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float32
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35.1
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int64
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1.05k
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2
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2.6
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2.7
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2.8
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2.9
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3
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3.033333
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3.1
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3.133333
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3.2
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3.233333
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[ 15.888954162597656, -70.13687133789062, 62.6168212890625, 57.52289581298828, 1.364829421043396, 2.578125, 9.424083709716797, -33.67217254638672, 11.730337142944336, 94.16809844970703, 2.812089443206787, 34.0157470703125 ]
[ 9.466437339782715, -70.73170471191406, 66.62409210205078, 60.085838317871094, 0.9107468128204346, 2.7906975746154785, 6.698002338409424, -41.44518280029297, 12.877442359924316, 97.12959289550781, 2.6760196685791016, 33.74655532836914 ]
3.266667
98
0
98
0
[ 18.36975860595703, -70.13687133789062, 62.883846282958984, 57.174007415771484, 1.4698163270950317, 2.578125, 9.872849464416504, -31.215585708618164, 11.011236190795898, 93.31046295166016, 2.9172141551971436, 34.0157470703125 ]
[ 9.695926666259766, -70.73170471191406, 66.62409210205078, 59.742488861083984, 0.9107468128204346, 2.7906975746154785, 7.403055191040039, -40.199337005615234, 12.877442359924316, 97.045166015625, 2.572096586227417, 33.74655532836914 ]
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": "v2.1",
    "robot_type": "bi_so101_follower",
    "total_episodes": 1,
    "total_frames": 1055,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "observation.images.top": {
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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        "observation.images.right": {
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                "video.codec": "av1",
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                "video.channels": 3,
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        },
        "observation.images.front": {
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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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

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