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float32
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11.5
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int64
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[ -8.052635192871094, 19.183359146118164, -11.065715789794922, 87.61998748779297, 0.42717933654785156, 37.331321716308594, -14.027981758117676, 10.303129196166992, 19.314668655395508, 33.020652770996094, 52.75235366821289, 60.1810302734375 ]
[ -7.6865949630737305, 19.71772575378418, -9.270927429199219, 87.90975189208984, 0.6553080081939697, 37.38621520996094, -13.99116325378418, 10.557432174682617, 21.27468490600586, 34.027488708496094, 52.60663604736328, 59.55585479736328 ]
3.166667
95
0
95
0
[ -8.324243545532227, 19.191213607788086, -10.839409828186035, 87.42324829101562, 0.3666386604309082, 37.35594177246094, -14.018647193908691, 10.961889266967773, 19.176368713378906, 32.48398971557617, 52.777400970458984, 60.571533203125 ]
[ -7.6865949630737305, 19.634702682495117, -9.270927429199219, 87.73946380615234, 0.6553080081939697, 37.38621520996094, -14.212076187133789, 10.726351737976074, 21.27468490600586, 34.027488708496094, 52.60663604736328, 59.62314987182617 ]
3.2
96
0
96
0
[ -8.314682006835938, 19.08876609802246, -10.876425743103027, 87.37458801269531, 0.4016685485839844, 37.40790557861328, -14.091936111450195, 11.028787612915039, 19.01829719543457, 32.39444351196289, 52.81523895263672, 60.96797180175781 ]
[ -7.835128307342529, 19.634702682495117, -9.270927429199219, 87.73946380615234, 0.6553080081939697, 37.38621520996094, -14.212076187133789, 10.641891479492188, 21.27468490600586, 33.61099624633789, 52.60663604736328, 59.892330169677734 ]
3.233333
97
0
97
0
[ -8.301275253295898, 19.384077072143555, -10.880383491516113, 87.45195007324219, 0.3619723320007324, 37.35259246826172, -14.03911304473877, 11.316556930541992, 19.296812057495117, 32.12904357910156, 52.81769561767578, 60.33061218261719 ]
[ -7.90939474105835, 19.71772575378418, -9.270927429199219, 87.73946380615234, 0.6553080081939697, 37.38621520996094, -13.917526245117188, 11.233108520507812, 21.27468490600586, 33.111202239990234, 52.60663604736328, 60.29609680175781 ]
3.266667
98
0
98
0
[ -8.401287078857422, 19.238508224487305, -10.900246620178223, 87.37600708007812, 0.363248348236084, 37.34220886230469, -14.013059616088867, 11.411855697631836, 19.32050132751465, 31.84801483154297, 52.83000183105469, 60.79149627685547 ]
[ -8.057928085327148, 19.71772575378418, -9.270927429199219, 87.73946380615234, 0.6553080081939697, 37.38621520996094, -13.843888282775879, 11.402027130126953, 21.27468490600586, 32.94460678100586, 52.60663604736328, 60.565277099609375 ]
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": "dual_so101_follower",
    "total_episodes": 10,
    "total_frames": 3003,
    "total_tasks": 1,
    "total_videos": 30,
    "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.overhead": {
            "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.rightWrist": {
            "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.leftWrist": {
            "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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