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float32
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34.3
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int64
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1.03k
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[ -15.030505180358887, -12.066115379333496, 48.74200439453125, 41.95744705200195, -9.207818984985352, 37.45885467529297, -5.523590564727783, -2.176591396331787, 57.270294189453125, 11.008013725280762, -8.59375, 7.9492316246032715 ]
3.2
96
0
96
0
[ -14.959651947021484, -12.195121765136719, 45.46271514892578, 39.4305419921875, -9.357030868530273, 37.549720764160156, -5.572566032409668, -2.650399684906006, 57.03370666503906, 10.997442245483398, -7.882291316986084, 2.9567854404449463 ]
[ -14.697726249694824, -11.7355375289917, 48.74200439453125, 41.53191375732422, -9.207818984985352, 37.45885467529297, -5.523590564727783, -2.176591396331787, 57.091880798339844, 11.008013725280762, -8.4375, 6.880427360534668 ]
3.233333
97
0
97
0
[ -14.959651947021484, -12.447434425354004, 45.46271514892578, 39.344261169433594, -9.357030868530273, 37.549720764160156, -5.572566032409668, -2.650399684906006, 57.03370666503906, 10.997442245483398, -7.882291316986084, 2.9567854404449463 ]
[ -14.586799621582031, -11.570247650146484, 48.74200439453125, 41.191490173339844, -9.207818984985352, 37.45885467529297, -5.638665199279785, -2.176591396331787, 57.00267791748047, 11.008013725280762, -8.28125, 6.2124247550964355 ]
3.266667
98
0
98
0
[ -15.456238746643066, -12.867956161499023, 45.193172454833984, 39.344261169433594, -9.357030868530273, 37.549720764160156, -5.572566032409668, -2.734539270401001, 57.03370666503906, 10.997442245483398, -7.882291316986084, 2.9567854404449463 ]
[ -14.475873947143555, -11.487603187561035, 48.74200439453125, 40.9361686706543, -9.156378746032715, 37.45885467529297, -5.638665199279785, -2.176591396331787, 56.91347122192383, 11.008013725280762, -8.177083015441895, 5.544422149658203 ]
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": 8725,
    "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": [
                "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.right": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
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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,
                "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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