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float32
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35.7
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int64
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1.07k
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94
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[ 26.982973098754883, 12.738410949707031, 7.588356018066406, 66.23493194580078, 20.06789779663086, 31.489397048950195, -22.3540096282959, -25.345252990722656, 18.424415588378906, 87.03327941894531, -9.919669151306152, 1.9467087984085083 ]
[ 25.968435287475586, 12.235587120056152, 12.709620475769043, 67.27122497558594, 19.712894439697266, 31.670673370361328, -23.318714141845703, -25.326797485351562, 18.399999618530273, 87.85357666015625, -9.46396541595459, 2.8728606700897217 ]
3.166667
95
0
95
0
[ 27.254718780517578, 12.323677062988281, 7.776695251464844, 66.32501220703125, 20.18018341064453, 31.528705596923828, -22.53274154663086, -25.928314208984375, 17.7833251953125, 87.11788940429688, -9.846000671386719, 1.9972327947616577 ]
[ 26.327116012573242, 12.650352478027344, 12.709620475769043, 67.27122497558594, 19.712894439697266, 31.670673370361328, -23.099414825439453, -25.245098114013672, 18.399999618530273, 87.85357666015625, -9.46396541595459, 2.8728606700897217 ]
3.2
96
0
96
0
[ 27.280548095703125, 12.634048461914062, 7.581367492675781, 65.77672576904297, 20.190866470336914, 31.525114059448242, -22.547060012817383, -25.655235290527344, 19.251296997070312, 87.03134155273438, -9.798907279968262, 2.029592514038086 ]
[ 26.614059448242188, 13.1480712890625, 12.709620475769043, 67.27122497558594, 19.712894439697266, 31.670673370361328, -22.880117416381836, -25.08169937133789, 18.66666603088379, 87.85357666015625, -9.46396541595459, 2.8728606700897217 ]
3.233333
97
0
97
0
[ 27.224552154541016, 13.330062866210938, 7.954071044921875, 65.58082580566406, 20.12890625, 31.452327728271484, -22.831871032714844, -25.343231201171875, 19.006431579589844, 86.6617431640625, -9.902385711669922, 1.9195759296417236 ]
[ 26.757532119750977, 13.562836647033691, 12.709620475769043, 66.69414520263672, 19.764163970947266, 31.670673370361328, -23.099414825439453, -25.08169937133789, 19.0222225189209, 87.85357666015625, -9.46396541595459, 2.8728606700897217 ]
3.266667
98
0
98
0
[ 27.424697875976562, 13.074745178222656, 8.342803955078125, 65.21464538574219, 20.159061431884766, 31.337400436401367, -23.043052673339844, -26.374099731445312, 19.3790283203125, 86.67594909667969, -9.888782501220703, 1.9604237079620361 ]
[ 26.901004791259766, 13.645790100097656, 12.709620475769043, 66.44682312011719, 19.917970657348633, 31.670673370361328, -23.099414825439453, -25.08169937133789, 19.200000762939453, 87.7703857421875, -9.46396541595459, 2.8728606700897217 ]
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": 1072,
    "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.left": {
            "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.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.bird": {
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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