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float32
0
103
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int64
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3.09k
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int64
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[ 37.99951934814453, -6.958847999572754, -50.54571533203125, 88.21033477783203, 4.453273296356201, 2.3137001991271973, -49.408138275146484, -5.706499099731445, -58.603004455566406, 88.64617919921875, -0.18508470058441162, 8.098413467407227 ]
[ 32.57852554321289, -1.8056750297546387, -49.46808624267578, 88.70822143554688, 2.857142925262451, 2.8252298831939697, -46.686302185058594, -2.49050235748291, -55.959964752197266, 88.94127655029297, 0.3174603283405304, 5.7951483726501465 ]
3.1
93
0
93
0
[ 39.067291259765625, -7.650290489196777, -50.394439697265625, 87.83106994628906, 4.570315837860107, 2.2507081031799316, -50.07026290893555, -5.971787452697754, -59.082515716552734, 88.53495025634766, -0.32484734058380127, 8.851689338684082 ]
[ 34.112491607666016, -3.181427240371704, -49.46808624267578, 88.70822143554688, 3.0525031089782715, 2.8252298831939697, -47.20176696777344, -2.9970452785491943, -56.414920806884766, 88.94127655029297, 0.21978022158145905, 6.603773593902588 ]
3.133333
94
0
94
0
[ 39.9400634765625, -8.215290069580078, -50.14555358886719, 87.5090560913086, 4.6683197021484375, 2.1695852279663086, -50.659873962402344, -6.186089515686035, -59.35980224609375, 88.4543685913086, -0.43941402435302734, 9.487444877624512 ]
[ 35.281227111816406, -4.127256870269775, -49.46808624267578, 88.70822143554688, 3.1501832008361816, 2.7595269680023193, -47.790870666503906, -3.4191641807556152, -56.86988067626953, 88.94127655029297, 0.17094017565250397, 7.210242748260498 ]
3.166667
95
0
95
0
[ 40.68841552734375, -8.756193161010742, -49.890010833740234, 87.2923583984375, 4.744735240936279, 2.102937698364258, -51.14668273925781, -6.3171281814575195, -59.744873046875, 88.35700988769531, -0.5399792194366455, 10.04698657989502 ]
[ 36.303871154785156, -4.987102508544922, -49.46808624267578, 88.70822143554688, 3.296703338623047, 2.6281208992004395, -48.37997055053711, -3.756859540939331, -57.233848571777344, 88.94127655029297, 0.02442002482712269, 7.884097099304199 ]
3.2
96
0
96
0
[ 41.39571762084961, -9.157519340515137, -49.7743034362793, 86.97350311279297, 4.809005260467529, 2.024259090423584, -51.65318298339844, -6.417715072631836, -60.05455017089844, 88.28050994873047, -0.6387554407119751, 10.577981948852539 ]
[ 37.326515197753906, -5.674978733062744, -49.46808624267578, 88.70822143554688, 3.492063522338867, 2.4967148303985596, -49.04270935058594, -3.9257071018218994, -57.77980041503906, 88.94127655029297, -0.12210012227296829, 8.557951927185059 ]
3.233333
97
0
97
0
[ 42.0753288269043, -9.607707023620605, -49.5556526184082, 86.70188903808594, 4.872963905334473, 1.9614195823669434, -52.064510345458984, -6.491376876831055, -60.41221618652344, 88.1824951171875, -0.7418221235275269, 11.071778297424316 ]
[ 38.349159240722656, -6.362854480743408, -49.46808624267578, 88.70822143554688, 3.5409035682678223, 2.431011915206909, -49.705448150634766, -3.9257071018218994, -58.143768310546875, 88.94127655029297, -0.2686202824115753, 9.231805801391602 ]
3.266667
98
0
98
0
[ 42.691566467285156, -10.111886024475098, -49.410011291503906, 86.54441833496094, 4.930882453918457, 1.8937678337097168, -52.4734001159668, -6.490269660949707, -60.767818450927734, 88.09833526611328, -0.8228111267089844, 11.552453994750977 ]
[ 39.15266799926758, -6.964746475219727, -49.46808624267578, 88.34688568115234, 3.5897436141967773, 2.431011915206909, -50.147274017333984, -3.9257071018218994, -58.23476028442383, 88.94127655029297, -0.41514042019844055, 9.770889282226562 ]
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": 1,
    "total_frames": 3088,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": [
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            ]
        },
        "observation.images.left_top": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
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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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_left": {
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            "shape": [
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            ],
            "names": [
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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                "video.is_depth_map": false,
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        },
        "observation.images.right_right": {
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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