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float32
0
49.3
frame_index
int64
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1.48k
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int64
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int64
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[ -1.022644281387329, -23.731727600097656, 18.705673217773438, 52.93586349487305, 2.222222328186035, 27.989486694335938, -6.99558162689209, -50.358802795410156, 27.934486389160156, 52.0788688659668, 5.006104946136475, 1.0107816457748413 ]
3.133333
94
0
94
0
[ -0.35411596298217773, -18.753467559814453, 14.884949684143066, 52.36565017700195, 2.5865607261657715, 34.49626922607422, -6.074753761291504, -46.33170700073242, 23.250398635864258, 50.871070861816406, 4.689637660980225, 2.8923206329345703 ]
[ -1.022644281387329, -21.840068817138672, 17.287233352661133, 53.748870849609375, 2.9059829711914062, 30.61760902404785, -6.6273932456970215, -48.585899353027344, 26.569608688354492, 51.993141174316406, 4.9572649002075195, 1.1455525159835815 ]
3.166667
95
0
95
0
[ -0.5889220237731934, -16.072002410888672, 12.899297714233398, 53.01627731323242, 2.7187161445617676, 34.004974365234375, -5.391700744628906, -45.9560546875, 23.41249656677246, 50.93424987792969, 4.6941237449646, 5.848791599273682 ]
[ -1.0956902503967285, -20.120378494262695, 15.957447052001953, 54.38121032714844, 3.1013431549072266, 32.3915901184082, -6.4801177978515625, -48.0793571472168, 26.47861671447754, 51.993141174316406, 4.859584808349609, 1.3477089405059814 ]
3.2
96
0
96
0
[ -0.35561513900756836, -13.449806213378906, 10.273889541625977, 54.34104919433594, 2.6481387615203857, 34.087623596191406, -6.557674407958984, -45.05120849609375, 23.458335876464844, 51.8826904296875, 4.8220744132995605, 13.786696434020996 ]
[ -1.1687363386154175, -18.830610275268555, 15.691489219665527, 54.38121032714844, 3.1013431549072266, 34.29697799682617, -6.3328423500061035, -47.15069580078125, 26.114648818969727, 51.82168960571289, 4.810744762420654, 2.156334161758423 ]
3.233333
97
0
97
0
[ -0.5727810859680176, -11.84405517578125, 9.139829635620117, 56.15361785888672, 2.4030699729919434, 34.73733901977539, -6.152276039123535, -43.698490142822266, 21.9691162109375, 51.71261978149414, 4.553627014160156, 13.777158737182617 ]
[ -1.022644281387329, -18.14273452758789, 16.13475227355957, 53.83920669555664, 2.857142925262451, 34.69119644165039, -6.1855669021606445, -46.6441535949707, 25.750682830810547, 51.65023422241211, 4.810744762420654, 3.0997304916381836 ]
3.266667
98
0
98
0
[ -0.6350817680358887, -10.840227127075195, 9.159708023071289, 56.811767578125, 2.301729440689087, 35.23432922363281, -6.178227424621582, -43.16951370239258, 22.02620506286621, 52.221866607666016, 4.3122334480285645, 12.997889518737793 ]
[ -0.9495982527732849, -16.76698112487793, 15.33687973022461, 53.92953872680664, 2.808302879333496, 34.428382873535156, -6.111929416656494, -45.88433837890625, 25.659690856933594, 51.82168960571289, 4.810744762420654, 5.390835762023926 ]
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": 1479,
    "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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            ],
            "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.codec": "av1",
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                "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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                "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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            "names": null
        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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