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float32
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39.9
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1.2k
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1.7
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1.8
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2
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[ 29.80219841003418, -98.5934066772461, 64.13186645507812, 83.20879364013672, 79.6043930053711, 2.170767068862915, -35.516483306884766, -25.9780216217041, -20.21977996826172, 102.54945373535156, 1.0109890699386597, 2.6485326290130615 ]
[ 25.36263656616211, -103.34066009521484, 75.47252655029297, 74.63735961914062, 73.62637329101562, 2.840909004211426, -23.25274658203125, -24.923076629638672, -19.25274658203125, 101.97801971435547, 2.241758346557617, 3.166226863861084 ]
3.2
96
0
96
0
[ 31.03296661376953, -96.21977996826172, 61.4945068359375, 84.61538696289062, 81.71428680419922, 2.387843608856201, -39.912086486816406, -27.120878219604492, -18.813186645507812, 102.54945373535156, -2.065934181213379, 2.6485326290130615 ]
[ 25.89011001586914, -102.37362670898438, 73.010986328125, 77.27472686767578, 75.47252655029297, 2.840909004211426, -26.41758155822754, -24.923076629638672, -19.25274658203125, 101.97801971435547, 2.241758346557617, 3.166226863861084 ]
3.233333
97
0
97
0
[ 32.263736724853516, -93.4945068359375, 58.85714340209961, 85.5824203491211, 83.56044006347656, 2.6049203872680664, -44.0439567565918, -28.175825119018555, -17.406593322753906, 102.54945373535156, -6.1978020668029785, 2.6485326290130615 ]
[ 27.384614944458008, -100.96703338623047, 70.46154022216797, 79.56044006347656, 76.79120635986328, 2.840909004211426, -29.934066772460938, -25.010988235473633, -19.16483497619629, 101.97801971435547, 1.6263736486434937, 3.166226863861084 ]
3.266667
98
0
98
0
[ 33.846153259277344, -90.5934066772461, 56.21977996826172, 86.28571319580078, 85.4065933227539, 2.6049203872680664, -47.82417678833008, -29.05494499206543, -15.648351669311523, 102.54945373535156, -11.472527503967285, 2.6485326290130615 ]
[ 29.494504928588867, -99.20879364013672, 67.9120864868164, 81.5824203491211, 78.72527313232422, 2.840909004211426, -33.4505500793457, -25.538461685180664, -18.72527503967285, 101.97801971435547, 0.21978022158145905, 3.166226863861084 ]
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": 3,
    "total_frames": 3594,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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_wrist": {
            "dtype": "video",
            "shape": [
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                640,
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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": {
            "dtype": "video",
            "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",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "observation.images.right_wrist": {
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            "shape": [
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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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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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