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float32
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44.8
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int64
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1.34k
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[ 0.4604437053203583, -74.78777313232422, 5.578996658325195, 78.03819274902344, -49.71369171142578, 0.8736559152603149, -61.28293228149414, -34.75305938720703, 27.619047164916992, 39.42558670043945, -60.718936920166016, 0.7477906346321106 ]
3.1
93
0
93
0
[ 2.9564390182495117, -72.13675689697266, 2.2576828002929688, 78.52253723144531, -49.73177719116211, 0.8662907481193542, -63.01507568359375, -33.93589782714844, 25.815433502197266, 38.432708740234375, -60.79587936401367, 0.6545805335044861 ]
[ 1.716199278831482, -74.5331039428711, 4.735115051269531, 78.21180725097656, -49.71369171142578, 0.8736559152603149, -61.28293228149414, -34.75305938720703, 27.619047164916992, 39.42558670043945, -60.718936920166016, 0.7477906346321106 ]
3.133333
94
0
94
0
[ 3.3797481060028076, -71.36089324951172, 1.8104095458984375, 78.47903442382812, -49.67036437988281, 0.8654482364654541, -63.361671447753906, -33.37733459472656, 25.33384895324707, 38.78288269042969, -60.68318176269531, 0.6544908285140991 ]
[ 2.134784460067749, -74.19355010986328, 4.172526836395264, 78.21180725097656, -49.7657470703125, 0.8736559152603149, -61.43566131591797, -34.75305938720703, 27.619047164916992, 39.33855438232422, -60.718936920166016, 0.7477906346321106 ]
3.166667
95
0
95
0
[ 3.2446165084838867, -70.62110900878906, 2.0692977905273438, 78.70574951171875, -49.65956497192383, 0.866152286529541, -63.670753479003906, -32.06946563720703, 23.646974563598633, 39.23912048339844, -60.71304702758789, 0.6545507907867432 ]
[ 1.7999162673950195, -74.19355010986328, 4.078762531280518, 78.21180725097656, -49.71369171142578, 0.8736559152603149, -61.74112319946289, -34.481197357177734, 27.619047164916992, 39.33855438232422, -60.718936920166016, 0.7477906346321106 ]
3.2
96
0
96
0
[ 3.401550054550171, -70.11100769042969, 2.1030731201171875, 77.76477813720703, -49.570899963378906, 0.8654329776763916, -63.65240478515625, -32.58405303955078, 24.244693756103516, 39.069915771484375, -60.797733306884766, 0.6546595692634583 ]
[ 2.302218437194824, -73.76909637451172, 3.7037036418914795, 78.21180725097656, -49.71369171142578, 0.8736559152603149, -62.428409576416016, -34.11871337890625, 27.619047164916992, 39.33855438232422, -60.718936920166016, 0.7477906346321106 ]
3.233333
97
0
97
0
[ 3.4532737731933594, -70.11779022216797, 2.3983535766601562, 77.51698303222656, -49.58439636230469, 0.8650460243225098, -63.36957550048828, -33.523643493652344, 25.78671646118164, 39.28256607055664, -60.791927337646484, 0.6546696424484253 ]
[ 2.804520606994629, -73.17487335205078, 3.422409772872925, 78.29861450195312, -49.71369171142578, 0.8736559152603149, -62.81023406982422, -33.574989318847656, 27.619047164916992, 39.33855438232422, -60.718936920166016, 0.7477906346321106 ]
3.266667
98
0
98
0
[ 3.71311092376709, -69.47297668457031, 1.511138916015625, 77.40846252441406, -49.678707122802734, 0.8663106560707092, -63.0026969909668, -33.565940856933594, 25.57514190673828, 39.49510955810547, -60.65079879760742, 0.6545450091362 ]
[ 2.804520606994629, -72.49575805664062, 3.3286449909210205, 78.38541412353516, -49.71369171142578, 0.8736559152603149, -63.19205856323242, -33.03126525878906, 27.0748291015625, 39.33855438232422, -60.718936920166016, 0.7477906346321106 ]
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": 1344,
    "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": [
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                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": [
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                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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            ],
            "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
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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