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float32
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37.3
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int64
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1.12k
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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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2.8
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2.9
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3
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[ 8.672086715698242, -13.839662551879883, 16.27088737487793, 72.76166534423828, -45.20146560668945, 2.671755790710449, -7.370336532592773, 7.672850131988525, 15.77998161315918, 50.420169830322266, -47.69230651855469, 22.42384910583496 ]
3.1
93
0
93
0
[ 9.157508850097656, -14.973040580749512, 8.476104736328125, 72.79317474365234, -45.10378646850586, 1.1511895656585693, -7.737226486206055, 8.069883346557617, 8.744902610778809, 48.329811096191406, -47.985347747802734, 22.523962020874023 ]
[ 8.672086715698242, -13.839662551879883, 16.27088737487793, 72.76166534423828, -45.20146560668945, 2.671755790710449, -7.188353061676025, 8.263069152832031, 15.77998161315918, 50.08403396606445, -47.69230651855469, 22.42384910583496 ]
3.133333
94
0
94
0
[ 9.230769157409668, -14.973040580749512, 8.476104736328125, 72.79317474365234, -45.10378646850586, 1.1511895656585693, -7.664233684539795, 8.569051742553711, 8.744902610778809, 48.329811096191406, -47.985347747802734, 22.523962020874023 ]
[ 8.672086715698242, -13.839662551879883, 16.27088737487793, 72.76166534423828, -45.20146560668945, 2.671755790710449, -7.188353061676025, 8.600337028503418, 15.77998161315918, 49.91596603393555, -47.69230651855469, 22.42384910583496 ]
3.166667
95
0
95
0
[ 9.230769157409668, -15.05599308013916, 8.476104736328125, 72.79317474365234, -45.10378646850586, 1.1511895656585693, -7.591240882873535, 9.151413917541504, 8.744902610778809, 48.329811096191406, -47.985347747802734, 22.523962020874023 ]
[ 8.672086715698242, -13.839662551879883, 16.27088737487793, 72.76166534423828, -45.20146560668945, 2.671755790710449, -7.2793450355529785, 8.937605857849121, 15.77998161315918, 49.91596603393555, -47.69230651855469, 22.42384910583496 ]
3.2
96
0
96
0
[ 9.230769157409668, -15.05599308013916, 8.476104736328125, 72.79317474365234, -45.10378646850586, 1.1511895656585693, -7.591240882873535, 9.567387580871582, 8.744902610778809, 48.329811096191406, -47.985347747802734, 22.523962020874023 ]
[ 8.672086715698242, -13.839662551879883, 16.27088737487793, 72.76166534423828, -45.20146560668945, 2.671755790710449, -7.2793450355529785, 9.359190940856934, 15.77998161315918, 49.74789810180664, -47.69230651855469, 22.42384910583496 ]
3.233333
97
0
97
0
[ 9.230769157409668, -15.138946533203125, 8.476104736328125, 72.79317474365234, -45.10378646850586, 1.1511895656585693, -7.518248081207275, 9.900166511535645, 8.744902610778809, 48.245243072509766, -47.985347747802734, 22.523962020874023 ]
[ 8.672086715698242, -13.839662551879883, 16.27088737487793, 72.76166534423828, -45.20146560668945, 2.671755790710449, -7.2793450355529785, 9.865092277526855, 15.77998161315918, 49.579830169677734, -47.69230651855469, 22.42384910583496 ]
3.266667
98
0
98
0
[ 9.230769157409668, -15.22189998626709, 8.476104736328125, 72.79317474365234, -45.10378646850586, 1.1511895656585693, -7.518248081207275, 10.232945442199707, 8.744902610778809, 48.245243072509766, -47.985347747802734, 22.523962020874023 ]
[ 8.672086715698242, -13.839662551879883, 16.27088737487793, 72.76166534423828, -45.20146560668945, 2.671755790710449, -7.2793450355529785, 10.202361106872559, 15.77998161315918, 49.49580001831055, -47.69230651855469, 22.42384910583496 ]
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": 42,
    "total_frames": 23073,
    "total_tasks": 1,
    "chunks_size": 1000000,
    "data_files_size_in_mb": 10000,
    "video_files_size_in_mb": 50000,
    "fps": 30,
    "splits": {
        "train": "0:42"
    },
    "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_up": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "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.left_front": {
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            "names": [
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            "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
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        },
        "observation.images.left_right": {
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            "info": {
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                "video.width": 640,
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                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
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        },
        "observation.images.left_left": {
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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,
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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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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        },
        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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