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float32
0
35.8
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int64
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1.08k
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int64
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index
int64
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1.08k
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[ 22.6685791015625, 7.424305438995361, 11.297440528869629, 67.35366821289062, 19.610355377197266, 28.545673370361328, -20.90643310546875, -20.9150333404541, 16.08888816833496, 88.85191345214844, -11.208002090454102, 3.056234836578369 ]
3.133333
94
0
94
0
[ 23.873104095458984, 8.178855895996094, 6.243659973144531, 67.25503540039062, 20.272449493408203, 30.215606689453125, -21.041885375976562, -21.61505126953125, 12.870590209960938, 88.42889404296875, -11.204005241394043, 2.383730411529541 ]
[ 22.81205177307129, 8.004977226257324, 10.944395065307617, 67.35366821289062, 19.712894439697266, 28.725961685180664, -20.90643310546875, -20.9150333404541, 16.08888816833496, 88.85191345214844, -11.208002090454102, 3.056234836578369 ]
3.166667
95
0
95
0
[ 24.401113510131836, 8.741043090820312, 4.918571472167969, 67.4808349609375, 20.33504867553711, 30.320545196533203, -21.15093231201172, -22.4759521484375, 13.224517822265625, 88.34487915039062, -11.072528839111328, 2.487062692642212 ]
[ 23.027259826660156, 8.419742584228516, 10.856134414672852, 67.35366821289062, 19.815431594848633, 29.086538314819336, -20.90643310546875, -20.9150333404541, 16.08888816833496, 88.85191345214844, -11.208002090454102, 3.056234836578369 ]
3.2
96
0
96
0
[ 24.37653923034668, 9.896728515625, 5.7449951171875, 67.28938293457031, 20.37887191772461, 30.49370765686035, -20.919986724853516, -22.638381958007812, 14.197929382324219, 88.11255645751953, -11.00790786743164, 2.420975685119629 ]
[ 23.52941131591797, 8.751555442810059, 10.76787281036377, 67.35366821289062, 20.07177734375, 29.507211685180664, -20.90643310546875, -20.9150333404541, 16.08888816833496, 88.85191345214844, -11.208002090454102, 3.056234836578369 ]
3.233333
97
0
97
0
[ 24.6986141204834, 11.107063293457031, 5.8250579833984375, 67.41206359863281, 20.525888442993164, 30.619089126586914, -20.938064575195312, -22.419174194335938, 13.108795166015625, 88.14419555664062, -11.013988494873047, 2.4126243591308594 ]
[ 23.60114860534668, 9.415180206298828, 10.23830509185791, 67.35366821289062, 20.174314498901367, 29.80769157409668, -20.90643310546875, -20.9150333404541, 16.08888816833496, 88.85191345214844, -11.156706809997559, 3.056234836578369 ]
3.266667
98
0
98
0
[ 24.852182388305664, 12.463760375976562, 5.584197998046875, 67.3634262084961, 20.52309799194336, 30.45755958557129, -21.111400604248047, -21.238792419433594, 14.176422119140625, 87.59895324707031, -10.938150405883789, 2.3786067962646484 ]
[ 23.744619369506836, 9.912899017333984, 9.885260581970215, 67.35366821289062, 20.174314498901367, 29.927885055541992, -20.90643310546875, -20.9150333404541, 16.08888816833496, 88.85191345214844, -11.156706809997559, 3.056234836578369 ]
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": 1076,
    "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",
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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