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float32
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48.1
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int64
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1.44k
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int64
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29
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int64
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24.5k
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2.133333
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2.166667
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2.233333
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2.3
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2.333333
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2.366667
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2.433333
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2.466667
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2.5
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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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2.933333
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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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94
0
[ 77.14286041259766, -103.86813354492188, 96.04395294189453, 48.79121017456055, -96.04395294189453, 25.621118545532227, -5.97802209854126, -103.73626708984375, 97.05494689941406, -101.67032623291016, -21.230770111083984, 1.8670649528503418 ]
[ 76.57142639160156, -104.0879135131836, 95.03296661376953, 49.27472686767578, -100.35164642333984, 9.084556579589844, -6.461538314819336, -103.9120864868164, 96.57142639160156, -101.31867980957031, -21.05494499206543, 3.0508475303649902 ]
3.166667
95
0
95
0
[ 77.5824203491211, -103.69230651855469, 96.04395294189453, 48.79121017456055, -96.13186645507812, 25.54347801208496, -5.97802209854126, -103.73626708984375, 97.05494689941406, -101.67032623291016, -21.230770111083984, 1.8670649528503418 ]
[ 76.57142639160156, -104.0879135131836, 95.03296661376953, 49.27472686767578, -98.5934066772461, 12.508734703063965, -6.461538314819336, -103.9120864868164, 96.57142639160156, -101.31867980957031, -21.05494499206543, 3.0508475303649902 ]
3.2
96
0
96
0
[ 77.93406677246094, -103.6043930053711, 96.04395294189453, 48.79121017456055, -96.13186645507812, 25.310558319091797, -5.97802209854126, -103.73626708984375, 97.05494689941406, -101.67032623291016, -21.230770111083984, 1.8670649528503418 ]
[ 76.57142639160156, -104.0879135131836, 95.03296661376953, 49.27472686767578, -97.18681335449219, 15.79315185546875, -6.461538314819336, -103.9120864868164, 96.57142639160156, -101.31867980957031, -21.05494499206543, 3.0508475303649902 ]
3.233333
97
0
97
0
[ 78.19779968261719, -102.9011001586914, 96.04395294189453, 48.79121017456055, -96.13186645507812, 25.232919692993164, -5.97802209854126, -103.73626708984375, 97.05494689941406, -101.67032623291016, -21.230770111083984, 1.8670649528503418 ]
[ 76.57142639160156, -104.0879135131836, 95.03296661376953, 49.27472686767578, -96.74725341796875, 19.217330932617188, -6.461538314819336, -103.9120864868164, 96.57142639160156, -101.31867980957031, -21.05494499206543, 3.0508475303649902 ]
3.266667
98
0
98
0
[ 78.28571319580078, -102.02198028564453, 96.04395294189453, 48.70329666137695, -96.13186645507812, 25.1552791595459, -5.97802209854126, -103.73626708984375, 97.05494689941406, -101.67032623291016, -21.230770111083984, 1.8670649528503418 ]
[ 76.57142639160156, -104.0879135131836, 95.03296661376953, 49.27472686767578, -96.57142639160156, 21.802934646606445, -6.461538314819336, -103.9120864868164, 96.57142639160156, -101.31867980957031, -21.05494499206543, 3.0508475303649902 ]
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": 24541,
    "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": "av1",
                "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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "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
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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