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float32
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17.3
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int64
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519
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19.3k
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3
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3.1
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94
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[ 39.30275344848633, 45.73971939086914, -67.75658416748047, 82.60497283935547, -8.175105094909668, 23.13559341430664, -18.775360107421875, -8.31574535369873, 5.38812780380249, 77.04778289794922, 8.903566360473633, 0.32310178875923157 ]
[ 36.76524353027344, 43.5037727355957, -60.21699905395508, 82.01103210449219, -8.48342514038086, 23.1536922454834, -18.234865188598633, -7.511539936065674, 9.304426193237305, 77.44107818603516, 9.219117164611816, 2.1136064529418945 ]
3.166667
95
0
95
0
[ 39.66972351074219, 46.33319091796875, -67.75658416748047, 82.43359375, -8.122363090515137, 23.220338821411133, -18.775360107421875, -8.400168418884277, 5.38812780380249, 77.04778289794922, 8.850726127624512, 0.32310178875923157 ]
[ 37.2763786315918, 44.59346008300781, -61.39240646362305, 82.35044860839844, -8.48342514038086, 23.1536922454834, -18.234865188598633, -7.511539936065674, 9.304426193237305, 77.44107818603516, 9.219117164611816, 2.1136064529418945 ]
3.2
96
0
96
0
[ 40.18348693847656, 47.09622573852539, -67.75658416748047, 82.43359375, -8.122363090515137, 23.389829635620117, -18.775360107421875, -8.569016456604004, 5.38812780380249, 77.04778289794922, 8.850726127624512, 0.32310178875923157 ]
[ 37.787513732910156, 45.515506744384766, -62.296566009521484, 82.435302734375, -8.48342514038086, 23.1536922454834, -18.234865188598633, -7.511539936065674, 9.304426193237305, 77.44107818603516, 9.219117164611816, 2.1136064529418945 ]
3.233333
97
0
97
0
[ 40.69724655151367, 48.02882766723633, -67.75658416748047, 82.347900390625, -8.122363090515137, 23.474576950073242, -18.775360107421875, -8.653440475463867, 5.38812780380249, 77.13310241699219, 8.850726127624512, 0.32310178875923157 ]
[ 38.22562789916992, 46.353729248046875, -62.83905792236328, 82.52014923095703, -8.48342514038086, 23.1536922454834, -18.16192626953125, -7.511539936065674, 9.304426193237305, 77.44107818603516, 9.219117164611816, 2.1136064529418945 ]
3.266667
98
0
98
0
[ 41.13761520385742, 48.96142578125, -67.847412109375, 82.347900390625, -8.122363090515137, 23.559322357177734, -18.775360107421875, -8.73786449432373, 5.38812780380249, 77.13310241699219, 8.850726127624512, 0.32310178875923157 ]
[ 38.66374588012695, 47.02430725097656, -63.2911376953125, 82.52014923095703, -8.48342514038086, 23.1536922454834, -18.16192626953125, -7.511539936065674, 9.304426193237305, 77.44107818603516, 9.219117164611816, 2.1136064529418945 ]
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": 19310,
    "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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