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float32
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62.4
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int64
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1.87k
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[ -1.8484958410263062, -76.1083755493164, 49.20774459838867, 53.93537521362305, -0.927357017993927, 2.247912645339966, -1.3167519569396973, -80.59800720214844, 44.41441345214844, 54.606929779052734, 5.44566535949707, 1.6458196640014648 ]
3.133333
94
0
94
0
[ -2.2512192726135254, -76.1187744140625, 40.09238815307617, 54.617340087890625, -1.1460871696472168, 0.8460004329681396, -0.25341057777404785, -79.79434204101562, 35.22153091430664, 58.09666442871094, 4.692996501922607, 1.6731985807418823 ]
[ -1.9934759140014648, -75.94416809082031, 47.62323760986328, 54.681026458740234, -0.927357017993927, 2.247912645339966, -0.877834677696228, -80.73089599609375, 42.97297286987305, 55.283180236816406, 5.44566535949707, 1.6458196640014648 ]
3.166667
95
0
95
0
[ -1.8970942497253418, -76.31954956054688, 41.38154983520508, 54.11969757080078, -1.4691267013549805, 0.9609658718109131, -0.20930850505828857, -79.65983581542969, 35.74358367919922, 58.28582763671875, 4.589547634124756, 1.7922290563583374 ]
[ -2.0659658908843994, -76.02627563476562, 46.21479034423828, 55.34382629394531, -0.927357017993927, 2.247912645339966, -0.5120702385902405, -80.73089599609375, 41.531532287597656, 56.297550201416016, 5.44566535949707, 1.6458196640014648 ]
3.2
96
0
96
0
[ -1.4272780418395996, -74.242919921875, 42.864654541015625, 52.20269775390625, -1.6517982482910156, 1.062791347503662, -0.47036242485046387, -76.88539123535156, 37.54472351074219, 56.35801696777344, 4.836183071136475, 1.7209738492965698 ]
[ -2.138455867767334, -76.43678283691406, 45.510562896728516, 55.42667770385742, -0.927357017993927, 2.247912645339966, -0.5120702385902405, -80.73089599609375, 40.27027130126953, 57.14285659790039, 5.201465129852295, 1.6458196640014648 ]
3.233333
97
0
97
0
[ -1.2656588554382324, -74.26890563964844, 43.462947845458984, 51.82395935058594, -1.5785737037658691, 1.1870944499969482, -0.15952348709106445, -77.90055847167969, 39.444332122802734, 55.72495651245117, 5.061700344085693, 1.7052052021026611 ]
[ -2.2109460830688477, -76.51888275146484, 45.158451080322266, 55.17812728881836, -0.927357017993927, 2.247912645339966, -0.8046817779541016, -80.73089599609375, 39.4594612121582, 57.65004348754883, 5.05494499206543, 1.6458196640014648 ]
3.266667
98
0
98
0
[ -1.0977931022644043, -72.91685485839844, 46.42666244506836, 50.35721969604492, -1.6200475692749023, 1.0276999473571777, 0.11297774314880371, -76.40340423583984, 42.768638610839844, 52.71149444580078, 4.893570423126221, 1.5997754335403442 ]
[ -2.138455867767334, -76.51888275146484, 45.0704231262207, 54.681026458740234, -1.1334363222122192, 2.247912645339966, -0.877834677696228, -80.73089599609375, 39.18918991088867, 57.56550979614258, 5.006104946136475, 1.6458196640014648 ]
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": 1,
    "total_frames": 1873,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.camera1": {
            "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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