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float32
0
20.4
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int64
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613
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int64
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49
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int64
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20.9k
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0
[ 3.7064220905303955, -9.283595085144043, 24.432334899902344, 55.44130325317383, -13.713080406188965, 14.152542114257812, -43.63703536987305, 24.018573760986328, -37.26027297973633, 72.52559661865234, 13.55350112915039, 5.169628620147705 ]
[ 3.8335158824920654, -16.429170608520508, 33.725135803222656, 55.0275764465332, -13.025320053100586, 13.905522346496582, -38.58497619628906, 16.995384216308594, -24.7515811920166, 75.08417510986328, 11.93523120880127, 4.755614280700684 ]
3.2
96
0
96
0
[ 3.7064220905303955, -7.503179550170898, 23.52406883239746, 55.44130325317383, -13.713080406188965, 14.152542114257812, -44.22722244262695, 25.875896453857422, -39.3607292175293, 72.1843032836914, 13.923381805419922, 5.169628620147705 ]
[ 3.9065351486206055, -14.836546897888184, 32.459312438964844, 55.0275764465332, -13.181937217712402, 13.905522346496582, -39.60612869262695, 18.841796875, -26.558265686035156, 74.83164978027344, 12.353095054626465, 4.755614280700684 ]
3.233333
97
0
97
0
[ 3.7064220905303955, -5.722764015197754, 22.61580467224121, 55.44130325317383, -13.713080406188965, 14.152542114257812, -44.669864654541016, 27.73322105407715, -41.73516082763672, 72.1843032836914, 14.240422248840332, 5.331179141998291 ]
[ 3.9795546531677246, -12.992456436157227, 31.283905029296875, 55.0275764465332, -13.338553428649902, 13.905522346496582, -40.627281188964844, 20.939990997314453, -28.455284118652344, 74.32659912109375, 12.666492462158203, 4.755614280700684 ]
3.266667
98
0
98
0
[ 3.7064220905303955, -4.111911773681641, 21.889192581176758, 55.44130325317383, -13.713080406188965, 14.152542114257812, -44.89118576049805, 29.252849578857422, -43.83561706542969, 72.26962280273438, 14.398942947387695, 6.381259918212891 ]
[ 3.7604966163635254, -11.23218822479248, 30.10849952697754, 55.0275764465332, -13.442965507507324, 13.905522346496582, -41.648433685302734, 23.03818702697754, -30.171634674072266, 73.82154846191406, 12.979889869689941, 4.755614280700684 ]
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": 20944,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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.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
            }
        },
        "observation.images.above": {
            "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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