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int64
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2.7
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3
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3.1
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94
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[ 14.451794624328613, 26.9815673828125, -10.295037269592285, 66.51705932617188, -6.3353729248046875, 28.182878494262695, -2.092082977294922, -94.55908966064453, 98.06594848632812, 75.99606323242188, -57.5875358581543, 2.532153844833374 ]
[ 16.081331253051758, 30.234540939331055, -8.88099479675293, 66.93310546875, -5.634900093078613, 28.005657196044922, -1.8587360382080078, -97.07527160644531, 96.49280548095703, 74.365478515625, -57.47126388549805, 2.6455025672912598 ]
3.166667
95
0
95
0
[ 14.49260425567627, 27.312026977539062, -10.226767539978027, 66.46092224121094, -6.476940155029297, 27.118953704833984, -2.126467704772949, -94.60943603515625, 98.08245849609375, 76.00534057617188, -57.626461029052734, 2.5426602363586426 ]
[ 15.896488189697266, 30.234540939331055, -8.88099479675293, 66.93310546875, -5.686834812164307, 28.005657196044922, -1.8587360382080078, -97.07527160644531, 96.49280548095703, 74.365478515625, -57.47126388549805, 2.6455025672912598 ]
3.2
96
0
96
0
[ 14.6254301071167, 27.305397033691406, -10.0435209274292, 66.59242248535156, -6.415191650390625, 23.819456100463867, -2.1112871170043945, -94.70270538330078, 97.83221435546875, 75.98248291015625, -57.602569580078125, 2.4990861415863037 ]
[ 15.619223594665527, 30.234540939331055, -8.88099479675293, 66.93310546875, -5.790703773498535, 28.005657196044922, -1.8587360382080078, -97.07527160644531, 96.49280548095703, 74.365478515625, -57.47126388549805, 2.6455025672912598 ]
3.233333
97
0
97
0
[ 14.723206520080566, 27.100570678710938, -9.991124153137207, 66.3569564819336, -6.426898956298828, 20.2211856842041, -2.0994606018066406, -94.85462951660156, 97.88938903808594, 75.98395538330078, -57.61138153076172, 2.531229019165039 ]
[ 15.526802062988281, 30.234540939331055, -8.88099479675293, 66.93310546875, -5.894572734832764, 28.005657196044922, -1.8587360382080078, -97.07527160644531, 96.49280548095703, 74.365478515625, -57.47126388549805, 2.6455025672912598 ]
3.266667
98
0
98
0
[ 14.868193626403809, 26.911163330078125, -9.460068702697754, 66.32962036132812, -6.543552398681641, 17.012828826904297, -2.1108598709106445, -94.88029479980469, 97.92430114746094, 76.0402603149414, -57.63631057739258, 2.4953951835632324 ]
[ 15.526802062988281, 30.234540939331055, -8.88099479675293, 66.93310546875, -5.99844217300415, 27.510608673095703, -1.8587360382080078, -97.07527160644531, 96.49280548095703, 74.365478515625, -57.47126388549805, 2.6455025672912598 ]
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": 2,
    "total_frames": 2371,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
                "height",
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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": {
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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