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float32
0
44.2
frame_index
int64
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1.33k
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int64
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[ -0.8849557638168335, -4.173764705657959, -25.247079849243164, 93.46517944335938, -23.372859954833984, 10.03989315032959, 26.27599334716797, 1.7137960195541382, -6.021897792816162, 81.65217590332031, 19.48249626159668, 16.643741607666016 ]
3.1
93
0
93
0
[ -6.196127891540527, -4.132354736328125, -22.55067253112793, 90.197998046875, -22.476774215698242, 10.479597091674805, 26.140029907226562, -6.826091766357422, -7.186171531677246, 78.68470764160156, 28.34988021850586, 15.358261108398438 ]
[ -2.0227560997009277, -4.003407001495361, -23.98921775817871, 92.17540740966797, -22.898550033569336, 10.106383323669434, 26.27599334716797, 0.34275922179222107, -5.383211612701416, 80.34782409667969, 20.75088882446289, 16.23108673095703 ]
3.133333
94
0
94
0
[ -5.855186462402344, -4.083606719970703, -23.38630485534668, 90.33418273925781, -22.74838638305664, 10.483351707458496, 26.050613403320312, -6.871189117431641, -7.004624366760254, 78.70246124267578, 28.143959045410156, 15.44469928741455 ]
[ -3.413400650024414, -3.747870445251465, -22.461814880371094, 91.57351684570312, -22.740447998046875, 10.172872543334961, 26.27599334716797, -1.1996572017669678, -5.291970729827881, 79.73912811279297, 23.033992767333984, 15.95598316192627 ]
3.166667
95
0
95
0
[ -5.965167999267578, -4.473611831665039, -23.86380958557129, 90.7055892944336, -22.81136703491211, 10.482278823852539, 25.552431106567383, -5.8038787841796875, -8.220986366271973, 78.4302978515625, 28.339584350585938, 15.505206108093262 ]
[ -4.93046760559082, -3.4923338890075684, -22.102426528930664, 91.40155029296875, -22.740447998046875, 10.172872543334961, 26.402015686035156, -2.3993144035339355, -5.565693378448486, 79.56521606445312, 25.012683868408203, 15.887207984924316 ]
3.2
96
0
96
0
[ -6.097145080566406, -4.64423942565918, -24.311471939086914, 90.86653900146484, -22.823177337646484, 10.479061126708984, 25.041475296020508, -4.2254638671875, -9.963831901550293, 78.16997528076172, 28.720535278320312, 15.53018569946289 ]
[ -5.436156749725342, -3.151618480682373, -22.0125789642334, 91.31555938720703, -22.740447998046875, 10.172872543334961, 26.402015686035156, -3.341902256011963, -5.565693378448486, 79.39130401611328, 26.38254737854004, 15.887207984924316 ]
3.233333
97
0
97
0
[ -6.207125663757324, -4.522361755371094, -25.47538948059082, 91.02748107910156, -23.01605987548828, 10.475844383239746, 24.428329467773438, -1.4745101928710938, -12.850420951843262, 77.6611557006836, 29.400070190429688, 15.60031795501709 ]
[ -5.815423488616943, -3.151618480682373, -22.102426528930664, 91.31555938720703, -22.740447998046875, 10.172872543334961, 26.27599334716797, -3.5989716053009033, -5.565693378448486, 79.21739196777344, 27.245052337646484, 15.887207984924316 ]
3.266667
98
0
98
0
[ -6.086147308349609, -4.619863510131836, -25.83351707458496, 91.05224609375, -23.205007553100586, 10.469949722290039, 24.530519485473633, -1.1287612915039062, -13.612915992736816, 77.6966552734375, 29.585397720336914, 15.620406150817871 ]
[ -5.815423488616943, -3.3219761848449707, -22.282119750976562, 91.31555938720703, -22.740447998046875, 10.172872543334961, 25.897920608520508, -3.0848329067230225, -6.113138675689697, 78.9565200805664, 27.752410888671875, 15.887207984924316 ]
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": 1326,
    "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",
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            ],
            "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_gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.right_gripper": {
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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,
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                "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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