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float32
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19.9
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int64
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int64
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21.4k
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2.6
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2.7
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2.9
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3
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3.033333
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3.1
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[ 10.478771209716797, -23.54430389404297, 25.769569396972656, 69.98738861083984, -46.66666793823242, 15.83969497680664, -8.189263343811035, -13.74367618560791, 45.80703353881836, 35.29411697387695, -49.25518798828125, 25.72909927368164 ]
3.133333
94
0
94
0
[ 10.769230842590332, -23.68311882019043, 19.206491470336914, 68.61407470703125, -46.56898498535156, 15.65617847442627, -8.686131477355957, -12.063227653503418, 39.55595779418945, 32.60042190551758, -49.79243087768555, 25.559104919433594 ]
[ 10.478771209716797, -23.54430389404297, 25.769569396972656, 69.98738861083984, -46.66666793823242, 15.83969497680664, -8.553230285644531, -13.237773895263672, 45.80703353881836, 34.621849060058594, -49.35287094116211, 25.72909927368164 ]
3.166667
95
0
95
0
[ 10.769230842590332, -23.68311882019043, 19.206491470336914, 68.61407470703125, -46.56898498535156, 15.65617847442627, -8.686131477355957, -11.39767074584961, 39.55595779418945, 32.60042190551758, -49.79243087768555, 25.559104919433594 ]
[ 10.478771209716797, -23.54430389404297, 25.769569396972656, 69.98738861083984, -46.66666793823242, 15.83969497680664, -8.553230285644531, -12.478920936584473, 45.80703353881836, 34.117645263671875, -49.35287094116211, 25.72909927368164 ]
3.2
96
0
96
0
[ 10.769230842590332, -23.68311882019043, 19.206491470336914, 68.61407470703125, -46.56898498535156, 15.65617847442627, -8.686131477355957, -10.8153076171875, 39.19347381591797, 32.60042190551758, -49.79243087768555, 25.559104919433594 ]
[ 10.478771209716797, -23.54430389404297, 25.769569396972656, 69.98738861083984, -46.66666793823242, 15.83969497680664, -8.553230285644531, -11.804384231567383, 45.80703353881836, 33.86554718017578, -49.4505500793457, 25.72909927368164 ]
3.233333
97
0
97
0
[ 10.769230842590332, -23.68311882019043, 19.206491470336914, 68.61407470703125, -46.56898498535156, 15.65617847442627, -8.540145874023438, -10.149750709533691, 38.74037170410156, 32.093021392822266, -49.79243087768555, 25.559104919433594 ]
[ 10.478771209716797, -23.54430389404297, 25.769569396972656, 69.98738861083984, -46.66666793823242, 15.83969497680664, -8.553230285644531, -11.12984848022461, 45.80703353881836, 33.78151321411133, -49.5482292175293, 25.72909927368164 ]
3.266667
98
0
98
0
[ 10.769230842590332, -23.68311882019043, 19.206491470336914, 68.61407470703125, -46.56898498535156, 15.65617847442627, -8.394160270690918, -9.317803382873535, 38.468509674072266, 31.162790298461914, -50.13431167602539, 25.559104919433594 ]
[ 10.478771209716797, -23.54430389404297, 25.769569396972656, 69.98738861083984, -46.66666793823242, 15.83969497680664, -8.553230285644531, -10.539628982543945, 45.26600646972656, 33.697479248046875, -49.597068786621094, 25.72909927368164 ]
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": 44,
    "total_frames": 21430,
    "total_tasks": 1,
    "chunks_size": 1000000,
    "data_files_size_in_mb": 10000,
    "video_files_size_in_mb": 50000,
    "fps": 30,
    "splits": {
        "train": "0:44"
    },
    "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,
                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,
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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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            "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,
                "video.fps": 30,
                "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
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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