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float32
0
59
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int64
0
1.48k
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int64
0
0
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int64
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1.48k
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int64
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2.64
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2.68
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2.76
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2.8
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2.84
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2.88
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2.92
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2.96
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3
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3.04
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3.08
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3.12
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3.16
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3.2
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3.24
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3.28
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3.32
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3.36
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3.4
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3.44
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3.48
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3.52
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3.56
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3.6
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3.64
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3.68
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3.72
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3.76
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3.8
95
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95
0
[ -3.972299575805664, 15.790603637695312, 62.17115783691406, -11.60452651977539, -0.4022960662841797, 58.67145538330078, 6.887319564819336, -16.803600311279297, 13.051633834838867, 85.4786376953125, 10.315654754638672, 0.4663205146789551 ]
[ -4.263736248016357, 14.637362480163574, 65.18681335449219, -11.516483306884766, -0.1318681389093399, 58.815425872802734, 6.725274562835693, -16.175825119018555, 15.692307472229004, 85.84615325927734, 9.362637519836426, 0.6048387289047241 ]
3.84
96
0
96
0
[ -3.718137741088867, 16.22608184814453, 60.915889739990234, -11.321117401123047, -0.1384563446044922, 58.80420684814453, 6.973054885864258, -17.083065032958984, 13.660224914550781, 85.70597076416016, 10.433820724487305, 0.49441051483154297 ]
[ -4.263736248016357, 15.252747535705566, 64.3956069946289, -11.428571701049805, -0.1318681389093399, 58.815425872802734, 6.637362480163574, -16.175825119018555, 15.692307472229004, 85.84615325927734, 9.450549125671387, 0.6048387289047241 ]
3.88
97
0
97
0
[ -3.3686914443969727, 16.960708618164062, 61.031150817871094, -11.539440155029297, -0.2396717071533203, 58.79463195800781, 6.9324493408203125, -15.994865417480469, 13.286211013793945, 85.0930404663086, 10.074291229248047, 0.4236564636230469 ]
[ -4.263736248016357, 16.131868362426758, 63.60439682006836, -11.428571701049805, -0.1318681389093399, 58.815425872802734, 6.637362480163574, -16.175825119018555, 15.692307472229004, 85.84615325927734, 9.802197456359863, 0.6048387289047241 ]
3.92
98
0
98
0
[ -3.018588066101074, 16.54180145263672, 61.25737380981445, -12.096088409423828, -0.1868457794189453, 58.85670471191406, 7.267902374267578, -17.366661071777344, 13.772850036621094, 85.32209777832031, 10.494728088378906, 0.47002553939819336 ]
[ -4.175824165344238, 16.571428298950195, 62.901100158691406, -11.428571701049805, -0.1318681389093399, 58.815425872802734, 6.725274562835693, -16.175825119018555, 15.692307472229004, 85.84615325927734, 9.89011001586914, 0.6048387289047241 ]
3.96
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",
    "fps": 25,
    "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_left_wrist": {
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            "names": [
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                "channels"
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        },
        "observation.images.left_top": {
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            "names": [
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        },
        "observation.images.right_right_wrist": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
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    },
    "total_episodes": 1,
    "total_frames": 1477,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "bi_so_follower",
    "splits": {
        "train": "0:1"
    }
}

Citation

BibTeX:

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