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float32
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116
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int64
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3.48k
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int64
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int64
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[ 30.190505981445312, -34.94847869873047, -25.916475296020508, 100.34024047851562, 0.7125628590583801, 9.094544410705566, -0.11493682861328125, -9.761348724365234, -12.811841011047363, 103.66250610351562, -9.990015983581543, 28.170207977294922 ]
[ 29.65668296813965, -34.90971755981445, -26.77305030822754, 98.37398529052734, 0.3174603283405304, 9.658344268798828, -0.2209131121635437, -11.270578384399414, -13.739763259887695, 99.22846221923828, -8.864468574523926, 25.067384719848633 ]
3.1
93
0
93
0
[ 30.296329498291016, -35.941375732421875, -24.938779830932617, 100.35223388671875, 0.727410078048706, 9.20997142791748, -0.2366657257080078, -10.885677337646484, -14.052346229553223, 104.3123550415039, -9.473245620727539, 25.475814819335938 ]
[ 29.7297306060791, -34.90971755981445, -25.975177764892578, 98.37398529052734, 0.3174603283405304, 9.658344268798828, -0.0736377015709877, -10.932883262634277, -13.557780265808105, 99.22846221923828, -9.157508850097656, 25.87601089477539 ]
3.133333
94
0
94
0
[ 30.26275634765625, -34.8529052734375, -24.945100784301758, 99.77857208251953, 0.9150820970535278, 9.524651527404785, -0.40937042236328125, -7.961444854736328, -12.30786418914795, 103.25212097167969, -10.639724731445312, 31.729496002197266 ]
[ 29.7297306060791, -34.73774719238281, -25.975177764892578, 98.37398529052734, 0.3174603283405304, 9.526938438415527, -0.0736377015709877, -10.510764122009277, -13.10282039642334, 99.22846221923828, -9.450549125671387, 26.75202178955078 ]
3.166667
95
0
95
0
[ 30.400535583496094, -35.1036491394043, -24.912389755249023, 99.67342376708984, 0.8845502138137817, 9.489256858825684, -0.15487098693847656, -8.434669494628906, -11.35607624053955, 102.83059692382812, -10.287504196166992, 31.850177764892578 ]
[ 29.7297306060791, -34.82373046875, -25.53191566467285, 98.37398529052734, 0.3174603283405304, 9.461235046386719, -0.3681885004043579, -10.257493019104004, -13.10282039642334, 99.22846221923828, -9.450549125671387, 26.75202178955078 ]
3.2
96
0
96
0
[ 30.306936264038086, -35.37870788574219, -24.695329666137695, 100.20198822021484, 0.8455789685249329, 8.912332534790039, -0.2751502990722656, -6.600330352783203, -12.272721290588379, 102.82451629638672, -10.515881538391113, 31.992462158203125 ]
[ 29.7297306060791, -34.82373046875, -25.177305221557617, 98.37398529052734, 0.3663003742694855, 9.461235046386719, -0.5154638886451721, -9.91979694366455, -12.92083740234375, 99.22846221923828, -9.69474983215332, 26.21293830871582 ]
3.233333
97
0
97
0
[ 30.22361183166504, -36.02528381347656, -23.540185928344727, 99.95291137695312, 0.8427453637123108, 9.005230903625488, -0.4136199951171875, -7.892646789550781, -12.249665260314941, 103.44916534423828, -10.46251106262207, 29.388900756835938 ]
[ 29.7297306060791, -34.99570083618164, -25.088651657104492, 98.37398529052734, 0.46398046612739563, 9.461235046386719, -0.5154638886451721, -9.244406700134277, -12.010918617248535, 99.22846221923828, -10.036629676818848, 26.280323028564453 ]
3.266667
98
0
98
0
[ 30.212387084960938, -34.876705169677734, -24.362476348876953, 99.89850616455078, 0.880170464515686, 9.232776641845703, -0.5820159912109375, -5.202716827392578, -12.870722770690918, 102.7221450805664, -10.628832817077637, 33.078758239746094 ]
[ 29.7297306060791, -34.99570083618164, -24.822694778442383, 98.37398529052734, 0.46398046612739563, 9.26412582397461, -0.5154638886451721, -7.9780497550964355, -11.828935623168945, 99.22846221923828, -10.134309768676758, 27.628032684326172 ]
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": 3485,
    "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
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        },
        "observation.images.left_left": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.codec": "av1",
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                "video.is_depth_map": false,
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                "video.channels": 3,
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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,
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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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