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float32
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66.7
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int64
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[ -7.7147016525268555, -99.56896209716797, 99.6449203491211, 66.12296295166016, -3.882783889770508, 3.7673497200012207, 7.252747058868408, -98.06233978271484, 93.9503402709961, 65.11035919189453, -0.46398046612739563, 2.7315123081207275 ]
3.1
93
0
93
0
[ -7.99853515625, -102.73710632324219, 103.25544738769531, 65.67306518554688, -3.6110992431640625, 4.180919647216797, 6.879894256591797, -96.9959716796875, 92.43544006347656, 64.43851470947266, -0.14758729934692383, 2.3026256561279297 ]
[ -7.7147016525268555, -99.56896209716797, 99.6449203491211, 66.20661163330078, -3.7851037979125977, 3.7673497200012207, 7.179487228393555, -97.72535705566406, 93.9503402709961, 65.11035919189453, -0.3663003742694855, 2.5982677936553955 ]
3.133333
94
0
94
0
[ -8.07403564453125, -102.31413269042969, 103.0894775390625, 66.15312194824219, -3.3751583099365234, 3.857227325439453, 7.1064910888671875, -97.17716979980469, 92.80319213867188, 65.48807525634766, 0.05864858627319336, 1.0431747436523438 ]
[ -7.7147016525268555, -99.56896209716797, 99.6449203491211, 66.03931427001953, -3.5409035682678223, 3.7673497200012207, 7.179487228393555, -97.55686950683594, 93.9503402709961, 64.77079772949219, -0.17094017565250397, 2.5982677936553955 ]
3.166667
95
0
95
0
[ -8.044498443603516, -102.84893798828125, 101.80329895019531, 65.13468170166016, -3.3882408142089844, 3.6198348999023438, 6.838092803955078, -96.17459106445312, 92.51849365234375, 63.04838943481445, -0.051508426666259766, 1.949544906616211 ]
[ -7.7147016525268555, -99.56896209716797, 99.6449203491211, 66.03931427001953, -3.5409035682678223, 3.8334434032440186, 7.179487228393555, -97.38837432861328, 93.9503402709961, 64.9405746459961, -0.17094017565250397, 2.5316455364227295 ]
3.2
96
0
96
0
[ -7.588315963745117, -100.6082992553711, 103.67872619628906, 66.07015228271484, -3.209095001220703, 4.210344314575195, 6.70182991027832, -96.28932189941406, 92.16897583007812, 64.56761169433594, -0.352874755859375, 1.8114376068115234 ]
[ -7.7147016525268555, -99.56896209716797, 99.6449203491211, 66.03931427001953, -3.5409035682678223, 3.8334434032440186, 7.106226921081543, -97.47261810302734, 93.9503402709961, 65.02546691894531, -0.17094017565250397, 2.0652897357940674 ]
3.233333
97
0
97
0
[ -7.455270767211914, -100.83687591552734, 102.79405212402344, 66.12381744384766, -3.2228469848632812, 3.781391143798828, 6.765310287475586, -95.69523620605469, 91.71733093261719, 64.16877746582031, 0.0354924201965332, 1.5239849090576172 ]
[ -7.7147016525268555, -99.56896209716797, 99.6449203491211, 65.87201690673828, -3.5409035682678223, 3.8334434032440186, 7.106226921081543, -97.13563537597656, 93.9503402709961, 65.02546691894531, -0.17094017565250397, 1.7988008260726929 ]
3.266667
98
0
98
0
[ -7.210546493530273, -100.51189422607422, 101.21742248535156, 66.1812744140625, -3.3293514251708984, 3.897197723388672, 6.660051345825195, -95.98432922363281, 91.8668212890625, 62.66971969604492, 0.6209855079650879, 1.9572429656982422 ]
[ -7.7147016525268555, -99.56896209716797, 99.6449203491211, 65.70472717285156, -3.5409035682678223, 3.8334434032440186, 7.106226921081543, -96.79865264892578, 93.9503402709961, 64.26145935058594, -0.17094017565250397, 1.8654230833053589 ]
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": 2001,
    "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
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        },
        "observation.images.left_top": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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            ],
            "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": {
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            "shape": [
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                3
            ],
            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.right_right": {
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            "names": [
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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