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float32
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48.1
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int64
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1.44k
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3
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95
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[ -21.36263656616211, 33.230770111083984, -44.74725341796875, 101.31867980957031, -11.20879077911377, 1.5243902206420898, 1.0109890699386597, -86.02198028564453, 98.81318664550781, 64.79120635986328, 11.736263275146484, 0.5417956709861755 ]
[ -23.956043243408203, 51.29670333862305, -60.087913513183594, 100.87911987304688, -15.604395866394043, 3.5759096145629883, 2.98901104927063, -86.15384674072266, 94.9011001586914, 64.83516693115234, 12.087912559509277, 0.9683666825294495 ]
3.2
96
0
96
0
[ -20.21977996826172, 28.923076629638672, -39.56044006347656, 101.23076629638672, -9.362637519836426, 1.6006097793579102, 1.0109890699386597, -86.02198028564453, 98.81318664550781, 64.79120635986328, 11.736263275146484, 0.5417956709861755 ]
[ -23.428571701049805, 47.78022003173828, -56.131866455078125, 100.87911987304688, -14.725275039672852, 3.5759096145629883, 2.98901104927063, -86.15384674072266, 94.9011001586914, 64.83516693115234, 12.087912559509277, 0.9683666825294495 ]
3.233333
97
0
97
0
[ -18.72527503967285, 24.791208267211914, -34.72527313232422, 101.23076629638672, -7.4285712242126465, 1.6006097793579102, 1.0109890699386597, -86.02198028564453, 98.81318664550781, 64.79120635986328, 11.736263275146484, 0.5417956709861755 ]
[ -22.901098251342773, 44.17582321166992, -52, 100.87911987304688, -13.230769157409668, 3.5759096145629883, 2.98901104927063, -86.15384674072266, 94.9011001586914, 64.83516693115234, 12.087912559509277, 0.9683666825294495 ]
3.266667
98
0
98
0
[ -16.879121780395508, 20.83516502380371, -30.065933227539062, 101.14286041259766, -5.758241653442383, 1.676829218864441, 1.0109890699386597, -86.02198028564453, 98.81318664550781, 64.79120635986328, 11.736263275146484, 0.5417956709861755 ]
[ -22.10988998413086, 40.21977996826172, -47.25274658203125, 100.87911987304688, -11.560439109802246, 3.5759096145629883, 2.98901104927063, -86.15384674072266, 94.9011001586914, 64.83516693115234, 12.087912559509277, 0.9683666825294495 ]
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_so_follower",
    "total_episodes": 121,
    "total_frames": 122721,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:121"
    },
    "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.left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "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": {
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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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