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2.566667
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2.6
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2.633333
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2.7
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2.733333
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2.8
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2.833333
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2.9
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3
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3.1
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3.133333
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94
0
[ 6.010518550872803, -40.18922424316406, 0.800000011920929, 86.9657211303711, -44.712913513183594, 1.750380516052246, -22.573530197143555, -17.00167465209961, -2.3713645935058594, 87.00084686279297, -85.8873062133789, 2.04241943359375 ]
[ 4.990757942199707, -40.29850769042969, 9.058614730834961, 86.36936950683594, -46.35159683227539, 3.1117396354675293, -20.81784439086914, -23.268817901611328, 3.8669064044952393, 95.43147277832031, -79.67607116699219, 2.5132274627685547 ]
3.166667
95
0
95
0
[ 6.010518550872803, -40.18922424316406, 0.800000011920929, 86.9657211303711, -44.712913513183594, 1.826483964920044, -22.5, -15.49413776397705, -2.3713645935058594, 85.55650329589844, -86.46656036376953, 2.04241943359375 ]
[ 4.990757942199707, -40.29850769042969, 9.058614730834961, 86.36936950683594, -46.35159683227539, 3.1117396354675293, -20.91077995300293, -21.720430374145508, 3.8669064044952393, 94.41624450683594, -80.56426239013672, 2.5132274627685547 ]
3.2
96
0
96
0
[ 6.010518550872803, -40.18922424316406, 0.800000011920929, 86.9657211303711, -44.712913513183594, 1.826483964920044, -22.5, -14.070351600646973, -2.3713645935058594, 84.36703491210938, -87.09847259521484, 2.04241943359375 ]
[ 4.990757942199707, -40.29850769042969, 9.058614730834961, 86.36936950683594, -46.35159683227539, 3.1117396354675293, -20.91077995300293, -20.086021423339844, 3.8669064044952393, 93.31641387939453, -81.29571533203125, 2.5132274627685547 ]
3.233333
97
0
97
0
[ 6.010518550872803, -40.18922424316406, 0.800000011920929, 86.9657211303711, -44.712913513183594, 1.826483964920044, -22.5, -12.646566390991211, -2.4608500003814697, 83.34749603271484, -87.46708679199219, 2.04241943359375 ]
[ 4.990757942199707, -40.29850769042969, 9.058614730834961, 86.36936950683594, -46.35159683227539, 3.1117396354675293, -20.91077995300293, -18.537633895874023, 3.8669064044952393, 92.1319808959961, -82.07941436767578, 2.5132274627685547 ]
3.266667
98
0
98
0
[ 6.010518550872803, -40.18922424316406, 0.800000011920929, 86.9657211303711, -44.712913513183594, 1.826483964920044, -22.5, -11.306532859802246, -2.4608500003814697, 82.49787902832031, -87.73038482666016, 2.04241943359375 ]
[ 4.990757942199707, -40.29850769042969, 9.058614730834961, 86.36936950683594, -46.35159683227539, 3.1117396354675293, -20.91077995300293, -16.989246368408203, 3.8669064044952393, 90.86294555664062, -82.81086730957031, 2.5132274627685547 ]
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": 158,
    "total_frames": 235327,
    "total_tasks": 3,
    "chunks_size": 1000,
    "data_files_size_in_mb": 10000,
    "video_files_size_in_mb": 50000,
    "fps": 30,
    "splits": {
        "train": "0:158"
    },
    "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",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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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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