, 37.75, 0.9375, 6.84375, 0, 0, 0 ]
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6.066667
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6.133333
92
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92
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[ -50.25, 59.5, 53, -82, 0.828125, 63, 19.5, -88, 98, 37.75, 0.9453125, 5.46875, 0, 0, 0 ]
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6.2
93
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[ -50, 59.5, 52.5, -81, 0.78125, 67, 20, -87, 98, 37.25, 0.90625, 5.3125, 0, 0, 0 ]
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6.266667
94
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[ -50, 59.5, 52.5, -80, 0.828125, 69, 20, -87, 98, 37, 0.921875, 5.28125, 0, 0, 0 ]
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6.333333
95
0
95
0
[ -49, 59.5, 55, -82, -0.21875, 64, 19.75, -88, 99.5, 37.5, 0.4296875, 6.875, 0, 0, 0 ]
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6.4
96
0
96
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[ -48.5, 60.5, 54, -83, -0.140625, 63.5, 19.75, -88.5, 100, 37, 0.46875, 6.90625, 0, 0, 0 ]
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6.466667
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97
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[ -48.5, 62, 53, -83, -0.078125, 63.25, 19.5, -89, 100, 37.5, 0.4453125, 6.625, 0, 0, 0 ]
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6.533333
98
0
98
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[ -48.5, 62, 52.5, -83, 0.046875, 63.5, 19.5, -89.5, 100, 37.5, 0.46875, 6.375, 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": 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
            ]
        },
        "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": [
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        },
        "observation.images.image3": {
            "dtype": "video",
            "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": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.image2": {
            "dtype": "video",
            "shape": [
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            ],
            "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,
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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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            "shape": [
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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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