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float32
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88.1
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int64
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2.64k
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2
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2.066667
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2.1
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2.133333
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2.233333
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2.333333
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2.433333
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2.533333
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2.566667
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2.6
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2.633333
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2.666667
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2.7
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2.733333
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2.766667
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2.8
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2.833333
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2.866667
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2.9
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[ -6.355003833770752, -97.5064468383789, 95.83333587646484, 67.66034698486328, -0.7081807255744934, 2.1681997776031494, -0.7363770008087158, -99.3246078491211, 97.17925262451172, 63.56622314453125, 1.5384615659713745, 2.5606470108032227 ]
2.933333
88
0
88
0
[ -6.125, -97, 93, 66.5, -0.75, 0.125, -1, -102, 95, 62.5, 2, 2.9375 ]
[ -6.355003833770752, -97.5064468383789, 95.6560287475586, 67.66034698486328, -0.7081807255744934, 2.1681997776031494, -0.7363770008087158, -99.3246078491211, 96.99726867675781, 63.56622314453125, 1.5384615659713745, 2.5606470108032227 ]
2.966667
89
0
89
0
[ -6.25, -98, 97, 69, -0.5, 0.625, -0.125, -103.5, 99.5, 64.5, 1.75, 3.125 ]
[ -6.355003833770752, -97.5064468383789, 95.56737518310547, 67.66034698486328, -0.7081807255744934, 2.1681997776031494, -0.7363770008087158, -99.3246078491211, 96.90628051757812, 63.56622314453125, 1.6361416578292847, 2.5606470108032227 ]
3
90
0
90
0
[ -6.25, -98, 97, 69, -0.25, 0.6875, 0, -103.5, 99.5, 64.5, 1.75, 3.0625 ]
[ -6.355003833770752, -97.42046356201172, 95.39006805419922, 67.29900360107422, -0.7081807255744934, 2.1681997776031494, -0.7363770008087158, -99.3246078491211, 96.90628051757812, 63.22331619262695, 1.7338217496871948, 2.5606470108032227 ]
3.033333
91
0
91
0
[ -6.25, -98, 97, 69, -0.25, 0.625, 0, -103.5, 99.5, 64, 1.75, 3.0625 ]
[ -6.355003833770752, -97.42046356201172, 95.39006805419922, 67.29900360107422, -0.7081807255744934, 2.1681997776031494, -0.7363770008087158, -99.3246078491211, 96.90628051757812, 63.22331619262695, 1.7338217496871948, 2.5606470108032227 ]
3.066667
92
0
92
0
[ -6.25, -98, 97.5, 68.5, -0.5, 0.5625, 0, -103.5, 99, 64, 1.5, 3 ]
[ -6.355003833770752, -97.5064468383789, 95.74468231201172, 67.75067901611328, -0.5616605877876282, 2.1681997776031494, -0.7363770008087158, -99.3246078491211, 97.08826446533203, 63.823402404785156, 1.7338217496871948, 2.6280324459075928 ]
3.1
93
0
93
0
[ -6.25, -98, 97, 68.5, -0.5, 0.5, 0, -103.5, 99, 64, 1.5, 2.9375 ]
[ -6.355003833770752, -97.5924301147461, 96.36524963378906, 68.29268646240234, -0.46398046612739563, 2.1681997776031494, -0.4418262243270874, -99.3246078491211, 97.36123657226562, 63.99485778808594, 1.7338217496871948, 2.695417881011963 ]
3.133333
94
0
94
0
[ -6.125, -98, 96.5, 68.5, -0.5, 0.4375, -0.125, -103.5, 99, 64, 1.5, 2.875 ]
[ -6.428049564361572, -97.5924301147461, 96.80850982666016, 68.29268646240234, -0.46398046612739563, 2.1681997776031494, -0.1472754031419754, -99.3246078491211, 97.45223236083984, 63.99485778808594, 1.7338217496871948, 2.762803316116333 ]
3.166667
95
0
95
0
[ -6.125, -98, 96.5, 68.5, -0.25, 0.4375, -0.125, -103.5, 98.5, 64, 1.5, 2.9375 ]
[ -6.428049564361572, -97.67842102050781, 96.80850982666016, 68.29268646240234, -0.46398046612739563, 2.1681997776031494, -0.1472754031419754, -99.3246078491211, 97.45223236083984, 63.99485778808594, 1.6849817037582397, 2.762803316116333 ]
3.2
96
0
96
0
[ -6.25, -98, 96, 68, -0.25, 0.375, -0.25, -103.5, 98, 63.75, 1.5, 2.875 ]
[ -6.428049564361572, -97.764404296875, 96.80850982666016, 68.29268646240234, -0.46398046612739563, 2.1681997776031494, -0.1472754031419754, -99.3246078491211, 97.45223236083984, 63.99485778808594, 1.6849817037582397, 2.762803316116333 ]
3.233333
97
0
97
0
[ -6.25, -98, 96, 68, 0, 0.3125, -0.25, -103.5, 97.5, 63.75, 1.25, 2.9375 ]
[ -6.428049564361572, -97.764404296875, 96.6312026977539, 68.29268646240234, -0.46398046612739563, 2.1681997776031494, -0.1472754031419754, -99.3246078491211, 97.45223236083984, 63.99485778808594, 1.6849817037582397, 2.762803316116333 ]
3.266667
98
0
98
0
[ -6.25, -98, 94.5, 68, 0, 0.25, -0.375, -103, 97, 63.5, 1.25, 2.875 ]
[ -6.428049564361572, -97.764404296875, 96.45390319824219, 68.29268646240234, -0.46398046612739563, 2.1681997776031494, -0.1472754031419754, -99.3246078491211, 97.45223236083984, 63.99485778808594, 1.6849817037582397, 2.762803316116333 ]
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": 2644,
    "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": [
                12
            ]
        },
        "observation.images.left_top": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "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": {
            "dtype": "video",
            "shape": [
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                3
            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "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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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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