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3
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3.1
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[ 3.748106002807617, -17.642934799194336, 5.795331001281738, 89.21768188476562, 1.9281589984893799, 50.0575065612793, -14.633561134338379, -31.41823959350586, 6.426175117492676, 90.98442077636719, -2.027390480041504, 51.50946807861328 ]
[ 3.211517095565796, -28.142192840576172, 18.3985595703125, 87.08316040039062, 1.9104946851730347, 45.78729248046875, -14.159292221069336, -33.64406967163086, 10.688405990600586, 89.07383728027344, -1.8581522703170776, 48.42681121826172 ]
3.133333
94
0
94
0
[ 3.524132251739502, -16.60625457763672, 5.43649959564209, 89.13939666748047, 1.7835829257965088, 49.9783821105957, -14.642721176147461, -31.114612579345703, 6.391988754272461, 90.81108093261719, -1.8663358688354492, 51.57243728637695 ]
[ 3.359173059463501, -24.248836517333984, 14.529914855957031, 87.84297180175781, 1.9104946851730347, 47.51381301879883, -14.159292221069336, -32.71186447143555, 10.05434799194336, 89.50064086914062, -1.8581522703170776, 49.521202087402344 ]
3.166667
95
0
95
0
[ 3.66567325592041, -16.229537963867188, 5.439740180969238, 89.13453674316406, 1.739818811416626, 50.07981872558594, -14.660323143005371, -30.696563720703125, 6.149447917938232, 90.78797912597656, -1.9283866882324219, 51.819129943847656 ]
[ 3.359173059463501, -20.863309860229492, 11.830859184265137, 88.1806640625, 1.8581522703170776, 48.48066329956055, -13.938053131103516, -32.11864471435547, 9.692028999328613, 90.0981674194336, -2.01517915725708, 50.2052001953125 ]
3.2
96
0
96
0
[ 3.617831230163574, -16.074129104614258, 5.137188911437988, 89.19957733154297, 1.5691335201263428, 50.90922927856445, -14.861924171447754, -30.483074188232422, 5.959322452545166, 91.00749206542969, -1.8361282348632812, 52.205535888671875 ]
[ 3.5806570053100586, -16.800676345825195, 9.40170955657959, 88.602783203125, 1.7011253833770752, 49.102210998535156, -14.528023719787598, -31.440677642822266, 8.786231994628906, 90.52497100830078, -1.8581522703170776, 50.95759201049805 ]
3.233333
97
0
97
0
[ 3.7471494674682617, -15.139891624450684, 5.0262346267700195, 89.11610412597656, 1.596726655960083, 50.765682220458984, -14.810491561889648, -29.92555046081543, 5.769613265991211, 90.62876892089844, -1.9103307723999023, 52.427764892578125 ]
[ 3.5806570053100586, -16.46212387084961, 8.95186710357666, 88.68721008300781, 1.7011253833770752, 49.24032974243164, -14.528023719787598, -31.18644142150879, 8.605072021484375, 90.52497100830078, -1.8581522703170776, 51.16279220581055 ]
3.266667
98
0
98
0
[ 3.3950138092041016, -14.803658485412598, 4.920702934265137, 89.15301513671875, 1.4975860118865967, 50.592403411865234, -14.700636863708496, -29.61424446105957, 5.226667404174805, 90.90235900878906, -1.765899658203125, 52.357879638671875 ]
[ 3.4330010414123535, -15.95429515838623, 8.322087287902832, 88.68721008300781, 1.7011253833770752, 49.585636138916016, -14.380531311035156, -30.762712478637695, 8.333333015441895, 90.52497100830078, -1.8581522703170776, 51.57318878173828 ]
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": 1,
    "total_frames": 3390,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": [
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            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
                "width",
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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.left": {
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            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
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        },
        "observation.images.right": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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