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float32
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45.6
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int64
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1.37k
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int64
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[ 27.01073455810547, 25.13467025756836, 44.13031768798828, -50.848262786865234, 45.15458679199219, 30.98740005493164, 2.4694061279296875, 10.709026336669922, 49.196205139160156, -18.067869186401367, -40.02520751953125, 7.586394786834717 ]
[ 26.537349700927734, 25, 48.271217346191406, -51.07188034057617, 42.61294174194336, 30.66850471496582, 2.4224393367767334, 10.414902687072754, 51.917930603027344, -17.04399871826172, -40.31745910644531, 12.610770225524902 ]
3.2
96
0
96
0
[ 27.00496482849121, 25.555160522460938, 43.91747283935547, -50.44554901123047, 45.09404754638672, 30.97545623779297, 2.530276298522949, 10.300525665283203, 49.161739349365234, -17.758264541625977, -39.838558197021484, 3.7288684844970703 ]
[ 26.537349700927734, 25.75250816345215, 47.73237609863281, -51.07188034057617, 42.61294174194336, 30.66850471496582, 2.4224393367767334, 10.668924331665039, 51.8287239074707, -17.129432678222656, -40.31745910644531, 11.724608421325684 ]
3.233333
97
0
97
0
[ 26.699310302734375, 26.125080108642578, 43.03858947753906, -50.509788513183594, 45.085819244384766, 30.807754516601562, 2.742487907409668, 10.472248077392578, 49.13654327392578, -18.029409408569336, -39.8635139465332, 3.6414613723754883 ]
[ 26.537349700927734, 26.00334358215332, 47.373146057128906, -51.07188034057617, 42.661781311035156, 30.66850471496582, 2.4224393367767334, 10.92294692993164, 51.471900939941406, -17.129432678222656, -40.31745910644531, 10.088616371154785 ]
3.266667
98
0
98
0
[ 26.752948760986328, 26.91446304321289, 42.72871017456055, -50.87275695800781, 45.45362854003906, 31.082965850830078, 2.067241668701172, 10.236007690429688, 49.08366775512695, -17.871583938598633, -40.02098083496094, 4.7754669189453125 ]
[ 26.537349700927734, 26.00334358215332, 46.92411422729492, -50.90373992919922, 42.661781311035156, 30.66850471496582, 2.4224393367767334, 11.007620811462402, 51.471900939941406, -17.129432678222656, -40.31745910644531, 8.248125076293945 ]
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": 4,
    "total_frames": 5125,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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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                "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.left_gripper": {
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            "shape": [
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                640,
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
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                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "observation.images.right_gripper": {
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "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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