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float32
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43.2
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int64
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1.3k
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3
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95
0
[ 2.2810890674591064, -49.83552551269531, 6.126126289367676, 70.3735122680664, -5.934065818786621, 25.31930923461914, -8.678139686584473, -8.67541217803955, 35.56864547729492, 45.43904495239258, 8.473748207092285, 0.07800312340259552 ]
[ 2.5073745250701904, -49.43132019042969, 12.438697814941406, 68.2203369140625, -5.934065818786621, 24.982980728149414, -8.630187034606934, -8.569016456604004, 39.4270133972168, 45.64102554321289, 8.620268821716309, 3.884795665740967 ]
3.2
96
0
96
0
[ 2.2810890674591064, -49.83552551269531, 5.945945739746094, 71.64685821533203, -5.982905864715576, 25.31930923461914, -8.824605941772461, -8.760050773620605, 34.39057540893555, 45.43904495239258, 8.473748207092285, 0.07800312340259552 ]
[ 2.4336283206939697, -49.43132019042969, 11.190369606018066, 68.30508422851562, -5.836385726928711, 24.982980728149414, -8.55673885345459, -8.569016456604004, 39.063209533691406, 45.64102554321289, 8.522588729858398, 3.014065742492676 ]
3.233333
97
0
97
0
[ 2.575423002243042, -49.83552551269531, 6.126126289367676, 72.66553497314453, -5.982905864715576, 25.31930923461914, -9.117539405822754, -8.929327011108398, 32.48754119873047, 45.60954666137695, 8.473748207092285, 0.07800312340259552 ]
[ 2.4336283206939697, -49.43132019042969, 10.209540367126465, 68.89830780029297, -5.836385726928711, 24.982980728149414, -8.483290672302246, -8.569016456604004, 38.60845947265625, 45.64102554321289, 8.620268821716309, 2.7461485862731934 ]
3.266667
98
0
98
0
[ 2.796173572540283, -49.83552551269531, 6.3063063621521, 73.259765625, -5.982905864715576, 25.31930923461914, -9.264005661010742, -9.437155723571777, 30.584503173828125, 46.2063102722168, 8.473748207092285, 0.07800312340259552 ]
[ 2.4336283206939697, -49.43132019042969, 9.317877769470215, 70, -5.836385726928711, 24.982980728149414, -8.409842491149902, -8.48459243774414, 37.880855560302734, 45.64102554321289, 8.620268821716309, 2.7461485862731934 ]
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": 3,
    "total_frames": 3054,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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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                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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                640,
                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,
                "video.fps": 30,
                "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,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "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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