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float32
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91.6
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int64
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2.75k
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2.533333
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2.6
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2.7
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2.733333
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2.8
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2.833333
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2.9
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2.966667
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3
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3.033333
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3.066667
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3.1
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3.133333
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3.166667
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3.2
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[ -65.14286041259766, -104.52747344970703, 94.68132019042969, -101.67032623291016, 2.5934066772460938, 1.537386417388916, 26.505495071411133, -103.9120864868164, 65.0988998413086, 96.13186645507812, -84.0879135131836, 2.4406778812408447 ]
3.233333
97
0
97
0
[ -65.89010620117188, -104.74725341796875, 96.21977996826172, -106.9011001586914, 2.681318759918213, 0, 32, -103.56044006347656, 62.41758346557617, 99.20879364013672, -80.13186645507812, 0.9708737730979919 ]
[ -65.14286041259766, -104.52747344970703, 94.68132019042969, -101.67032623291016, 2.5934066772460938, 1.537386417388916, 28, -103.9120864868164, 64.13186645507812, 97.53845977783203, -82.68132019042969, 2.4406778812408447 ]
3.266667
98
0
98
0
[ -65.89010620117188, -104.74725341796875, 96.21977996826172, -106.9011001586914, 2.681318759918213, 0, 33.14285659790039, -103.56044006347656, 62.593406677246094, 99.20879364013672, -78.9011001586914, 0.9708737730979919 ]
[ -65.14286041259766, -104.52747344970703, 94.68132019042969, -101.67032623291016, 2.5934066772460938, 1.537386417388916, 29.318681716918945, -103.9120864868164, 63.78022003173828, 98.5934066772461, -81.62637329101562, 2.4406778812408447 ]
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": 30,
    "total_frames": 51155,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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_front": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "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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                640,
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            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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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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