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float32
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[ -7.487520694732666, -32.23140335083008, 54.11513900756836, 39.319149017333984, -2.2633745670318604, 22.119815826416016, -1.3808976411819458, -11.211499214172363, 65.56645965576172, 13.285533905029297, -4.166666507720947, 29.85972023010254 ]
3.166667
95
0
95
0
[ -7.635009288787842, -22.287635803222656, 44.743934631347656, 38.39516830444336, -4.3910088539123535, 22.5139217376709, -0.55113285779953, -5.931847095489502, 55.685394287109375, 12.702472686767578, -4.5191802978515625, 29.188779830932617 ]
[ -7.487520694732666, -29.586776733398438, 52.5799560546875, 39.23404312133789, -2.8806583881378174, 22.119815826416016, -1.3808976411819458, -9.979466438293457, 64.40677642822266, 13.201181411743164, -4.166666507720947, 29.85972023010254 ]
3.2
96
0
96
0
[ -7.635009288787842, -20.857864379882812, 43.845462799072266, 38.39516830444336, -4.443282604217529, 22.5139217376709, -0.55113285779953, -5.17458963394165, 54.60674285888672, 12.702472686767578, -4.5191802978515625, 29.188779830932617 ]
[ -7.487520694732666, -27.107437133789062, 51.30064010620117, 39.1489372253418, -3.4465019702911377, 22.119815826416016, -1.3808976411819458, -8.583162307739258, 62.89027786254883, 13.201181411743164, -4.166666507720947, 29.726118087768555 ]
3.233333
97
0
97
0
[ -7.635009288787842, -19.512195587158203, 43.21653366088867, 38.39516830444336, -4.443282604217529, 22.5139217376709, -0.55113285779953, -4.753891468048096, 53.70786666870117, 12.702472686767578, -4.5191802978515625, 29.188779830932617 ]
[ -7.487520694732666, -25.041322708129883, 50.191898345947266, 39.1489372253418, -3.7037036418914795, 22.119815826416016, -1.4959723949432373, -7.10472297668457, 61.46297836303711, 13.201181411743164, -4.166666507720947, 29.525718688964844 ]
3.266667
98
0
98
0
[ -7.635009288787842, -18.418838500976562, 42.767295837402344, 38.39516830444336, -4.652378559112549, 22.5139217376709, -0.55113285779953, -4.333193302154541, 52.988765716552734, 12.787723541259766, -4.4666314125061035, 29.112964630126953 ]
[ -7.487520694732666, -23.223140716552734, 49.08315658569336, 39.1489372253418, -3.9609053134918213, 22.119815826416016, -1.4959723949432373, -5.708418846130371, 60.035682678222656, 13.201181411743164, -4.375, 29.392118453979492 ]
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": 8048,
    "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": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
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            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "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,
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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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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