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int64
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3
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3.133333
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94
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[ 19.909841537475586, 0.3702180087566376, -21.688888549804688, 79.17900848388672, -51.104183197021484, 1.9025875329971313, -9.338234901428223, -73.9531021118164, 21.61073875427246, 96.85641479492188, -54.39705276489258, 2.356637954711914 ]
[ 18.29944610595703, -8.827292442321777, -5.4174065589904785, 78.37610626220703, -52.27213668823242, 2.97029709815979, -8.27137565612793, -75.31182861328125, 26.88848876953125, 96.44670104980469, -54.12748336791992, 2.777777671813965 ]
3.166667
95
0
95
0
[ 19.909841537475586, 2.1801726818084717, -22.755556106567383, 79.17900848388672, -51.104183197021484, 1.826483964920044, -9.264705657958984, -73.9531021118164, 21.61073875427246, 96.85641479492188, -54.39705276489258, 2.356637954711914 ]
[ 18.29944610595703, -6.439232349395752, -7.01598596572876, 78.37610626220703, -52.27213668823242, 2.97029709815979, -8.27137565612793, -75.31182861328125, 26.88848876953125, 96.44670104980469, -54.12748336791992, 2.777777671813965 ]
3.2
96
0
96
0
[ 19.984973907470703, 3.9078569412231445, -23.91111183166504, 79.17900848388672, -51.104183197021484, 1.826483964920044, -9.264705657958984, -73.9531021118164, 21.61073875427246, 96.85641479492188, -54.344390869140625, 2.356637954711914 ]
[ 18.29944610595703, -4.051172733306885, -8.525754928588867, 78.37610626220703, -52.27213668823242, 2.97029709815979, -8.27137565612793, -75.31182861328125, 26.88848876953125, 96.44670104980469, -54.12748336791992, 2.777777671813965 ]
3.233333
97
0
97
0
[ 20.435762405395508, 5.635540962219238, -24.88888931274414, 79.17900848388672, -51.104183197021484, 1.826483964920044, -9.264705657958984, -73.9531021118164, 21.61073875427246, 96.85641479492188, -54.29173278808594, 2.356637954711914 ]
[ 18.29944610595703, -1.833688735961914, -9.857904434204102, 78.37610626220703, -52.27213668823242, 2.97029709815979, -8.27137565612793, -75.31182861328125, 26.88848876953125, 96.44670104980469, -54.12748336791992, 2.777777671813965 ]
3.266667
98
0
98
0
[ 20.73628807067871, 7.280954360961914, -25.688888549804688, 79.17900848388672, -51.104183197021484, 1.826483964920044, -9.264705657958984, -73.9531021118164, 21.61073875427246, 96.85641479492188, -54.29173278808594, 2.356637954711914 ]
[ 18.29944610595703, 0.21321961283683777, -11.19005298614502, 78.37610626220703, -52.27213668823242, 2.97029709815979, -8.27137565612793, -75.31182861328125, 26.88848876953125, 96.44670104980469, -54.12748336791992, 2.777777671813965 ]
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": 133,
    "total_frames": 199400,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 10000,
    "video_files_size_in_mb": 50000,
    "fps": 30,
    "splits": {
        "train": "0:133"
    },
    "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.up": {
            "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
            }
        },
        "observation.images.left": {
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            "shape": [
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            ],
            "names": [
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                "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",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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