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float32
0
74.9
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int64
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2.25k
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int64
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2.133333
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2.233333
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2.3
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2.333333
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2.366667
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2.4
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2.433333
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2.466667
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2.5
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2.533333
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2.566667
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2.6
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2.633333
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2.666667
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2.7
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2.733333
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2.8
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2.866667
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2.9
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3
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3.033333
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3.066667
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0
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[ -9.318681716918945, -104.3956069946289, 93.18681335449219, 65.5824203491211, -1.0109890699386597, 3.3354310989379883, -13.230769157409668, -88.0879135131836, 87.20879364013672, 74.02198028564453, 0.3076923191547394, 2.0819342136383057 ]
3.1
93
0
93
0
[ -8.019519805908203, -104.13896179199219, 91.06394958496094, 65.56340789794922, -1.2659454345703125, 2.075582981109619, -11.65937614440918, -95.66393280029297, 85.13102722167969, 74.30269622802734, -0.19779586791992188, 1.6911239624023438 ]
[ -9.318681716918945, -104.3956069946289, 93.18681335449219, 65.5824203491211, -1.0109890699386597, 3.3354310989379883, -13.142857551574707, -88.0879135131836, 87.20879364013672, 74.02198028564453, 0.21978022158145905, 2.014775037765503 ]
3.133333
94
0
94
0
[ -6.249852180480957, -104.16122436523438, 90.4896469116211, 65.41839599609375, -1.0466156005859375, 2.02994966506958, -11.491586685180664, -96.32852172851562, 85.12940979003906, 74.31654357910156, -0.3787841796875, 1.7395706176757812 ]
[ -9.318681716918945, -104.3956069946289, 93.18681335449219, 65.5824203491211, -1.0109890699386597, 3.3354310989379883, -12.967033386230469, -88.0879135131836, 87.20879364013672, 74.02198028564453, 0.04395604506134987, 1.9476158618927002 ]
3.166667
95
0
95
0
[ -8.69651985168457, -104.4539794921875, 90.51527404785156, 65.45608520507812, -1.1526985168457031, 2.0328478813171387, -11.379257202148438, -96.09600067138672, 85.49932861328125, 74.30104064941406, -0.20489120483398438, 1.7678284645080566 ]
[ -9.318681716918945, -104.3956069946289, 93.18681335449219, 65.5824203491211, -1.0109890699386597, 3.3354310989379883, -12.967033386230469, -88.0879135131836, 87.20879364013672, 74.02198028564453, -0.04395604506134987, 1.9476158618927002 ]
3.2
96
0
96
0
[ -8.794206619262695, -104.56292724609375, 90.80836486816406, 65.5716552734375, -1.1850204467773438, 2.141040325164795, -11.595155715942383, -95.9872055053711, 85.2568359375, 74.12254333496094, -0.18730926513671875, 1.6502013206481934 ]
[ -8.703296661376953, -104.3956069946289, 93.18681335449219, 65.5824203491211, -1.0109890699386597, 3.3354310989379883, -12.615385055541992, -88.0879135131836, 87.20879364013672, 74.02198028564453, -0.04395604506134987, 1.9476158618927002 ]
3.233333
97
0
97
0
[ -9.274112701416016, -104.00590515136719, 91.01388549804688, 65.56769561767578, -0.9032707214355469, 2.00640869140625, -11.564056396484375, -95.61309814453125, 84.6959228515625, 74.03187561035156, 0.39449310302734375, 1.7361202239990234 ]
[ -7.824175834655762, -104.3956069946289, 93.18681335449219, 65.5824203491211, -0.9230769276618958, 3.3354310989379883, -12.439560890197754, -88.0879135131836, 87.20879364013672, 74.02198028564453, -0.04395604506134987, 1.9476158618927002 ]
3.266667
98
0
98
0
[ -9.537296295166016, -104.27009582519531, 91.21669006347656, 65.6331787109375, -0.9542427062988281, 2.002044677734375, -11.466208457946777, -95.49826049804688, 85.61636352539062, 74.01219177246094, -0.119384765625, 1.6955456733703613 ]
[ -7.736263751983643, -104.3956069946289, 93.18681335449219, 65.5824203491211, -1.0109890699386597, 3.3354310989379883, -12.439560890197754, -88.0879135131836, 87.20879364013672, 74.02198028564453, -0.04395604506134987, 1.9476158618927002 ]
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": 0,
    "total_frames": 0,
    "total_tasks": 0,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {},
    "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.camera1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.camera2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.camera3": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "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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