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float32
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30.9
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[ -4.779640197753906, -25.063077926635742, 47.25965881347656, 40.81104278564453, -23.157344818115234, 46.85759735107422, 8.634415626525879, -1.388304591178894, 38.69662857055664, 37.595909118652344, -2.9427220821380615, 15.921152114868164 ]
[ -4.270659923553467, -28.842975616455078, 51.044776916503906, 42.978721618652344, -22.942386627197266, 46.47794723510742, 8.285385131835938, -0.6981519460678101, 42.105262756347656, 38.422607421875, -2.7604167461395264, 20.10688018798828 ]
3.2
96
0
96
0
[ -4.779640197753906, -23.801513671875, 47.25965881347656, 40.81104278564453, -23.314167022705078, 46.85759735107422, 8.634415626525879, -1.388304591178894, 38.69662857055664, 37.595909118652344, -2.9427220821380615, 15.921152114868164 ]
[ -4.825291156768799, -27.60330581665039, 51.044776916503906, 42.46808624267578, -22.942386627197266, 46.47794723510742, 8.285385131835938, -0.6981519460678101, 42.105262756347656, 38.422607421875, -2.7604167461395264, 18.837675094604492 ]
3.233333
97
0
97
0
[ -4.779640197753906, -22.371740341186523, 47.1698112487793, 40.81104278564453, -23.47098731994629, 46.85759735107422, 8.634415626525879, -1.3041648864746094, 38.69662857055664, 37.595909118652344, -2.9427220821380615, 15.921152114868164 ]
[ -5.047143459320068, -26.363636016845703, 51.044776916503906, 42.04255294799805, -22.890947341918945, 46.47794723510742, 8.285385131835938, -0.6981519460678101, 42.105262756347656, 38.422607421875, -2.7604167461395264, 18.03607177734375 ]
3.266667
98
0
98
0
[ -4.779640197753906, -21.026071548461914, 47.07996368408203, 40.81104278564453, -23.836904525756836, 46.85759735107422, 8.634415626525879, -1.3041648864746094, 38.78651809692383, 37.595909118652344, -2.9427220821380615, 15.996967315673828 ]
[ -5.047143459320068, -25.123966217041016, 50.95948791503906, 41.787235260009766, -22.839506149291992, 46.47794723510742, 8.285385131835938, -0.6981519460678101, 42.105262756347656, 38.422607421875, -2.7604167461395264, 17.635271072387695 ]
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": 8188,
    "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,
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        },
        "observation.images.top": {
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            ],
            "names": [
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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
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        },
        "observation.images.right": {
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            ],
            "names": [
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            ],
            "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,
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            }
        },
        "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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