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float32
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76.4
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int64
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2.29k
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int64
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[ 3.506208896636963, 1.4617369174957275, 0.3546099364757538, 59.5302619934082, 0.02442002482712269, 46.4520378112793, -46.391754150390625, 45.63106918334961, -59.87261199951172, 52.936134338378906, -0.9523809552192688, 1.8194069862365723 ]
3.1
93
0
93
0
[ 5.7144012451171875, 3.0323867797851562, 2.3206334114074707, 50.86614990234375, -1.5305900573730469, 47.1689567565918, -45.52385330200195, 43.4892578125, -64.19657135009766, 52.087276458740234, -1.1761893033981323, 2.1050963401794434 ]
[ 3.7983930110931396, 2.14961314201355, 0.5319148898124695, 58.53658676147461, 0.02442002482712269, 46.38633346557617, -46.391754150390625, 45.63106918334961, -59.87261199951172, 52.936134338378906, -0.9523809552192688, 1.8194069862365723 ]
3.133333
94
0
94
0
[ 6.244426727294922, -0.1698627471923828, 3.743332862854004, 50.500980377197266, -1.8460979461669922, 46.05857467651367, -46.240142822265625, 43.39429473876953, -62.13348388671875, 50.923675537109375, -1.2803796529769897, 1.9453978538513184 ]
[ 4.601899147033691, 2.923473834991455, 0.7978723645210266, 56.09756088256836, -0.21978022158145905, 46.12351989746094, -46.170841217041016, 45.63106918334961, -60.782527923583984, 52.936134338378906, -0.9523809552192688, 1.8194069862365723 ]
3.166667
95
0
95
0
[ 6.551555633544922, -3.092113494873047, 6.224778652191162, 52.52392578125, -1.9267559051513672, 46.91167449951172, -46.231849670410156, 43.7872314453125, -62.445152282714844, 51.658042907714844, -1.1910334825515747, 2.0898637771606445 ]
[ 4.74799108505249, 3.009458303451538, 1.329787254333496, 54.74254608154297, -0.6105006337165833, 46.517738342285156, -46.023563385009766, 45.63106918334961, -61.055503845214844, 52.764678955078125, -0.9523809552192688, 1.8194069862365723 ]
3.2
96
0
96
0
[ 7.303276062011719, -1.006357192993164, 3.0599236488342285, 54.851600646972656, -1.7447242736816406, 46.8980827331543, -45.388694763183594, 43.081138610839844, -63.30797576904297, 53.52324295043945, -1.112438678741455, 2.052201271057129 ]
[ 4.894083499908447, 3.009458303451538, 3.7234041690826416, 51.94218444824219, -0.8547008633613586, 46.38633346557617, -46.023563385009766, 45.63106918334961, -61.055503845214844, 52.421775817871094, -0.9523809552192688, 1.8194069862365723 ]
3.233333
97
0
97
0
[ 6.899505615234375, -0.032848358154296875, -4.870018005371094, 63.50172424316406, -1.7569122314453125, 47.580692291259766, -45.102081298828125, 43.13861846923828, -64.86293029785156, 54.61802673339844, -1.12606680393219, 2.268681049346924 ]
[ 5.113221168518066, 2.923473834991455, 4.3439717292785645, 51.85185241699219, -1.0500611066818237, 46.32062911987305, -46.023563385009766, 45.715492248535156, -61.055503845214844, 52.421775817871094, -0.9523809552192688, 1.8194069862365723 ]
3.266667
98
0
98
0
[ 6.301788330078125, 5.791370391845703, -10.301636695861816, 64.44569396972656, -1.2748851776123047, 47.52507019042969, -45.226253509521484, 43.28302764892578, -64.60140991210938, 54.14152526855469, -1.227746844291687, 2.2640933990478516 ]
[ 5.989773750305176, 1.1177988052368164, 5.407801628112793, 53.748870849609375, -1.245421290397644, 46.58344268798828, -45.802650451660156, 45.715492248535156, -61.055503845214844, 53.10758590698242, -0.9523809552192688, 1.8194069862365723 ]
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": 2293,
    "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": {
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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,
                "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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        },
        "observation.images.right_right": {
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            "info": {
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        },
        "timestamp": {
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            "names": null
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        "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",
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            "names": null
        }
    }
}

Citation

BibTeX:

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