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float32
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28.9
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int64
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1.6
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1.7
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1.9
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2
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2.433333
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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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2.766667
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2.8
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2.833333
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2.866667
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2.9
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2.933333
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3
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3.033333
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3.066667
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3.1
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3.133333
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3.166667
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3.2
96
0
96
0
[ -0.37565740942955017, -99.5886459350586, 97.86666870117188, 75.53956604003906, -50.0649528503418, 2.2070014476776123, -16.25, -57.45393753051758, 30.29082679748535, 44.51996612548828, -59.92627716064453, 2.513746976852417 ]
[ 0, -98.97654724121094, 96.89165496826172, 69.9621353149414, -50.40249252319336, 3.465346574783325, -10.966543197631836, -61.290321350097656, 45.773380279541016, 47.12351989746094, -60.44932174682617, 2.910053014755249 ]
3.233333
97
0
97
0
[ -0.37565740942955017, -99.5886459350586, 97.86666870117188, 75.53956604003906, -50.0649528503418, 2.2070014476776123, -16.985294342041016, -57.28643035888672, 29.395973205566406, 44.51996612548828, -59.873619079589844, 2.513746976852417 ]
[ 0, -98.97654724121094, 96.89165496826172, 69.9621353149414, -50.40249252319336, 3.465346574783325, -11.710037231445312, -60.344085693359375, 43.97481918334961, 47.12351989746094, -60.44932174682617, 2.910053014755249 ]
3.266667
98
0
98
0
[ -0.37565740942955017, -99.5886459350586, 97.86666870117188, 75.53956604003906, -50.0649528503418, 2.2070014476776123, -17.72058868408203, -57.118927001953125, 28.769575119018555, 44.51996612548828, -59.873619079589844, 2.513746976852417 ]
[ 0, -98.97654724121094, 96.89165496826172, 69.9621353149414, -50.40249252319336, 3.465346574783325, -12.546468734741211, -59.56989288330078, 42.35611343383789, 47.12351989746094, -60.44932174682617, 2.910053014755249 ]
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": 50,
    "total_frames": 30952,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 10000,
    "video_files_size_in_mb": 50000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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
            }
        },
        "observation.images.front": {
            "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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