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float32
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62.8
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1.88k
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3
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3.1
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3.2
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[ -7.741167068481445, -100, 99.9084243774414, 75.03040313720703, -46.764347076416016, 0.8057296276092529, 14.762611389160156, 44.597412109375, 69.80960845947266, -99.0740737915039, -57.731689453125, 50.407711029052734 ]
[ -7.692307472229004, -99.21630096435547, 98.68651580810547, 73.58633422851562, -46.86202621459961, 0.3865979313850403, 13.489072799682617, 46.0883674621582, 67.519775390625, -97.70303344726562, -57.54669189453125, 45.44208526611328 ]
3.233333
97
0
97
0
[ -7.741167068481445, -100, 99.9084243774414, 75.03040313720703, -46.764347076416016, 0.8057296276092529, 15.13353157043457, 44.01335144042969, 70.2629165649414, -99.0740737915039, -57.731689453125, 51.37138748168945 ]
[ -7.692307472229004, -99.21630096435547, 98.68651580810547, 73.58633422851562, -46.86202621459961, 0.3865979313850403, 13.865862846374512, 46.0883674621582, 67.985107421875, -97.70303344726562, -57.54669189453125, 46.94996643066406 ]
3.266667
98
0
98
0
[ -7.741167068481445, -100, 99.9084243774414, 75.03040313720703, -46.764347076416016, 0.8057296276092529, 15.430267333984375, 43.596160888671875, 70.53490447998047, -98.98989868164062, -57.67918014526367, 52.55744934082031 ]
[ -7.692307472229004, -99.21630096435547, 98.68651580810547, 73.58633422851562, -46.86202621459961, 0.3865979313850403, 14.242652893066406, 46.0883674621582, 68.54351043701172, -97.70303344726562, -57.54669189453125, 48.18368911743164 ]
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": "v3.0",
    "robot_type": "bi_so101_follower",
    "total_episodes": 10,
    "total_frames": 16194,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "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"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "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"
            ],
            "shape": [
                12
            ]
        },
        "observation.images.top_depth": {
            "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
            }
        },
        "observation.images.right": {
            "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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