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float32
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50.4
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int64
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1.51k
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2.5
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2.533333
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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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2.8
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2.833333
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2.9
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3
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3.033333
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3.1
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3.133333
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[ 2.857142925262451, -89.36264038085938, 80.48351287841797, 69.97801971435547, 6.109889984130859, 8.129176139831543, -5.5824174880981445, -92.83516693115234, 77.4945068359375, 74.46154022216797, -1.890109896659851, 5.462184906005859 ]
3.166667
95
0
95
0
[ 2.5969953536987305, -91.51751708984375, 79.69698333740234, 70.20954132080078, 6.700137138366699, 7.694364070892334, -4.576475620269775, -93.24829864501953, 77.55789947509766, 75.98285675048828, -1.9026944637298584, 5.057364463806152 ]
[ 2.857142925262451, -88.92308044433594, 81.18681335449219, 69.97801971435547, 6.1978020668029785, 7.795100212097168, -4.791208744049072, -88.70330047607422, 74.94505310058594, 75.42857360839844, -2.3296704292297363, 5.462184906005859 ]
3.2
96
0
96
0
[ 2.7962656021118164, -89.80307006835938, 79.84298706054688, 70.38304138183594, 7.111900806427002, 7.791662216186523, -4.504286289215088, -95.371337890625, 80.02050018310547, 75.89527130126953, -1.9502289295196533, 4.939589977264404 ]
[ 3.0329670906066895, -91.38461303710938, 81.97801971435547, 70.06593322753906, 6.285714149475098, 7.683741569519043, -5.406593322753906, -87.64835357666016, 73.97801971435547, 75.42857360839844, -2.3296704292297363, 5.252100944519043 ]
3.233333
97
0
97
0
[ 3.354616641998291, -86.30509185791016, 77.89911651611328, 70.38292694091797, 7.116493225097656, 8.33914566040039, -4.466315269470215, -96.39151000976562, 82.23872375488281, 75.68522644042969, -2.0060205459594727, 4.807437896728516 ]
[ 2.5054945945739746, -91.29669952392578, 82.06593322753906, 70.06593322753906, 6.637362480163574, 8.129176139831543, -5.318681240081787, -88.87911987304688, 74.5054931640625, 75.51648712158203, -1.890109896659851, 5.252100944519043 ]
3.266667
98
0
98
0
[ 4.259469985961914, -86.9157485961914, 76.42900085449219, 69.90641021728516, 7.402579307556152, 8.123537063598633, -4.471080303192139, -99.54283142089844, 84.2057876586914, 75.68545532226562, -2.0812559127807617, 4.876729965209961 ]
[ 2.769230842590332, -90.15384674072266, 81.53845977783203, 70.15384674072266, 6.725274562835693, 7.683741569519043, -4.439560413360596, -90.81318664550781, 76.43955993652344, 74.989013671875, -2.4175825119018555, 5.252100944519043 ]
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": 1,
    "total_frames": 1513,
    "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": {
            "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_camera": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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.right_camera": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 240,
                "video.width": 320,
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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