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float32
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55.2
frame_index
int64
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1.66k
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int64
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9
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int64
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14.8k
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3
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[ 10.637362480163574, 27.47252655029297, 91.86813354492188, -85.4065933227539, 81.80220031738281, 5.373525619506836, 11.076923370361328, 17.670330047607422, 94.46154022216797, -79.56044006347656, 68.43955993652344, 2.85335111618042 ]
3.166667
95
0
95
0
[ 14.241758346557617, 31.69230842590332, 88.48351287841797, -93.89010620117188, 82.24176025390625, 5.0349650382995605, 11.384614944458008, 24.879121780395508, 86.4175796508789, -87.73626708984375, 74.4175796508789, 2.5147929191589355 ]
[ 11.428571701049805, 28.439559936523438, 91.34066009521484, -86.81318664550781, 81.80220031738281, 5.373525619506836, 11.076923370361328, 19.16483497619629, 93.4945068359375, -81.4065933227539, 69.5824203491211, 2.85335111618042 ]
3.2
96
0
96
0
[ 14.769230842590332, 32.659339904785156, 87.69230651855469, -94.76923370361328, 82.24176025390625, 5.0349650382995605, 11.472527503967285, 27.25274658203125, 84.74725341796875, -87.82417297363281, 75.38461303710938, 2.5147929191589355 ]
[ 12.131868362426758, 29.494504928588867, 90.81318664550781, -88.21977996826172, 81.80220031738281, 5.373525619506836, 11.076923370361328, 20.659339904785156, 92.17582702636719, -82.81318664550781, 70.63735961914062, 2.85335111618042 ]
3.233333
97
0
97
0
[ 15.20879077911377, 33.71428680419922, 86.989013671875, -95.56044006347656, 82.24176025390625, 4.9650349617004395, 11.472527503967285, 29.714284896850586, 83.6043930053711, -88.52747344970703, 76.17582702636719, 2.5147929191589355 ]
[ 12.659340858459473, 30.549449920654297, 90.19779968261719, -89.62637329101562, 81.97801971435547, 5.373525619506836, 11.076923370361328, 22.329669952392578, 90.94505310058594, -83.95604705810547, 71.78022003173828, 2.85335111618042 ]
3.266667
98
0
98
0
[ 15.560439109802246, 34.85714340209961, 86.28571319580078, -96.61538696289062, 82.24176025390625, 4.9650349617004395, 11.472527503967285, 31.91208839416504, 82.72527313232422, -88.61538696289062, 76.79120635986328, 2.5147929191589355 ]
[ 13.09890079498291, 31.516483306884766, 89.5824203491211, -90.76923370361328, 81.97801971435547, 5.373525619506836, 11.076923370361328, 24.263736724853516, 89.27472686767578, -84.65933990478516, 72.83516693115234, 2.85335111618042 ]
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": 10,
    "total_frames": 14807,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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
            ]
        },
        "observation.images.right_top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "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.right_front_right": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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