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int64
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2.233333
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2.533333
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2.633333
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2.666667
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2.833333
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3
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90
0
[ 6.400000095367432, 0, -7.900000095367432, 19.299999237060547, 0, -6.900000095367432, 0, 92.19999694824219, -83.80000305175781, -74.69999694824219, 62.70000076293945, 0.800000011920929, 78.4000015258789, -60 ]
[ 6.327596664428711, -0.010928303003311157, -7.901272296905518, 19.288726806640625, -0.010928303003311157, -6.83029842376709, -0.010928303003311157, 93.84275817871094, -81.42803955078125, -81.84331512451172, 63.33049774169922, 1.62831711769104, 77.64678955078125, -58.6967887878418 ]
3.033333
91
0
91
0
[ 6.400000095367432, 0, -7.900000095367432, 19.299999237060547, 0, -6.900000095367432, 0, 92.19999694824219, -84, -74.9000015258789, 62.79999923706055, 0.699999988079071, 78.5, -60 ]
[ 6.327596664428711, -0.010928303003311157, -7.901272296905518, 19.288726806640625, -0.010928303003311157, -6.83029842376709, -0.010928303003311157, 93.8208999633789, -81.44989776611328, -81.51546478271484, 63.33049774169922, 1.4534642696380615, 77.69050598144531, -58.91535568237305 ]
3.066667
92
0
92
0
[ 6.400000095367432, 0, -7.900000095367432, 19.299999237060547, 0, -6.900000095367432, 0, 92.19999694824219, -84.4000015258789, -75, 62.900001525878906, 0.699999988079071, 78.5999984741211, -60 ]
[ 6.327596664428711, -0.010928303003311157, -7.901272296905518, 19.288726806640625, -0.010928303003311157, -6.83029842376709, -0.010928303003311157, 93.71161651611328, -81.60289001464844, -81.16576385498047, 63.26492691040039, 1.2348982095718384, 77.843505859375, -59.3088264465332 ]
3.1
93
0
93
0
[ 6.400000095367432, 0, -7.900000095367432, 19.299999237060547, 0, -6.800000190734863, 0, 92.0999984741211, -84.69999694824219, -75, 62.79999923706055, 0.5, 78.5999984741211, -60 ]
[ 6.327596664428711, -0.010928303003311157, -7.901272296905518, 19.288726806640625, -0.010928303003311157, -6.8521552085876465, -0.010928303003311157, 93.62419128417969, -81.75588989257812, -80.88162231445312, 63.1775016784668, 1.2130415439605713, 77.8653564453125, -59.39625549316406 ]
3.133333
94
0
94
0
[ 6.400000095367432, 0, -7.900000095367432, 19.299999237060547, 0, -6.900000095367432, 0, 92, -85.0999984741211, -75, 62.70000076293945, 0.4000000059604645, 78.5999984741211, -60 ]
[ 6.327596664428711, -0.010928303003311157, -7.901272296905518, 19.288726806640625, -0.010928303003311157, -6.8521552085876465, -0.010928303003311157, 93.58047485351562, -81.86517333984375, -80.64120483398438, 63.06821823120117, 1.1693283319473267, 77.9527816772461, -59.50553512573242 ]
3.166667
95
0
95
0
[ 6.400000095367432, 0, -7.900000095367432, 19.299999237060547, 0, -6.900000095367432, 0, 91.9000015258789, -85.30000305175781, -75, 62.400001525878906, 0.4000000059604645, 78.5, -60 ]
[ 6.327596664428711, -0.010928303003311157, -7.901272296905518, 19.288726806640625, -0.010928303003311157, -6.8521552085876465, -0.010928303003311157, 93.51490783691406, -81.9963150024414, -80.4225845336914, 62.91522216796875, 0.9944755434989929, 78.06206512451172, -59.52739334106445 ]
3.2
96
0
96
0
[ 6.400000095367432, 0, -7.900000095367432, 19.299999237060547, 0, -6.900000095367432, 0, 91.9000015258789, -85.5999984741211, -75.0999984741211, 62.099998474121094, 0.4000000059604645, 78.5, -60 ]
[ 6.327596664428711, -0.010928303003311157, -7.901272296905518, 19.288726806640625, -0.010928303003311157, -6.8521552085876465, -0.010928303003311157, 93.42748260498047, -82.14930725097656, -80.09473419189453, 62.89336395263672, 0.7977660894393921, 78.14949798583984, -59.63667678833008 ]
3.233333
97
0
97
0
[ 6.400000095367432, 0, -7.900000095367432, 19.299999237060547, 0, -6.900000095367432, 0, 91.9000015258789, -85.9000015258789, -75.19999694824219, 61.79999923706055, 0.4000000059604645, 78.5, -60 ]
[ 6.327596664428711, -0.010928303003311157, -7.901272296905518, 19.288726806640625, -0.010928303003311157, -6.8521552085876465, -0.010928303003311157, 93.36190795898438, -82.28044891357422, -79.83245086669922, 62.89336395263672, 0.7759094834327698, 78.25877380371094, -59.702247619628906 ]
3.266667
98
0
98
0
[ 6.400000095367432, 0, -7.900000095367432, 19.299999237060547, 0, -6.900000095367432, 0, 91.9000015258789, -86.30000305175781, -75.4000015258789, 61.5, 0.4000000059604645, 78.5, -60 ]
[ 6.327596664428711, -0.010928303003311157, -7.901272296905518, 19.288726806640625, -0.010928303003311157, -6.8521552085876465, -0.010928303003311157, 93.27448272705078, -82.4552993774414, -79.6357421875, 62.84965133666992, 0.7321962714195251, 78.28063201904297, -59.702247619628906 ]
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_seeed_b601_dm_follower",
    "total_episodes": 51,
    "total_frames": 16699,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:51"
    },
    "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_yaw.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_yaw.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                14
            ]
        },
        "observation.state": {
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            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_yaw.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_yaw.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
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        },
        "observation.images.left": {
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            "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.right": {
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            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
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                "video.is_depth_map": false,
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                "video.channels": 3,
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        "observation.images.top": {
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            "names": [
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            ],
            "info": {
                "video.height": 376,
                "video.width": 672,
                "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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        "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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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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