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int64
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3
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3.1
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[ 0.9437523484230042, 14.334037780761719, 1.0801080465316772, 85.388916015625, 2.1488468647003174, 4.3091654777526855, -9.132075309753418, 24.895221710205078, 9.887133598327637, 19.37445640563965, 54.23197555541992, 0.3443526029586792 ]
3.2
96
0
96
0
[ 1.3187298774719238, 11.037895202636719, 0.6583585739135742, 83.92913818359375, 1.6606817245483398, 0.6417655944824219, -9.60639762878418, 23.789512634277344, 8.568981170654297, 19.78821563720703, 54.269432067871094, 0.7382831573486328 ]
[ 0.9437523484230042, 14.334037780761719, 1.0801080465316772, 85.30296325683594, 2.1488468647003174, 2.2571818828582764, -9.358490943908691, 24.895221710205078, 9.887133598327637, 19.37445640563965, 54.17972946166992, 0.41322314739227295 ]
3.233333
97
0
97
0
[ 0.8154473304748535, 9.412324905395508, 0.6809353828430176, 81.92269897460938, 1.992933750152588, 0.12645912170410156, -9.50240421295166, 22.78097152709961, 9.173614501953125, 19.226303100585938, 54.401817321777344, 1.0984783172607422 ]
[ 0.9437523484230042, 14.249471664428711, 1.0801080465316772, 85.2170181274414, 2.1488468647003174, 1.6415868997573853, -9.50943374633789, 24.895221710205078, 9.887133598327637, 19.46133804321289, 54.28422164916992, 0.6887052059173584 ]
3.266667
98
0
98
0
[ 0.4938778877258301, 9.410581588745117, 0.04170703887939453, 79.1512680053711, 2.127412796020508, 0.8942394256591797, -9.53906536102295, 22.91559600830078, 9.389848709106445, 20.622955322265625, 54.220394134521484, 1.0669593811035156 ]
[ 1.3212532997131348, 13.995771408081055, 1.0801080465316772, 84.95917510986328, 1.8867924213409424, 1.4363884925842285, -9.50943374633789, 24.895221710205078, 9.887133598327637, 19.46133804321289, 54.28422164916992, 0.7575757503509521 ]
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": 2,
    "total_frames": 331,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
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                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",
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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