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float32
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29.6
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int64
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95
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[ 31.84357452392578, 29.94112777709961, -13.297394752502441, 43.39948272705078, 4.181913375854492, 25.45743751525879, 19.167177200317383, -6.520824432373047, 31.685392379760742, 45.43904495239258, 27.640567779541016, 32.221378326416016 ]
[ 38.54686737060547, 31.239669799804688, -9.253731727600098, 40.34042739868164, 3.9609053134918213, 25.674785614013672, 22.669734954833984, -5.790554523468018, 34.52274703979492, 46.18304443359375, 27.55208396911621, 31.863727569580078 ]
3.2
96
0
96
0
[ 31.71942901611328, 30.025230407714844, -13.297394752502441, 43.572044372558594, 4.181913375854492, 25.45743751525879, 18.18738555908203, -6.520824432373047, 31.685392379760742, 45.43904495239258, 27.535470962524414, 32.29719543457031 ]
[ 38.214088439941406, 31.239669799804688, -9.253731727600098, 41.27659606933594, 4.012345790863037, 25.674785614013672, 21.864212036132812, -5.790554523468018, 34.52274703979492, 46.09869384765625, 27.65625, 31.93052864074707 ]
3.233333
97
0
97
0
[ 31.59528160095215, 30.025230407714844, -13.38724136352539, 43.572044372558594, 4.181913375854492, 25.377883911132812, 17.69748878479004, -6.520824432373047, 31.685392379760742, 45.43904495239258, 27.535470962524414, 32.29719543457031 ]
[ 37.881309509277344, 31.239669799804688, -9.339018821716309, 42.12765884399414, 4.012345790863037, 25.674785614013672, 21.288837432861328, -5.790554523468018, 34.52274703979492, 46.09869384765625, 27.65625, 31.99732780456543 ]
3.266667
98
0
98
0
[ 31.47113609313965, 30.025230407714844, -13.38724136352539, 43.744606018066406, 4.234187126159668, 25.13922119140625, 17.085119247436523, -6.436685085296631, 31.86516761779785, 45.43904495239258, 27.482921600341797, 32.373008728027344 ]
[ 37.54853057861328, 31.239669799804688, -9.59488296508789, 42.72340393066406, 4.012345790863037, 25.674785614013672, 20.598388671875, -5.790554523468018, 34.52274703979492, 46.09869384765625, 27.65625, 32.06412887573242 ]
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": 10,
    "total_frames": 7692,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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,
                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.top": {
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            "shape": [
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                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.right": {
            "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.front": {
            "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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