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[ 0.5714285969734192, -18.505495071411133, -45.4945068359375, -44.0439567565918, 5.142857074737549, 48.27833557128906, 3.1208791732788086, -17.406593322753906, -42.901100158691406, -51.69230651855469, 1.802197813987732, 50.973323822021484 ]
2.8
84
0
84
0
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[ 0.1318681389093399, -18.681318283081055, -43.736263275146484, -45.71428680419922, 5.142857074737549, 48.27833557128906, 1.7142857313156128, -18.10988998413086, -42.46154022216797, -52.57143020629883, 0.9230769276618958, 50.973323822021484 ]
2.833333
85
0
85
0
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[ -0.3076923191547394, -18.681318283081055, -42.06593322753906, -47.29670333862305, 5.142857074737549, 48.27833557128906, 0.1318681389093399, -18.813186645507812, -42.19780349731445, -53.36263656616211, -0.21978022158145905, 50.973323822021484 ]
2.866667
86
0
86
0
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2.9
87
0
87
0
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[ -1.890109896659851, -18.681318283081055, -39.868133544921875, -49.67033004760742, 5.406593322753906, 48.27833557128906, -3.384615421295166, -18.989011764526367, -41.758243560791016, -53.89011001586914, -2.065934181213379, 50.973323822021484 ]
2.933333
88
0
88
0
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[ -2.5934066772460938, -18.681318283081055, -39.516483306884766, -50.373626708984375, 5.494505405426025, 48.27833557128906, -5.230769157409668, -18.813186645507812, -40.79121017456055, -54.06593322753906, -3.0329670906066895, 50.973323822021484 ]
2.966667
89
0
89
0
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[ -3.296703338623047, -18.681318283081055, -39.516483306884766, -50.81318664550781, 5.670329570770264, 48.27833557128906, -7.07692289352417, -18.19780158996582, -39.03296661376953, -54.153846740722656, -3.8241758346557617, 50.973323822021484 ]
3
90
0
90
0
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[ -4.087912082672119, -18.593406677246094, -39.60439682006836, -50.81318664550781, 5.846153736114502, 48.27833557128906, -8.747252464294434, -16.879121780395508, -36.483516693115234, -54.153846740722656, -4.527472496032715, 50.973323822021484 ]
3.033333
91
0
91
0
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3.066667
92
0
92
0
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3.1
93
0
93
0
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[ -7.07692289352417, -16.659339904785156, -39.60439682006836, -50.901100158691406, 6.461538314819336, 50, -12.351648330688477, -10.197802543640137, -31.296703338623047, -54.153846740722656, -6.8131866455078125, 50.973323822021484 ]
3.133333
94
0
94
0
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[ -7.868131637573242, -15.868131637573242, -39.60439682006836, -51.42856979370117, 6.725274562835693, 50.143470764160156, -12.527472496032715, -8.263736724853516, -31.208791732788086, -54.593406677246094, -7.780219554901123, 50.973323822021484 ]
3.166667
95
0
95
0
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3.2
96
0
96
0
[ -0.0901506170630455, 0.021807853132486343, 0.07096052169799805, -0.25104740262031555, -1.4023995399475098, -0.2479657381772995, 50.99601745605469, -0.10377015173435211, 0.024078648537397385, 0.07022538781166077, 0.003870920743793249, -1.4739445447921753, -0.02526111528277397, 51.41318893432617 ]
[ -8.307692527770996, -14.90109920501709, -39.516483306884766, -52.92307662963867, 7.4285712242126465, 50.143470764160156, -12.263736724853516, -5.8021979331970215, -31.296703338623047, -56.96703338623047, -9.01098918914795, 50.973323822021484 ]
3.233333
97
0
97
0
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3.266667
98
0
98
0
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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_koch_follower",
    "total_episodes": 205,
    "total_frames": 235772,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:205"
    },
    "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_ee.x",
                "left_ee.y",
                "left_ee.z",
                "left_ee.wx",
                "left_ee.wy",
                "left_ee.wz",
                "left_ee.gripper_pos",
                "right_ee.x",
                "right_ee.y",
                "right_ee.z",
                "right_ee.wx",
                "right_ee.wy",
                "right_ee.wz",
                "right_ee.gripper_pos"
            ],
            "shape": [
                14
            ]
        },
        "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"
            ],
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        "observation.images.top": {
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            "shape": [
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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": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.left_wrist": {
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            "shape": [
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            "names": [
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            "info": {
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        },
        "observation.images.right_wrist": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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