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float32
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26
frame_index
int64
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779
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int64
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4
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int64
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3.29k
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[ -4.440332889556885, -8.343815803527832, 32.10202407836914, 46.574153900146484, -1.308215618133545, 22.804189682006836, -32.989097595214844, 25.795644760131836, -27.19141387939453, 69.01287841796875, 18.279569625854492, 28.14594268798828 ]
[ -4.1006011962890625, -7.532251358032227, 35.29914474487305, 47.22574996948242, -0.7808433175086975, 22.580644607543945, -31.380281448364258, 23.229814529418945, -18.721872329711914, 67.41240692138672, 17.71787452697754, 28.444747924804688 ]
3.2
96
0
96
0
[ -4.440332889556885, -8.343815803527832, 32.10202407836914, 46.574153900146484, -1.308215618133545, 22.804189682006836, -33.218589782714844, 26.884422302246094, -28.085866928100586, 69.69956970214844, 18.594282150268555, 28.14594268798828 ]
[ -4.428649425506592, -7.532251358032227, 35.29914474487305, 47.22574996948242, -0.7808433175086975, 22.580644607543945, -31.605634689331055, 24.720497131347656, -19.981998443603516, 67.58126068115234, 17.71787452697754, 28.444747924804688 ]
3.233333
97
0
97
0
[ -4.440332889556885, -8.343815803527832, 32.10202407836914, 46.574153900146484, -1.308215618133545, 22.804189682006836, -33.33333206176758, 28.224454879760742, -29.248659133911133, 70.12875366210938, 18.751638412475586, 28.14594268798828 ]
[ -4.647348403930664, -7.532251358032227, 35.29914474487305, 47.22574996948242, -0.7808433175086975, 22.580644607543945, -31.83098602294922, 25.962732315063477, -21.242124557495117, 68.00337982177734, 17.71787452697754, 28.444747924804688 ]
3.266667
98
0
98
0
[ -4.440332889556885, -8.343815803527832, 32.10202407836914, 46.574153900146484, -1.360544204711914, 22.804189682006836, -33.33333206176758, 29.480737686157227, -30.50089454650879, 70.38626861572266, 18.751638412475586, 28.14594268798828 ]
[ -4.647348403930664, -7.532251358032227, 35.29914474487305, 47.22574996948242, -0.7808433175086975, 22.580644607543945, -32.28168869018555, 27.20496940612793, -22.50225067138672, 68.59434509277344, 17.927244186401367, 28.444747924804688 ]
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": 5,
    "total_frames": 3293,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": {
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            "shape": [
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            "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,
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            ],
            "names": [
                "height",
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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        "observation.images.top": {
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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                "video.is_depth_map": false,
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        },
        "observation.images.right": {
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            "info": {
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                "video.width": 640,
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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,
                "video.fps": 30,
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                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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