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float32
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45.4
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int64
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1.36k
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int64
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2.1
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2.133333
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2.2
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2.233333
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2.3
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2.333333
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2.4
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2.433333
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2.466667
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2.5
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2.533333
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2.566667
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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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2.766667
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2.8
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2.833333
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2.866667
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2.9
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3
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3.1
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3.133333
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94
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[ -52.404579162597656, 34.838748931884766, 8.20257568359375, -17.014490127563477, -46.24016571044922, 18.879451751708984, -26.933176040649414, -96.41734313964844, 94.742431640625, 66.99507141113281, 6.146707534790039, 4.302304267883301 ]
[ -51.95612335205078, 35.10594177246094, 11.837455749511719, -17.721519470214844, -46.227108001708984, 21.424070358276367, -27.814088821411133, -96.25935363769531, 96.0766830444336, 66.98307800292969, 5.982905864715576, 4.134860038757324 ]
3.166667
95
0
95
0
[ -52.442073822021484, 34.24928665161133, 7.381893157958984, -17.616979598999023, -46.16248321533203, 17.613636016845703, -26.50041961669922, -94.90558624267578, 92.15873718261719, 67.10084533691406, 6.234550952911377, 4.115828514099121 ]
[ -51.95612335205078, 35.3552131652832, 11.395759582519531, -17.721519470214844, -46.227108001708984, 20.91997528076172, -27.668846130371094, -96.09310150146484, 95.8091812133789, 66.98307800292969, 5.982905864715576, 4.07124662399292 ]
3.2
96
0
96
0
[ -52.12358093261719, 34.44480514526367, 7.998729705810547, -18.183446884155273, -46.19717788696289, 17.75185203552246, -26.84255027770996, -95.23771667480469, 93.0545654296875, 66.96542358398438, 6.291310787200928, 4.351251602172852 ]
[ -52.02925109863281, 35.43830490112305, 10.865724563598633, -17.55274200439453, -46.227108001708984, 20.03780746459961, -27.45098114013672, -96.09310150146484, 95.8091812133789, 66.98307800292969, 6.031745910644531, 4.07124662399292 ]
3.233333
97
0
97
0
[ -52.51654052734375, 34.30813980102539, 6.687870025634766, -17.557554244995117, -46.28123474121094, 17.77684211730957, -26.526201248168945, -94.0108642578125, 90.91088104248047, 66.75878143310547, 6.147686958312988, 4.0410356521606445 ]
[ -52.24863052368164, 35.43830490112305, 10.424028396606445, -17.468355178833008, -46.227108001708984, 19.344675064086914, -27.233116149902344, -96.09310150146484, 95.72001647949219, 66.98307800292969, 5.982905864715576, 4.07124662399292 ]
3.266667
98
0
98
0
[ -52.26594161987305, 32.9548225402832, 8.15826416015625, -16.94660758972168, -46.14567565917969, 15.11762809753418, -26.496227264404297, -93.87257385253906, 91.24542236328125, 66.7857666015625, 6.2401323318481445, 4.319984436035156 ]
[ -52.321754455566406, 35.43830490112305, 10.070671081542969, -17.468355178833008, -46.227108001708984, 18.588531494140625, -27.01525115966797, -95.7605972290039, 95.27418518066406, 66.98307800292969, 5.982905864715576, 4.07124662399292 ]
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": 1362,
    "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": [
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            ]
        },
        "observation.images.left_left": {
            "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_top": {
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            "shape": [
                480,
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            ],
            "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,
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        },
        "observation.images.right_right": {
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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
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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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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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