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float32
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43.9
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int64
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1.32k
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int64
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[ -0.04185851663351059, -54.83871078491211, 4.360056400299072, 67.53472137451172, -51.01509475708008, 1.0080645084381104, -63.115692138671875, -24.33167266845703, 19.637187957763672, 46.823326110839844, -59.98958206176758, 0.6118286848068237 ]
3.1
93
0
93
0
[ 3.127779722213745, -44.543052673339844, -8.624053955078125, 64.65270233154297, -51.18400573730469, 0.8647890090942383, -61.357887268066406, -23.451208114624023, 20.136343002319336, 43.476158142089844, -59.96341323852539, 0.6548258662223816 ]
[ 0.20929259061813354, -53.31069564819336, 2.5785279273986816, 66.40625, -51.06715393066406, 1.0080645084381104, -62.8865966796875, -24.422292709350586, 19.909297943115234, 46.649261474609375, -59.98958206176758, 0.6118286848068237 ]
3.133333
94
0
94
0
[ 2.8553223609924316, -44.33961868286133, -7.532627105712891, 66.08393859863281, -51.12411117553711, 0.8650603294372559, -61.395572662353516, -22.410781860351562, 20.40426254272461, 43.24319076538086, -59.96350860595703, 0.6545633673667908 ]
[ 0.12557555735111237, -51.52801513671875, 0.14064697921276093, 66.23263549804688, -50.96303939819336, 0.9408602118492126, -62.657501220703125, -24.51291275024414, 20, 46.649261474609375, -59.98958206176758, 0.6118286848068237 ]
3.166667
95
0
95
0
[ 4.699242115020752, -41.54603576660156, -10.109054565429688, 65.51744079589844, -51.20807647705078, 0.8650949001312256, -61.03327941894531, -23.233064651489258, 21.015254974365234, 42.693058013916016, -60.008609771728516, 0.6547467708587646 ]
[ 0.5441607236862183, -48.9813232421875, -2.9535865783691406, 65.79861450195312, -50.91098403930664, 0.8736559152603149, -62.35204315185547, -24.51291275024414, 20.362812042236328, 46.12706756591797, -59.98958206176758, 0.6118286848068237 ]
3.2
96
0
96
0
[ 5.003337383270264, -40.15147018432617, -11.310287475585938, 65.55274200439453, -51.061466217041016, 0.865026593208313, -60.83991241455078, -23.42546844482422, 21.98367691040039, 43.180755615234375, -60.13459777832031, 0.654737114906311 ]
[ 1.5487651824951172, -47.19864273071289, -4.641350269317627, 65.71180725097656, -50.91098403930664, 0.8736559152603149, -62.04658126831055, -24.51291275024414, 20.362812042236328, 45.6919059753418, -59.98958206176758, 0.6118286848068237 ]
3.233333
97
0
97
0
[ 5.893821716308594, -38.97511291503906, -12.392333984375, 65.08673858642578, -51.01799774169922, 0.8646893501281738, -60.782352447509766, -22.750898361206055, 21.74212646484375, 43.21352005004883, -60.21289825439453, 0.6547299027442932 ]
[ 2.302218437194824, -46.17996597290039, -4.828879356384277, 65.97222137451172, -51.01509475708008, 1.0080645084381104, -61.89385223388672, -24.51291275024414, 20.634920120239258, 45.430809020996094, -59.98958206176758, 0.6118286848068237 ]
3.266667
98
0
98
0
[ 7.157926559448242, -37.403167724609375, -10.307201385498047, 60.81522750854492, -51.021427154541016, 0.8645768761634827, -60.9948844909668, -23.49934959411621, 23.055898666381836, 43.352142333984375, -60.30195617675781, 0.6548236608505249 ]
[ 2.888237714767456, -44.22750473022461, -5.86029052734375, 65.97222137451172, -51.01509475708008, 1.0080645084381104, -61.664756774902344, -24.51291275024414, 20.997732162475586, 45.16971206665039, -59.98958206176758, 0.6118286848068237 ]
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_so101_follower",
    "total_episodes": 1,
    "total_frames": 1319,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "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.top": {
            "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,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "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,
                "has_audio": false
            }
        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
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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,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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