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float32
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119
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int64
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3.57k
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int64
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int64
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[ 13.36742115020752, -18.744625091552734, -14.007092475891113, 95.1219482421875, -4.810744762420654, 37.05650329589844, -15.46391773223877, -20.4727725982666, -11.010008811950684, 81.65452575683594, 3.6385836601257324, 10.377358436584473 ]
3.1
93
0
93
0
[ 15.201387405395508, -20.216663360595703, -9.922423362731934, 91.94731903076172, -4.387664318084717, 46.25060272216797, -17.01858901977539, -19.22612762451172, -8.782299041748047, 75.97112274169922, 3.8896703720092773, 13.928817749023438 ]
[ 13.659605979919434, -19.002578735351562, -12.322694778442383, 94.39927673339844, -4.664224624633789, 39.553218841552734, -15.758468627929688, -20.0506534576416, -10.373065948486328, 80.36862182617188, 3.5409035682678223, 11.118597984313965 ]
3.133333
94
0
94
0
[ 14.476797103881836, -19.65488052368164, -10.87023639678955, 92.01170349121094, -4.415477275848389, 44.290122985839844, -16.59393310546875, -18.031091690063477, -9.74052619934082, 76.11114501953125, 3.8837890625, 14.178243637084961 ]
[ 13.878743171691895, -18.744625091552734, -11.790780067443848, 94.0379409790039, -4.664224624633789, 41.59001159667969, -16.126657485961914, -19.797382354736328, -10.282074928283691, 79.59708404541016, 3.5409035682678223, 11.725067138671875 ]
3.166667
95
0
95
0
[ 14.377026557922363, -18.973289489746094, -10.126327514648438, 91.59534454345703, -4.427287578582764, 45.730865478515625, -17.03754234313965, -17.888425827026367, -9.454928398132324, 75.65294647216797, 3.9332046508789062, 13.983596801757812 ]
[ 14.31701946258545, -18.40068817138672, -11.61347484588623, 93.49593353271484, -4.664224624633789, 43.16688537597656, -16.494844436645508, -19.459688186645508, -9.645132064819336, 78.65409088134766, 3.5897436141967773, 12.264150619506836 ]
3.2
96
0
96
0
[ 14.829237937927246, -19.02086639404297, -9.538873672485352, 91.31867218017578, -4.344961643218994, 45.548866271972656, -17.767850875854492, -16.749786376953125, -9.930206298828125, 75.48323059082031, 3.9702720642089844, 13.049688339233398 ]
[ 14.609203338623047, -18.40068817138672, -10.904254913330078, 93.22492980957031, -4.761904716491699, 44.15243148803711, -16.642120361328125, -18.86872100830078, -9.190173149108887, 77.79682922363281, 3.7362637519836426, 13.005391120910645 ]
3.233333
97
0
97
0
[ 14.9587984085083, -19.10678482055664, -8.862780570983887, 91.01995849609375, -4.14853572845459, 46.05656433105469, -17.386981964111328, -17.29706573486328, -7.533510208129883, 74.34822082519531, 4.065158843994141, 15.229354858398438 ]
[ 14.609203338623047, -18.486671447753906, -10.372340202331543, 92.86359405517578, -4.810744762420654, 44.54664993286133, -16.642120361328125, -18.108905792236328, -9.190173149108887, 77.282470703125, 3.6385836601257324, 13.274932861328125 ]
3.266667
98
0
98
0
[ 14.429054260253906, -18.565113067626953, -9.018121719360352, 90.54389953613281, -4.161295413970947, 47.154518127441406, -17.526573181152344, -16.949613571166992, -8.615083694458008, 74.68756103515625, 3.902191162109375, 15.439459800720215 ]
[ 14.609203338623047, -18.486671447753906, -9.66312026977539, 92.59259033203125, -4.761904716491699, 44.8094596862793, -16.71575927734375, -17.18024444580078, -9.099181175231934, 76.85383605957031, 3.5897436141967773, 13.072775840759277 ]
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": 3568,
    "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": [
                12
            ]
        },
        "observation.images.left_top": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "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": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
            ],
            "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.right_right": {
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            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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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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