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float32
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12.5
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int64
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376
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2.5
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2.6
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3
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3.1
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94
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[ -8.279337882995605, 46.25, -17.222963333129883, 52.476070404052734, -66.56472778320312, 33.68421173095703, -4.712430477142334, 56.525386810302734, -64.47602081298828, 97.63912200927734, -42.98359680175781, 8.73397445678711 ]
[ -8.401859283447266, 44.906620025634766, -16.324710845947266, 57.02962112426758, -66.92790222167969, 32.83871078491211, -4.398400783538818, 55.882354736328125, -62.56366729736328, 97.31768798828125, -43.05735778808594, 8.701384544372559 ]
3.166667
95
0
95
0
[ -8.13534927368164, 46.83333206176758, -17.222963333129883, 52.0599250793457, -66.36085510253906, 33.4412956237793, -4.712430477142334, 57.028953552246094, -64.47602081298828, 97.63912200927734, -42.98359680175781, 8.894230842590332 ]
[ -8.473363876342773, 45.67062759399414, -16.324710845947266, 55.94493103027344, -66.92790222167969, 33.41935348510742, -4.398400783538818, 55.96638488769531, -62.56366729736328, 97.31768798828125, -43.05735778808594, 8.701384544372559 ]
3.2
96
0
96
0
[ -8.13534927368164, 47.5, -17.222963333129883, 51.227630615234375, -66.36085510253906, 33.279354095458984, -4.786642074584961, 57.616451263427734, -64.38721466064453, 97.5548095703125, -42.98359680175781, 8.974358558654785 ]
[ -8.544869422912598, 46.09507751464844, -16.413915634155273, 54.69336700439453, -66.92790222167969, 33.48387145996094, -4.398400783538818, 56.21848678588867, -62.648555755615234, 97.31768798828125, -43.05735778808594, 8.701384544372559 ]
3.233333
97
0
97
0
[ -8.0633544921875, 47.83333206176758, -17.133956909179688, 50.561798095703125, -66.30989074707031, 33.279354095458984, -4.786642074584961, 58.62358474731445, -64.56483459472656, 97.5548095703125, -42.98359680175781, 8.974358558654785 ]
[ -8.544869422912598, 46.774192810058594, -16.413915634155273, 53.441802978515625, -66.87565612792969, 33.48387145996094, -4.398400783538818, 56.89075469970703, -62.90322494506836, 97.31768798828125, -43.05735778808594, 8.767303466796875 ]
3.266667
98
0
98
0
[ -8.0633544921875, 48.25, -17.222963333129883, 50.2288818359375, -66.25891876220703, 33.279354095458984, -4.786642074584961, 59.295005798339844, -64.56483459472656, 97.47048950195312, -42.98359680175781, 8.974358558654785 ]
[ -8.544869422912598, 47.53820037841797, -16.413915634155273, 52.85773849487305, -66.71891021728516, 33.48387145996094, -4.398400783538818, 57.563026428222656, -62.98811721801758, 97.31768798828125, -43.05735778808594, 8.965063095092773 ]
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": 18824,
    "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.top": {
            "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.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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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