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float32
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28.8
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int64
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3
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3.1
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[ -10.149750709533691, -14.62809944152832, 45.92750549316406, 35.574466705322266, 0.2572016417980194, 25.411455154418945, 24.856157302856445, -17.289527893066406, 58.42997360229492, 23.99831199645996, 2.1875, 27.454910278320312 ]
3.133333
94
0
94
0
[ -14.959651947021484, -14.129520416259766, 43.4860725402832, 30.54357147216797, 0.26136958599090576, 25.05966567993164, 24.92345428466797, -13.167859077453613, 54.60674285888672, 17.0502986907959, 2.417235851287842, 27.29340362548828 ]
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3.166667
95
0
95
0
[ -15.7045316696167, -13.793103218078613, 43.126686096191406, 30.54357147216797, 0.26136958599090576, 25.05966567993164, 24.92345428466797, -12.494741439819336, 54.60674285888672, 15.85677719116211, 2.417235851287842, 27.217588424682617 ]
[ -12.146422386169434, -13.966941833496094, 45.92750549316406, 33.27659606933594, 0.15432098507881165, 25.411455154418945, 24.856157302856445, -14.825462341308594, 58.162353515625, 21.467735290527344, 2.1875, 27.454910278320312 ]
3.2
96
0
96
0
[ -16.07697105407715, -13.456686019897461, 42.85714340209961, 30.54357147216797, 0.26136958599090576, 25.05966567993164, 24.92345428466797, -11.65334415435791, 54.60674285888672, 14.578004837036133, 2.4697844982147217, 27.217588424682617 ]
[ -13.36661148071289, -13.719008445739746, 45.92750549316406, 32.51063919067383, 0.2572016417980194, 25.411455154418945, 24.856157302856445, -13.757699966430664, 58.162353515625, 20.28679847717285, 2.1875, 27.454910278320312 ]
3.233333
97
0
97
0
[ -16.07697105407715, -13.120268821716309, 42.85714340209961, 30.54357147216797, 0.26136958599090576, 25.05966567993164, 24.92345428466797, -10.98022747039795, 54.60674285888672, 13.38448429107666, 2.4697844982147217, 27.217588424682617 ]
[ -14.364947319030762, -13.471074104309082, 45.92750549316406, 32, 0.2572016417980194, 25.411455154418945, 24.856157302856445, -12.772073745727539, 58.162353515625, 19.021509170532227, 2.1875, 27.454910278320312 ]
3.266667
98
0
98
0
[ -16.07697105407715, -12.615643501281738, 42.85714340209961, 30.54357147216797, 0.20909565687179565, 25.05966567993164, 24.92345428466797, -10.222970008850098, 54.60674285888672, 12.361466407775879, 2.4697844982147217, 27.217588424682617 ]
[ -14.919578552246094, -13.140496253967285, 45.92750549316406, 31.659574508666992, 0.2572016417980194, 25.411455154418945, 24.856157302856445, -12.114989280700684, 58.162353515625, 17.840574264526367, 2.1875, 27.454910278320312 ]
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": 7857,
    "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
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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.state": {
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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": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.width": 640,
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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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                "video.channels": 3,
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        },
        "observation.images.front": {
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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,
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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