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float32
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111
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int64
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int64
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927
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int64
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2.3
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2.4
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2.5
25
0
25
0
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2.6
26
0
26
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2.7
27
0
27
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2.8
28
0
28
0
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2.9
29
0
29
0
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3
30
0
30
0
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3.1
31
0
31
0
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3.2
32
0
32
0
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3.3
33
0
33
0
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3.4
34
0
34
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3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
37
0
37
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3.8
38
0
38
0
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3.9
39
0
39
0
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4
40
0
40
0
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
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4.8
48
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4.9
49
0
49
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
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7.8
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0
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7.9
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8
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0
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8.1
81
0
81
0
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8.2
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0
82
0
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8.3
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0
83
0
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8.4
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0
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8.5
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0
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0
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8.6
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0
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8.7
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8.8
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8.9
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9
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0
90
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9.1
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0
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9.2
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9.3
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9.4
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9.5
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0
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0
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9.6
96
0
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9.7
97
0
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0
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9.8
98
0
98
0
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9.9
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": "aibot2",
    "total_episodes": 928,
    "total_frames": 196472,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:928"
    },
    "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",
            "shape": [
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            "names": [
                "left_arm.x",
                "left_arm.y",
                "left_arm.z",
                "left_arm.qx",
                "left_arm.qy",
                "left_arm.qz",
                "left_arm.qw",
                "right_arm.x",
                "right_arm.y",
                "right_arm.z",
                "right_arm.qx",
                "right_arm.qy",
                "right_arm.qz",
                "right_arm.qw",
                "left_gripper.pos",
                "right_gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
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            "names": [
                "ZPF_left_Joint1.pos",
                "ZPF_left_Joint2.pos",
                "ZPF_left_Joint3.pos",
                "ZPF_left_Joint4.pos",
                "ZPF_left_Joint5.pos",
                "ZPF_left_Joint6.pos",
                "ZPF_left_Joint7.pos",
                "ZPF_right_Joint1.pos",
                "ZPF_right_Joint2.pos",
                "ZPF_right_Joint3.pos",
                "ZPF_right_Joint4.pos",
                "ZPF_right_Joint5.pos",
                "ZPF_right_Joint6.pos",
                "ZPF_right_Joint7.pos",
                "2FEG_l_Joint1.pos",
                "2FEG_r_Joint1.pos"
            ]
        },
        "observation.images.camera_front": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 240,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_left": {
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}

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