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float32
0
25.3
frame_index
int64
0
505
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int64
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int64
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int64
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1.55
31
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1.6
32
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1.65
33
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1.7
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1.75
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1.8
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1.85
37
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1.9
38
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1.95
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2
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2.05
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2.1
42
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2.15
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2.2
44
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2.25
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2.3
46
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2.35
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2.4
48
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2.45
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2.5
50
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2.55
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2.6
52
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2.65
53
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2.7
54
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2.75
55
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2.8
56
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2.85
57
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2.9
58
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2.95
59
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3
60
0
60
0
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3.05
61
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3.1
62
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
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4.55
91
0
91
0
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4.6
92
0
92
0
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4.65
93
0
93
0
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4.7
94
0
94
0
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[ 32.17582321166992, -52.70329666137695, 35.42856979370117, 32.879119873046875, 85.4945068359375, 34.92762756347656, -14.197802543640137, -88.35164642333984, 91.69230651855469, 71.56044006347656, 5.406593322753906, 1.8132975101470947 ]
4.75
95
0
95
0
[ 32.1690788269043, -41.713382720947266, 21.202207565307617, 34.633583068847656, 83.49401092529297, 34.429466247558594, -14.567132949829102, -100.05630493164062, 89.47271728515625, 70.4119873046875, 5.065483093261719, 1.3464703559875488 ]
[ 32.263736724853516, -50.68132019042969, 32.79121017456055, 33.4945068359375, 85.05494689941406, 34.55002975463867, -14.197802543640137, -88.35164642333984, 91.69230651855469, 71.56044006347656, 5.406593322753906, 1.8132975101470947 ]
4.8
96
0
96
0
[ 32.00691604614258, -37.11928176879883, 17.553438186645508, 34.37318420410156, 82.74083709716797, 34.446868896484375, -14.479839324951172, -100.38603210449219, 89.37466430664062, 70.34638977050781, 5.100376129150391, 1.405137062072754 ]
[ 32.52747344970703, -47.868133544921875, 29.80219841003418, 34.19780349731445, 84.43955993652344, 34.61296463012695, -14.197802543640137, -88.35164642333984, 91.69230651855469, 71.38461303710938, 5.406593322753906, 1.8132975101470947 ]
4.85
97
0
97
0
[ 31.47610855102539, -34.23650360107422, 15.899179458618164, 33.874855041503906, 82.83099365234375, 34.14633560180664, -14.57232666015625, -100.51419067382812, 89.95732116699219, 70.6295166015625, 4.963253021240234, 1.3954715728759766 ]
[ 32.43955993652344, -44.263736724853516, 26.461538314819336, 34.19780349731445, 84.17582702636719, 34.61296463012695, -14.197802543640137, -88.35164642333984, 91.69230651855469, 71.38461303710938, 5.406593322753906, 1.8132975101470947 ]
4.9
98
0
98
0
[ 31.13678741455078, -33.75266647338867, 15.001795768737793, 33.274627685546875, 82.09574127197266, 34.190887451171875, -14.442132949829102, -100.30783081054688, 89.22674560546875, 70.17842102050781, 4.745765686035156, 1.3913846015930176 ]
[ 32.52747344970703, -40.659339904785156, 23.120878219604492, 34.19780349731445, 83.56044006347656, 34.61296463012695, -14.197802543640137, -88.35164642333984, 91.69230651855469, 71.38461303710938, 5.406593322753906, 1.8132975101470947 ]
4.95
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": 1,
    "total_frames": 506,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera3": {
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "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
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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