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3.166667
95
0
95
0
[ -0.057318005710840225, -0.029217153787612915, -0.13169653713703156, 0.28697943687438965, -0.6042150855064392, -0.4478049874305725, 0.0357000008225441, -0.04672246426343918, 0.4475189745426178, -0.661968469619751, -1.5926011800765991, -0.5510647892951965, 2.1316230297088623, 0 ]
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3.2
96
0
96
0
[ -0.057317450642585754, -0.02921701781451702, -0.13171988725662231, 0.2869674861431122, -0.611713171005249, -0.44970154762268066, 0.0357000008225441, -0.04672246426343918, 0.44751933217048645, -0.661968469619751, -1.5925570726394653, -0.5517232418060303, 2.1316230297088623, 0 ]
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3.233333
97
0
97
0
[ -0.05731711536645889, -0.029216935858130455, -0.13173389434814453, 0.28696033358573914, -0.6177130341529846, -0.45083948969841003, 0.0357000008225441, -0.04672246426343918, 0.44751954078674316, -0.661968469619751, -1.5925304889678955, -0.5521183013916016, 2.1316230297088623, 0 ]
[ -3339.693115234375, 0, -7486.79541015625, 16462.345703125, -33793.1328125, -22663.490234375, 35560, -2671.354248046875, 25668.01171875, -37917.22265625, -91389.328125, -31521.98046875, 122189.9453125, 140 ]
3.266667
98
0
98
0
[ -0.057316914200782776, -0.029216885566711426, -0.13174229860305786, 0.2869560420513153, -0.6249711513519287, -0.45152226090431213, 0.0357000008225441, -0.04672246426343918, 0.4475196897983551, -0.661968469619751, -1.5925146341323853, -0.5523552894592285, 2.1316230297088623, 0 ]
[ -3339.693115234375, 0, -7486.79541015625, 16462.345703125, -33973.22265625, -22768.54296875, 35560, -2671.354248046875, 25668.01171875, -37917.22265625, -91389.328125, -31629.03515625, 122189.9453125, 140 ]
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_piper_follower",
    "total_episodes": 2,
    "total_frames": 4747,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_gripper.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_gripper.pos"
            ],
            "shape": [
                14
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_gripper.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_gripper.pos"
            ],
            "shape": [
                14
            ]
        },
        "observation.images.l_wrist": {
            "dtype": "video",
            "shape": [
                640,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 640,
                "video.width": 480,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.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.r_wrist": {
            "dtype": "video",
            "shape": [
                640,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 640,
                "video.width": 480,
                "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": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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