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float32
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42.9
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int64
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1.29k
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2.9
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[ -4.219780445098877, 3.8681318759918213, -13.450549125671387, 63.64834976196289, 7.692307472229004, 0.8766014575958252, 9.670330047607422, -102.15384674072266, 95.73626708984375, 68.21977996826172, 5.494505405426025, 1.063829779624939, 0, 0, 0, 0, 0, 0, 5, 1023, 5, 1022, 0...
2.933333
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88
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[ -4.043956279754639, 8.527472496032715, -24.439559936523438, 63.82417678833008, 8.395604133605957, 0.7323026657104492, 9.934065818786621, -102.72527313232422, 96.74725341796875, 67.51648712158203, 5.846153736114502, 0.8190008401870728 ]
[ -4.219780445098877, 5.362637519836426, -15.384614944458008, 63.64834976196289, 7.956043720245361, 0.8766014575958252, 9.670330047607422, -102.15384674072266, 95.73626708984375, 68.21977996826172, 5.494505405426025, 1.063829779624939, 0, 0, 0, 0, 0, 0, 5, 1023, 5, 1022, 0,...
2.966667
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89
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3
90
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90
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3.033333
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91
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3.066667
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0
92
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3.1
93
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93
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3.133333
94
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94
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3.166667
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95
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3.2
96
0
96
0
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3.233333
97
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97
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3.266667
98
0
98
0
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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": "so-101",
    "total_episodes": 1,
    "total_frames": 1289,
    "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",
                "busybox.switch.bottom_switch",
                "busybox.switch.top_switch",
                "busybox.wire.blue_wire",
                "busybox.wire.green_wire",
                "busybox.wire.red_wire",
                "busybox.wire.yellow_wire",
                "busybox.slider.bottom_slider",
                "busybox.slider_raw.bottom_slider",
                "busybox.slider.top_slider",
                "busybox.slider_raw.top_slider",
                "busybox.button.green_button",
                "busybox.button.red_button",
                "busybox.button.white_button",
                "busybox.button.yellow_button",
                "busybox.knob"
            ],
            "shape": [
                27
            ]
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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                1024,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 576,
                "video.width": 1024,
                "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
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            "names": null
        },
        "frame_index": {
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            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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