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2.666667
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[ -5.531609058380127, -98.35255432128906, 98.49156951904297, 59.917354583740234, 2.8787879943847656, 3.8829152584075928, -2.8179190158843994, 20.244897842407227, -7.57709264755249, 62.05467987060547, -4.341164588928223, 1.7633674144744873 ]
3.1
93
0
93
0
[ -5.124451160430908, -99.07015991210938, 99.45896911621094, 59.15254211425781, 2.777777671813965, 3.846153736114502, -3.256150484085083, 22.644628524780273, -12.399642944335938, 61.49279022216797, -4.6218485832214355, 2.2658610343933105 ]
[ -5.531609058380127, -98.35255432128906, 98.49156951904297, 59.917354583740234, 2.8787879943847656, 3.8829152584075928, -2.962427854537964, 21.14285659790039, -8.193832397460938, 62.05467987060547, -4.341164588928223, 1.7633674144744873 ]
3.133333
94
0
94
0
[ -5.124451160430908, -99.07015991210938, 99.45896911621094, 59.15254211425781, 2.777777671813965, 3.846153736114502, -3.256150484085083, 23.223140716552734, -12.756467819213867, 61.57761001586914, -4.6218485832214355, 4.154078483581543 ]
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3.166667
95
0
95
0
[ -5.124451160430908, -99.07015991210938, 99.45896911621094, 59.15254211425781, 2.777777671813965, 3.846153736114502, -3.256150484085083, 23.801652908325195, -12.845673561096191, 61.74724197387695, -4.6218485832214355, 6.9486403465271 ]
[ -5.531609058380127, -98.35255432128906, 98.49156951904297, 59.917354583740234, 2.8787879943847656, 3.8829152584075928, -3.1791906356811523, 22.4489803314209, -9.427312850952148, 62.05467987060547, -4.341164588928223, 1.8202502727508545 ]
3.2
96
0
96
0
[ -5.124451160430908, -99.07015991210938, 99.45896911621094, 59.15254211425781, 2.777777671813965, 3.846153736114502, -3.256150484085083, 24.214876174926758, -12.934879302978516, 61.832061767578125, -4.6218485832214355, 10.42296028137207 ]
[ -5.531609058380127, -98.35255432128906, 98.49156951904297, 59.917354583740234, 2.8787879943847656, 3.8829152584075928, -3.1791906356811523, 23.346939086914062, -9.955946922302246, 62.05467987060547, -4.341164588928223, 2.33219575881958 ]
3.233333
97
0
97
0
[ -5.124451160430908, -99.07015991210938, 99.45896911621094, 59.15254211425781, 2.777777671813965, 3.846153736114502, -3.256150484085083, 24.380165100097656, -12.934879302978516, 61.832061767578125, -4.6218485832214355, 14.199396133422852 ]
[ -5.531609058380127, -98.35255432128906, 98.49156951904297, 59.917354583740234, 2.8787879943847656, 3.8829152584075928, -3.1791906356811523, 23.836734771728516, -10.308369636535645, 62.05467987060547, -4.341164588928223, 3.2423207759857178 ]
3.266667
98
0
98
0
[ -5.124451160430908, -99.07015991210938, 99.45896911621094, 59.15254211425781, 2.777777671813965, 3.846153736114502, -3.256150484085083, 24.545454025268555, -12.845673561096191, 61.832061767578125, -4.6218485832214355, 18.202417373657227 ]
[ -5.531609058380127, -98.35255432128906, 98.49156951904297, 59.917354583740234, 2.8787879943847656, 3.8829152584075928, -3.1791906356811523, 24.40816307067871, -10.396475791931152, 62.05467987060547, -4.341164588928223, 5.005688190460205 ]
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": 20,
    "total_frames": 8998,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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.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
            }
        },
        "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
            }
        },
        "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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