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float32
0
136
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int64
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4.08k
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int64
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int64
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2.133333
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2.433333
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2.533333
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2.566667
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2.6
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2.633333
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2.666667
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2.7
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2.733333
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2.8
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2.833333
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2.9
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3
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3.033333
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0
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[ 0.12557555735111237, -99.32088470458984, 99.43740844726562, 76.99652862548828, -45.28891372680664, 0.4704301059246063, -65.25391387939453, -98.4594497680664, 99.5464859008789, 72.32376098632812, -50.14326477050781, 0.4078857898712158 ]
3.1
93
0
93
0
[ 0.24328339099884033, -99.87413024902344, 99.03509521484375, 77.49148559570312, -45.25434494018555, 0.4669151306152344, -65.16697692871094, -97.73393249511719, 98.65582275390625, 71.9598617553711, -50.430702209472656, 0.238800048828125 ]
[ 0.12557555735111237, -99.32088470458984, 99.43740844726562, 76.99652862548828, -45.28891372680664, 0.4704301059246063, -65.25391387939453, -98.4594497680664, 99.5464859008789, 72.32376098632812, -50.14326477050781, 0.4078857898712158 ]
3.133333
94
0
94
0
[ 0.32429468631744385, -100.12823486328125, 99.68962097167969, 77.57524871826172, -45.20258712768555, 0.47786712646484375, -65.20256042480469, -97.95738220214844, 98.99626159667969, 72.10043334960938, -50.39274597167969, 0.19544029235839844 ]
[ 0.12557555735111237, -99.32088470458984, 99.3436508178711, 76.99652862548828, -45.28891372680664, 0.4704301059246063, -65.25391387939453, -98.4594497680664, 99.5464859008789, 72.32376098632812, -50.14326477050781, 0.4078857898712158 ]
3.166667
95
0
95
0
[ 0.2726595401763916, -100.04827880859375, 99.73916625976562, 77.52180480957031, -45.2545280456543, 0.3071022033691406, -65.16613006591797, -97.91668701171875, 98.8538818359375, 72.0665512084961, -50.41033172607422, -0.12296104431152344 ]
[ 0.12557555735111237, -99.32088470458984, 99.3436508178711, 76.99652862548828, -45.28891372680664, 0.4704301059246063, -65.25391387939453, -98.4594497680664, 99.5464859008789, 72.32376098632812, -50.14326477050781, 0.4078857898712158 ]
3.2
96
0
96
0
[ 0.24789106845855713, -99.66788482666016, 97.49201965332031, 77.53117370605469, -45.332435607910156, -0.10021018981933594, -65.32669067382812, -98.19868469238281, 98.9490966796875, 71.96206665039062, -50.43571853637695, -0.6266613006591797 ]
[ 0.12557555735111237, -99.32088470458984, 99.3436508178711, 76.99652862548828, -45.28891372680664, 0.5376344323158264, -65.25391387939453, -98.4594497680664, 99.5464859008789, 72.32376098632812, -50.14326477050781, 0.4078857898712158 ]
3.233333
97
0
97
0
[ 0.2314218282699585, -99.83744812011719, 98.67526245117188, 77.47990417480469, -45.302978515625, 0.24756622314453125, -65.34711456298828, -98.20161437988281, 99.2454833984375, 72.20447540283203, -50.442081451416016, -0.29062461853027344 ]
[ 0.12557555735111237, -99.32088470458984, 99.3436508178711, 76.99652862548828, -45.28891372680664, 0.5376344323158264, -65.25391387939453, -98.27820587158203, 99.5464859008789, 72.32376098632812, -50.14326477050781, 0.4078857898712158 ]
3.266667
98
0
98
0
[ 0.22802889347076416, -99.84209442138672, 98.21064758300781, 77.48870849609375, -45.246158599853516, 0.3752002716064453, -65.37036895751953, -97.73805236816406, 98.79932403564453, 72.18325805664062, -50.414031982421875, 0.031864166259765625 ]
[ 0.12557555735111237, -99.32088470458984, 99.3436508178711, 76.99652862548828, -45.28891372680664, 0.5376344323158264, -65.25391387939453, -98.27820587158203, 99.5464859008789, 72.32376098632812, -50.14326477050781, 0.4078857898712158 ]
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": 4078,
    "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": {
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            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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            "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": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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