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[{"token": "Scoop", "entropy": 4.307366907596588e-08, "top_k": [["Scoop", 1.0], [" Scoop", 2.153683453798294e-09], ["Pick", 8.260059303211165e-14], [" scoop", 1.532107773982716e-14], [" pinak", 9.880984919163893e-15]]}, {"token": " the", "entropy": 1.4808028936386108e-07, "top_k": [[" the", 1.0], [" a", 5.6170392781496...
Scoop the soybeans.
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3.066667
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3.3
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 30,
    "total_frames": 21683,
    "total_tasks": 3,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:30"
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    "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": {
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                "gripper.pos"
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                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
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        "observation.images.top": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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