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int64
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2.1
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2.133333
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2.166667
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2.233333
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2.266667
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2.3
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2.333333
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2.433333
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2.466667
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2.5
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2.533333
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2.566667
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2.6
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2.633333
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2.666667
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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
[ -1.8834385871887207, -96.14340209960938, 97.73180389404297, 76.08303833007812, -53.219024658203125, 1.947546124458313, -25.710094451904297, 33.783164978027344, -25.445533752441406, 56.811031341552734, -66.5042724609375, 27.81768798828125 ]
[ -1.0166358947753906, -97.78251647949219, 96.71403503417969, 74.5898208618164, -52.53181076049805, 3.465346574783325, -25.18587303161621, 32.129032135009766, -17.176258087158203, 59.137054443359375, -69.64472198486328, 26.521163940429688 ]
3.166667
95
0
95
0
[ -1.7357624769210815, -96.44853210449219, 97.65174865722656, 76.19126892089844, -53.2861328125, 1.956045389175415, -25.593517303466797, 34.542564392089844, -25.789047241210938, 56.4237060546875, -66.85797882080078, 27.798240661621094 ]
[ -1.0166358947753906, -97.78251647949219, 96.71403503417969, 74.5898208618164, -52.583744049072266, 3.465346574783325, -25.18587303161621, 32.817203521728516, -17.71582794189453, 58.88324737548828, -68.86102294921875, 26.719575881958008 ]
3.2
96
0
96
0
[ -1.793279767036438, -96.14710998535156, 97.79448699951172, 76.08165740966797, -53.27836608886719, 1.9647780656814575, -25.552898406982422, 35.172706604003906, -26.128711700439453, 56.186466217041016, -67.30843353271484, 27.74399185180664 ]
[ -1.0166358947753906, -97.78251647949219, 96.71403503417969, 74.5898208618164, -52.635677337646484, 3.465346574783325, -25.278810501098633, 33.7634391784668, -18.255395889282227, 58.544837951660156, -68.49530029296875, 26.851852416992188 ]
3.233333
97
0
97
0
[ -1.8107401132583618, -96.2139663696289, 97.67881774902344, 76.043701171875, -53.212318420410156, 1.9893395900726318, -25.640056610107422, 35.989463806152344, -26.042545318603516, 56.308650970458984, -67.77268981933594, 27.709924697875977 ]
[ -1.0166358947753906, -97.78251647949219, 96.71403503417969, 74.5898208618164, -52.68761444091797, 3.465346574783325, -25.278810501098633, 34.709678649902344, -18.705036163330078, 58.29103088378906, -68.23406219482422, 27.050264358520508 ]
3.266667
98
0
98
0
[ -1.8801765441894531, -96.15250396728516, 97.7306900024414, 76.06665802001953, -53.265594482421875, 1.9693000316619873, -25.58045196533203, 36.67847442626953, -26.290302276611328, 56.12047576904297, -68.03388977050781, 27.63629150390625 ]
[ -1.0166358947753906, -97.78251647949219, 96.71403503417969, 74.5898208618164, -52.73954772949219, 3.465346574783325, -25.278810501098633, 35.655914306640625, -19.064748764038086, 58.03722381591797, -68.12957000732422, 27.050264358520508 ]
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": 2541,
    "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": {
            "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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