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float32
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159
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int64
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2.39k
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int64
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int64
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[ 26.418773651123047, -13.731439590454102, -28.601177215576172, 73.90072631835938, -21.13432502746582, 1.7813682556152344, -27.21591567993164, -66.75218200683594, 48.040252685546875, 55.96380615234375, 7.972071170806885, 28.981924057006836 ]
[ 26.055313110351562, -11.379310607910156, -34.309810638427734, 81.09577941894531, -20.58608055114746, 2.1150033473968506, -23.736263275146484, -68.07077026367188, 51.69300079345703, 61.46010208129883, 7.203907012939453, 24.51698875427246 ]
6.333333
95
0
95
0
[ 27.100303649902344, -13.122758865356445, -25.47107696533203, 70.10992431640625, -20.334665298461914, 2.0831432342529297, -30.226289749145508, -67.20330047607422, 50.604278564453125, 54.13301467895508, 8.328046798706055, 30.383407592773438 ]
[ 25.6914119720459, -12.758620262145996, -32.80070877075195, 80.42659759521484, -20.732601165771484, 2.1150033473968506, -24.615385055541992, -68.07077026367188, 51.69300079345703, 60.95076370239258, 7.399267196655273, 24.250499725341797 ]
6.4
96
0
96
0
[ 27.415729522705078, -12.18066692352295, -23.452239990234375, 63.680809020996094, -20.529726028442383, 1.8238391876220703, -31.351192474365234, -66.82437896728516, 50.61210632324219, 50.83854675292969, 8.156167984008789, 30.184785842895508 ]
[ 25.836973190307617, -12.844827651977539, -29.782512664794922, 77.49895477294922, -20.879121780395508, 2.1150033473968506, -26.153846740722656, -67.56529235839844, 50.97065353393555, 59.16808319091797, 7.643467426300049, 26.515655517578125 ]
6.466667
97
0
97
0
[ 29.2575740814209, -9.854440689086914, -21.38898277282715, 60.1336669921875, -20.560361862182617, 1.6586589813232422, -34.29340362548828, -65.85838317871094, 52.16728973388672, 47.151119232177734, 8.1492919921875, 31.571731567382812 ]
[ 26.273653030395508, -12.758620262145996, -27.208166122436523, 74.153076171875, -20.683761596679688, 2.1150033473968506, -27.69230842590332, -67.31255340576172, 51.151241302490234, 56.45161437988281, 7.985347747802734, 28.780813217163086 ]
6.533333
98
0
98
0
[ 29.961463928222656, -7.736385345458984, -20.302658081054688, 56.66577911376953, -21.52186393737793, 1.4712028503417969, -35.320735931396484, -63.758644104003906, 51.50248718261719, 45.44639205932617, 7.74476957321167, 32.395668029785156 ]
[ 26.71033477783203, -12.241379737854004, -24.54505157470703, 70.9744873046875, -20.634920120239258, 2.1150033473968506, -30.183149337768555, -67.059814453125, 51.33182907104492, 54.244483947753906, 7.985347747802734, 29.44703483581543 ]
6.6
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": 2386,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 15,
    "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": [
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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": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_left": {
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            "shape": [
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            ],
            "names": [
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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                "video.is_depth_map": false,
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        },
        "observation.images.right_right": {
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            "names": [
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            "info": {
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                "video.width": 640,
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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