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2.633333
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2.666667
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2.9
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3
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0
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[ 0.18175208568572998, -89.6136245727539, 84.32070922851562, 64.78460693359375, -1.943953514099121, 1.249178171157837, 3.0935251712799072, -98.24715423583984, 96.89990997314453, 57.32113265991211, -0.46224960684776306, 5.8035712242126465 ]
3.1
93
0
93
0
[ 0.5316886901855469, -84.79115295410156, 74.54996490478516, 64.66639709472656, -1.9837226867675781, 0.28966236114501953, 3.1838550567626953, -99.26858520507812, 96.68821716308594, 56.90498733520508, -0.4234488606452942, 5.74452543258667 ]
[ 0.18175208568572998, -89.6136245727539, 84.67706298828125, 64.78460693359375, -2.044938087463379, 1.249178171157837, 3.0935251712799072, -98.24715423583984, 96.89990997314453, 57.32113265991211, -0.46224960684776306, 5.8035712242126465 ]
3.133333
94
0
94
0
[ 0.7402825355529785, -90.752197265625, 82.2465591430664, 65.51922607421875, -2.3674182891845703, 0.5314006805419922, 3.2631068229675293, -99.26932525634766, 96.68993377685547, 56.84953689575195, -0.4103879928588867, 5.682978630065918 ]
[ 0.18175208568572998, -88.86580657958984, 83.87527465820312, 64.70095825195312, -2.1964149475097656, 1.249178171157837, 3.0935251712799072, -98.24715423583984, 96.89990997314453, 57.32113265991211, -0.46224960684776306, 5.8035712242126465 ]
3.166667
95
0
95
0
[ 0.617844820022583, -87.30970764160156, 77.22050476074219, 63.38563537597656, -2.6067028045654297, 0.31390953063964844, 3.075951099395752, -99.27063751220703, 96.6869125366211, 56.798179626464844, -0.43456751108169556, 5.734020233154297 ]
[ 0.18175208568572998, -86.1238021850586, 81.29175567626953, 64.61731719970703, -2.1964149475097656, 1.249178171157837, 3.0935251712799072, -98.24715423583984, 96.89990997314453, 57.32113265991211, -0.46224960684776306, 5.8035712242126465 ]
3.2
96
0
96
0
[ 0.5429580211639404, -85.74510955810547, 76.84723663330078, 63.28208923339844, -2.222005844116211, 0.49751758575439453, 3.052971839904785, -99.27268981933594, 96.69952392578125, 56.80961990356445, -0.4306374788284302, 5.741103172302246 ]
[ 0.18175208568572998, -84.54507446289062, 78.70824432373047, 64.951904296875, -2.095430374145508, 1.249178171157837, 3.0935251712799072, -98.24715423583984, 96.89990997314453, 57.32113265991211, -0.46224960684776306, 5.8035712242126465 ]
3.233333
97
0
97
0
[ 0.5360407829284668, -80.18985748291016, 70.5752944946289, 60.677330017089844, -2.9190921783447266, 0.5482053756713867, 3.1499290466308594, -99.2706069946289, 96.70219421386719, 56.82313919067383, -0.4492682218551636, 5.77337646484375 ]
[ 0.18175208568572998, -84.79434967041016, 77.63919830322266, 65.03555297851562, -2.3478920459747314, 1.249178171157837, 3.0935251712799072, -98.24715423583984, 96.89990997314453, 57.32113265991211, -0.46224960684776306, 5.8035712242126465 ]
3.266667
98
0
98
0
[ 0.4937868118286133, -75.2794189453125, 66.57203674316406, 58.33835220336914, -2.967161178588867, 0.8093166351318359, 3.305406093597412, -99.2770767211914, 96.70478057861328, 56.83060836791992, -0.4330887794494629, 5.79135799407959 ]
[ 0.18175208568572998, -86.20689392089844, 77.72828674316406, 64.36637115478516, -2.3478920459747314, 1.249178171157837, 3.0935251712799072, -98.24715423583984, 96.89990997314453, 57.32113265991211, -0.46224960684776306, 5.8035712242126465 ]
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": 1251,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "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.front_cam": {
            "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.hand_cam": {
            "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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