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float32
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129
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int64
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3.88k
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int64
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[ -3.0679328441619873, -68.87360382080078, 54.25531768798828, 64.67931365966797, -1.9291819334030151, 29.30354881286621, -3.6082475185394287, -56.85943603515625, 40.40036392211914, 71.45306396484375, -0.6105006337165833, 27.830188751220703 ]
3.1
93
0
93
0
[ -2.469210624694824, -56.98990249633789, 38.98088455200195, 64.56185913085938, -1.7224044799804688, 29.388755798339844, -7.3561859130859375, -50.1643180847168, 30.07611846923828, 75.80804443359375, -1.1391897201538086, 33.98398971557617 ]
[ -3.1409788131713867, -67.75580596923828, 51.950355529785156, 64.58898162841797, -1.9291819334030151, 29.30354881286621, -4.1973490715026855, -55.59307861328125, 38.307552337646484, 72.31033325195312, -0.6105006337165833, 29.177898406982422 ]
3.133333
94
0
94
0
[ -2.6735334396362305, -53.09280014038086, 35.36396026611328, 65.07775115966797, -1.9368000030517578, 30.551799774169922, -7.7356367111206055, -47.07741165161133, 26.50269889831543, 77.54988098144531, -0.7926568984985352, 34.832523345947266 ]
[ -3.0679328441619873, -65.95012664794922, 48.84751892089844, 64.58898162841797, -1.9291819334030151, 29.30354881286621, -5.301914691925049, -54.32672119140625, 36.57870864868164, 73.42477416992188, -0.7570207715034485, 30.39083480834961 ]
3.166667
95
0
95
0
[ -2.2572193145751953, -50.41948699951172, 33.50112533569336, 65.10429382324219, -1.956221580505371, 30.76367950439453, -8.820940971374512, -45.244850158691406, 25.263032913208008, 78.33177185058594, -0.4523458480834961, 33.503692626953125 ]
[ -3.0679328441619873, -63.112640380859375, 45.83333206176758, 64.58898162841797, -1.9291819334030151, 29.30354881286621, -6.553755760192871, -53.229209899902344, 35.213829040527344, 74.53922271728516, -0.8547008633613586, 31.671159744262695 ]
3.2
96
0
96
0
[ -1.5356941223144531, -46.76793670654297, 30.661760330200195, 66.00636291503906, -2.2067832946777344, 33.188053131103516, -8.621386528015137, -45.63651657104492, 24.14864158630371, 79.92489624023438, -0.2346491813659668, 35.314517974853516 ]
[ -3.0679328441619873, -60.01719665527344, 42.99645233154297, 64.58898162841797, -1.9291819334030151, 29.500656127929688, -6.848306179046631, -50.94976806640625, 32.75705337524414, 75.48220825195312, -0.8547008633613586, 32.951480865478516 ]
3.233333
97
0
97
0
[ -1.0692205429077148, -43.762107849121094, 28.378952026367188, 66.44783020019531, -1.8927979469299316, 33.822200775146484, -9.144448280334473, -45.096580505371094, 22.442079544067383, 79.94976043701172, -0.40282297134399414, 34.28705596923828 ]
[ -2.9218406677246094, -56.4918327331543, 40.0709228515625, 64.58898162841797, -1.9291819334030151, 30.026281356811523, -7.216495037078857, -48.248207092285156, 30.391263961791992, 76.76811218261719, -0.8058608174324036, 33.08625411987305 ]
3.266667
98
0
98
0
[ -1.7357406616210938, -40.22728729248047, 25.90091896057129, 67.29698944091797, -1.6279582977294922, 35.83579635620117, -9.669495582580566, -44.91039276123047, 21.865934371948242, 80.77601623535156, -0.6378250122070312, 35.36234664916992 ]
[ -2.556610584259033, -52.622528076171875, 37.411346435546875, 64.9503173828125, -1.9291819334030151, 30.683311462402344, -7.731958866119385, -46.89742660522461, 28.844404220581055, 77.71110534667969, -0.6593406796455383, 33.01886749267578 ]
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": 3876,
    "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.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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                "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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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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