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float32
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29.1
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int64
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2
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2.1
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2.6
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2.7
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2.8
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2.833333
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3
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3.1
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3.133333
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3.166667
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95
0
[ 1.2504312992095947, -96.90594482421875, 67.26622009277344, 78.6136474609375, -50.49728012084961, 0.8424214720726013, -56.964839935302734, -72.64083862304688, 64.31574249267578, 73.48363494873047, -54.349281311035156, 0.654462456703186 ]
[ 0.879028856754303, -98.04753875732422, 77.2151870727539, 77.77777862548828, -50.54658889770508, 0.9408602118492126, -55.78464889526367, -78.43225860595703, 76.8707504272461, 73.4551773071289, -54.050533294677734, 0.7477906346321106 ]
3.2
96
0
96
0
[ 1.381791591644287, -98.07899475097656, 67.49224853515625, 79.04208374023438, -50.482627868652344, 0.8412730097770691, -57.423545837402344, -70.3000259399414, 60.25553894042969, 73.49420166015625, -54.35094451904297, 0.6544650197029114 ]
[ 0.7953118681907654, -97.53820037841797, 75.33989715576172, 78.03819274902344, -50.54658889770508, 0.9408602118492126, -56.090110778808594, -77.16357421875, 74.87528228759766, 73.5422134399414, -54.102630615234375, 0.7477906346321106 ]
3.233333
97
0
97
0
[ 1.454362392425537, -99.23162078857422, 65.28164672851562, 79.8555679321289, -50.479129791259766, 0.8413609862327576, -57.79019546508789, -67.52413940429688, 54.29533386230469, 73.62499237060547, -54.24420166015625, 0.6544829607009888 ]
[ 1.2138969898223877, -97.53820037841797, 73.65213012695312, 78.125, -50.54658889770508, 0.9408602118492126, -56.24283981323242, -75.4417724609375, 72.78911590576172, 73.62924194335938, -54.102630615234375, 0.7477906346321106 ]
3.266667
98
0
98
0
[ 1.3811177015304565, -98.23939514160156, 61.29999542236328, 79.59062957763672, -50.58385467529297, 0.8414810299873352, -57.98678207397461, -65.75162506103516, 50.90522766113281, 73.3492431640625, -54.17030715942383, 0.6544935703277588 ]
[ 1.2976140975952148, -97.53820037841797, 71.87060546875, 78.47222137451172, -50.54658889770508, 0.9408602118492126, -56.548301696777344, -74.08246612548828, 70.15872955322266, 73.62924194335938, -54.206825256347656, 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": 874,
    "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,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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