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float32
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27.6
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int64
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2.7
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2.8
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2.833333
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2.9
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3
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3.066667
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3.1
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3.133333
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3.2
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[ 42.81318664550781, -45.80219650268555, 20.439559936523438, 101.62637329101562, 28.263736724853516, 8.699122428894043, 1.274725317955017, -33.18681335449219, -1.2307692766189575, 100.92308044433594, -5.142857074737549, 1.4866979122161865 ]
[ 27.516483306884766, -46.901100158691406, 21.450550079345703, 100.21977996826172, 15.516483306884766, 3.6987223625183105, 6.329670429229736, -34.81318664550781, 4.92307710647583, 100.30769348144531, -4.263736248016357, 1.9060585498809814 ]
3.233333
97
0
97
0
[ 46.85714340209961, -45.80219650268555, 21.230770111083984, 101.53845977783203, 33.89011001586914, 9.65682315826416, -0.7472527623176575, -33.18681335449219, -2.0219781398773193, 100.92308044433594, -6.285714149475098, 1.4866979122161865 ]
[ 31.560440063476562, -46.46154022216797, 21.450550079345703, 100.21977996826172, 18.41758155822754, 4.909213066101074, 5.1868133544921875, -34.19780349731445, 3.4285714626312256, 100.30769348144531, -4.263736248016357, 1.9060585498809814 ]
3.266667
98
0
98
0
[ 51.340660095214844, -45.80219650268555, 21.670330047607422, 101.53845977783203, 40.0439567565918, 10.215482711791992, -3.296703338623047, -33.18681335449219, -3.076923131942749, 101.010986328125, -7.692307472229004, 1.4866979122161865 ]
[ 35.516483306884766, -46.373626708984375, 21.450550079345703, 100.21977996826172, 21.670330047607422, 6.455951690673828, 3.604395627975464, -33.758243560791016, 2.373626470565796, 100.48351287841797, -4.615384578704834, 1.9060585498809814 ]
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": 828,
    "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_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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_top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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
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        },
        "observation.images.right_wrist": {
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            "shape": [
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            ],
            "names": [
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                "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
            }
        },
        "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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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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