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float32
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16.1
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int64
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3
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3.1
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94
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[ -11.384614944458008, -18.989011764526367, 61.626373291015625, 61.18681335449219, -15.692307472229004, 39.63457489013672, 13.89011001586914, -25.05494499206543, 21.80219841003418, 92, 21.758241653442383, 77.1162109375 ]
[ -10.549450874328613, -18.549449920654297, 61.18681335449219, 64.92308044433594, -15.252747535705566, 39.40217208862305, 14.725275039672852, -24.83516502380371, 17.010988235473633, 92.96703338623047, 26.505495071411133, 76.78804016113281 ]
3.166667
95
0
95
0
[ -11.384614944458008, -18.989011764526367, 61.53845977783203, 61.18681335449219, -15.692307472229004, 39.63457489013672, 13.802197456359863, -25.05494499206543, 23.47252655029297, 92, 20.263736724853516, 77.18795013427734 ]
[ -10.637362480163574, -18.549449920654297, 61.53845977783203, 64.3956069946289, -15.252747535705566, 39.40217208862305, 14.725275039672852, -24.83516502380371, 18.153846740722656, 92.79120635986328, 25.714284896850586, 76.78804016113281 ]
3.2
96
0
96
0
[ -11.384614944458008, -18.989011764526367, 61.4505500793457, 61.098899841308594, -15.692307472229004, 39.63457489013672, 12.923076629638672, -25.14285659790039, 24.703296661376953, 91.9120864868164, 18.41758155822754, 77.18795013427734 ]
[ -10.813186645507812, -18.549449920654297, 61.53845977783203, 64.04395294189453, -15.252747535705566, 39.40217208862305, 14.725275039672852, -24.83516502380371, 19.736263275146484, 92.70330047607422, 24.659339904785156, 76.78804016113281 ]
3.233333
97
0
97
0
[ -11.472527503967285, -18.989011764526367, 61.27472686767578, 60.92307662963867, -15.692307472229004, 39.564300537109375, 11.428571701049805, -25.406593322753906, 25.58241844177246, 91.38461303710938, 16.395605087280273, 77.1162109375 ]
[ -10.90109920501709, -18.549449920654297, 61.53845977783203, 63.78022003173828, -15.252747535705566, 39.40217208862305, 14.725275039672852, -24.83516502380371, 21.494504928588867, 92.61538696289062, 23.340660095214844, 76.78804016113281 ]
3.266667
98
0
98
0
[ -11.472527503967285, -18.989011764526367, 60.83516311645508, 60.92307662963867, -15.692307472229004, 39.564300537109375, 9.84615421295166, -25.670330047607422, 26.63736343383789, 91.12088012695312, 14.021978378295898, 76.97274017333984 ]
[ -10.98901081085205, -18.549449920654297, 61.53845977783203, 63.60439682006836, -15.252747535705566, 39.40217208862305, 14.549450874328613, -24.83516502380371, 23.604394912719727, 92.61538696289062, 21.670330047607422, 76.78804016113281 ]
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": 185,
    "total_frames": 48040,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:185"
    },
    "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.left_top_cam": {
            "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.left_left_cam": {
            "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.left_right_cam": {
            "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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