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2.24
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2.28
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2.32
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2.36
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2.4
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2.44
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2.48
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2.56
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2.6
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2.64
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2.68
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2.72
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2.76
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2.8
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2.84
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2.88
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2.92
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2.96
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3
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3.04
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3.08
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3.12
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3.16
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3.2
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3.24
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3.28
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3.32
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3.36
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3.4
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3.44
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3.48
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3.52
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3.56
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3.6
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3.64
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3.68
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3.72
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3.76
94
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94
0
[ -8.703296661376953, -58.41758346557617, 80.57142639160156, 56.43955993652344, 6.637362480163574, 81.22028350830078, 23.868131637573242, -11.076923370361328, -9.84615421295166, 97.4065933227539, 57.098899841308594, 33.81877136230469 ]
[ -8.835165023803711, -58.593406677246094, 79.42857360839844, 62.769229888916016, 1.9780219793319702, 80.78512573242188, 23.69230842590332, -11.780220031738281, -7.516483306884766, 96.74725341796875, 55.69230651855469, 33.602149963378906 ]
3.8
95
0
95
0
[ -8.703296661376953, -58.5054931640625, 80.92308044433594, 55.20878982543945, 7.07692289352417, 81.22028350830078, 23.868131637573242, -10.461538314819336, -9.934065818786621, 97.4065933227539, 57.098899841308594, 33.81877136230469 ]
[ -8.835165023803711, -58.593406677246094, 80.13186645507812, 60.74725341796875, 3.6483516693115234, 80.78512573242188, 23.69230842590332, -11.252747535705566, -7.516483306884766, 96.74725341796875, 56.30769348144531, 33.602149963378906 ]
3.84
96
0
96
0
[ -8.79120922088623, -58.593406677246094, 80.92308044433594, 54.593406677246094, 6.989010810852051, 81.22028350830078, 23.78022003173828, -9.758241653442383, -10.10988998413086, 97.4065933227539, 57.098899841308594, 33.81877136230469 ]
[ -8.835165023803711, -58.593406677246094, 80.83516693115234, 58.901100158691406, 5.05494499206543, 80.78512573242188, 23.604394912719727, -10.813186645507812, -7.516483306884766, 96.74725341796875, 56.483516693115234, 33.602149963378906 ]
3.88
97
0
97
0
[ -8.879120826721191, -58.68132019042969, 80.92308044433594, 54.41758346557617, 6.989010810852051, 81.22028350830078, 23.604394912719727, -8.967033386230469, -10.813186645507812, 97.4065933227539, 56.83516311645508, 33.81877136230469 ]
[ -8.835165023803711, -58.593406677246094, 81.010986328125, 57.31867980957031, 5.846153736114502, 80.78512573242188, 23.340660095214844, -10.10988998413086, -7.604395389556885, 96.74725341796875, 56.659339904785156, 33.602149963378906 ]
3.92
98
0
98
0
[ -8.879120826721191, -58.769229888916016, 80.92308044433594, 54.41758346557617, 6.989010810852051, 81.22028350830078, 23.428571701049805, -7.912087917327881, -11.780220031738281, 97.4065933227539, 56.659339904785156, 33.81877136230469 ]
[ -8.835165023803711, -58.593406677246094, 81.18681335449219, 56.263736724853516, 6.1978020668029785, 80.78512573242188, 23.340660095214844, -9.318681716918945, -7.956043720245361, 96.74725341796875, 56.659339904785156, 33.602149963378906 ]
3.96
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",
    "fps": 25,
    "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_left_wrist": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
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        },
        "observation.images.left_top": {
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_right_wrist": {
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            "shape": [
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            ],
            "names": [
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                "channels"
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            "info": {
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                "video.codec": "av1",
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                "video.channels": 3,
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        "timestamp": {
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        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        "task_index": {
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    },
    "total_episodes": 30,
    "total_frames": 22329,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "bi_so_follower",
    "splits": {
        "train": "0:30"
    }
}

Citation

BibTeX:

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