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float32
0
171
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int64
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5.12k
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int64
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int64
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5.12k
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3
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[ 16.557483673095703, -69.92530822753906, 47.371307373046875, 80.93984985351562, 1.748885989189148, 6.1849236488342285, -7.824385643005371, -63.01544952392578, 52.1002311706543, 56.7532844543457, 1.822664737701416, 2.689159870147705 ]
[ 14.024835586547852, -76.01031494140625, 60.81560134887695, 78.04878234863281, 1.196581244468689, 4.79632043838501, -5.964653968811035, -66.56816864013672, 62.966331481933594, 56.879554748535156, 1.7338217496871948, 1.9541778564453125 ]
3.166667
95
0
95
0
[ 16.751529693603516, -70.96249389648438, 51.01377868652344, 79.88334655761719, 1.7950561046600342, 6.044473171234131, -7.823663711547852, -62.7286491394043, 55.094085693359375, 55.55088424682617, 1.925961971282959, 2.368896961212158 ]
[ 14.755295753479004, -74.20464324951172, 58.59928894042969, 78.31978607177734, 1.245421290397644, 4.79632043838501, -6.701030731201172, -65.38623809814453, 60.96451187133789, 56.96528244018555, 1.831501841545105, 1.9541778564453125 ]
3.2
96
0
96
0
[ 17.39959716796875, -68.700439453125, 47.218894958496094, 80.76671600341797, 1.9168251752853394, 6.201434135437012, -8.069952964782715, -61.89060592651367, 50.99897003173828, 56.03722381591797, 1.8717255592346191, 2.648074150085449 ]
[ 15.266617774963379, -72.39897155761719, 56.11701965332031, 78.9521255493164, 1.4896215200424194, 5.0591325759887695, -6.701030731201172, -65.13296508789062, 58.96269226074219, 56.96528244018555, 1.9291819334030151, 1.9541778564453125 ]
3.233333
97
0
97
0
[ 16.839317321777344, -69.73281860351562, 50.05520248413086, 79.9613265991211, 1.9053850173950195, 5.502279758453369, -8.028300285339355, -63.689170837402344, 52.43746566772461, 55.79928970336914, 2.162655830383301, 2.181272506713867 ]
[ 15.558801651000977, -71.36715698242188, 54.16666793823242, 79.58446502685547, 1.5384615659713745, 5.453351020812988, -6.99558162689209, -64.37315368652344, 57.233848571777344, 56.96528244018555, 1.7338217496871948, 2.0889487266540527 ]
3.266667
98
0
98
0
[ 17.202117919921875, -69.49766540527344, 50.899593353271484, 79.82759094238281, 1.8387190103530884, 5.779679775238037, -8.717169761657715, -64.07038879394531, 53.42241668701172, 55.579986572265625, 2.0204591751098633, 2.436056137084961 ]
[ 16.07012367248535, -71.62510681152344, 52.12765884399414, 79.58446502685547, 1.5384615659713745, 5.584756851196289, -7.511045455932617, -63.69776153564453, 55.686988830566406, 56.62237548828125, 1.831501841545105, 2.156334161758423 ]
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": 5122,
    "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": [
                "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": {
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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",
                "video.pix_fmt": "yuv420p",
                "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,
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                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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