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float32
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24.9
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int64
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[ 0.5806666612625122, -9.414443969726562, 38.28588104248047, -9.651000022888184, 74.48615264892578, 9.77739143371582, 96.47058868408203, -0.9606666564941406, -25.05666732788086, 43.987060546875, -11.133000373840332, 49.9538459777832, -20.952173233032227, 98.23529052734375 ]
2.566667
77
0
77
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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2.7
81
0
81
0
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2.733333
82
0
82
0
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[ 0.5120000243186951, -7.316666603088379, 38.43764877319336, -8.85099983215332, 73.8830795288086, 9.346086502075195, 96.47058868408203, -0.9606666564941406, -24.536666870117188, 44.14352798461914, -10.107999801635742, 50.713844299316406, -21.74956512451172, 97.79412078857422 ]
2.766667
83
0
83
0
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2.8
84
0
84
0
[ 0.4375, -6.75, 38.75, -8.1875, 73.5, 9.3125, 97, -1.125, -24.75, 44.75, -10, 51, -21.75, 97.5 ]
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2.833333
85
0
85
0
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[ 0.44066667556762695, -6.837777614593506, 38.69647216796875, -8.335000038146973, 73.74461364746094, 9.370434761047363, 96.47058868408203, -1.031999945640564, -24.4022216796875, 44.412940979003906, -9.991999626159668, 51.172306060791016, -21.74956512451172, 97.64705657958984 ]
2.866667
86
0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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3
90
0
90
0
[ 0.3125, -5, 39.5, -7.90625, 72.5, 9.3125, 97, -1.046875, -23.75, 44.5, -11.25, 49.25, -21.25, 98 ]
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3.033333
91
0
91
0
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3.066667
92
0
92
0
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3.1
93
0
93
0
[ 0.3125, -4.75, 39, -7.875, 72.5, 9.0625, 95.5, -1.0390625, -23.25, 44.5, -11.375, 49, -21.25, 98 ]
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3.133333
94
0
94
0
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3.166667
95
0
95
0
[ 0.296875, -4, 39, -7.84375, 72.5, 8.9375, 92.5, -1.0390625, -23, 44.5, -11.625, 49, -21.125, 98 ]
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3.2
96
0
96
0
[ 0.296875, -4, 39, -7.8125, 72.5, 8.8125, 90, -1, -23, 44.25, -11.625, 49, -21.125, 98 ]
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3.233333
97
0
97
0
[ 0.2890625, -4, 38.75, -7.75, 72.5, 8.75, 84.5, -1.0078125, -23.125, 44.25, -11.625, 49, -21.25, 98 ]
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3.266667
98
0
98
0
[ 0.2734375, -3.75, 39, -7.65625, 72.5, 8.6875, 76, -1.0078125, -23.125, 44.25, -11.625, 49, -21.25, 98 ]
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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_piper_follower",
    "total_episodes": 1,
    "total_frames": 749,
    "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": {
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            "names": [
                "left_joint1.pos",
                "left_joint2.pos",
                "left_joint3.pos",
                "left_joint4.pos",
                "left_joint5.pos",
                "left_joint6.pos",
                "left_gripper.pos",
                "right_joint1.pos",
                "right_joint2.pos",
                "right_joint3.pos",
                "right_joint4.pos",
                "right_joint5.pos",
                "right_joint6.pos",
                "right_gripper.pos"
            ],
            "shape": [
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        "observation.state": {
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            "names": [
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                "left_joint3.pos",
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                "left_joint5.pos",
                "left_joint6.pos",
                "left_gripper.pos",
                "right_joint1.pos",
                "right_joint2.pos",
                "right_joint3.pos",
                "right_joint4.pos",
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                "right_gripper.pos"
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        "observation.images.image": {
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            "names": [
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            "info": {
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                "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.image2": {
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            "info": {
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        "observation.images.empty_camera_0": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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    }
}

Citation

BibTeX:

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