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float32
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26.6
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int64
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798
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int64
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81
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int64
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63.9k
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1.6
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1.633333
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1.666667
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1.7
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1.733333
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1.8
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1.833333
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1.866667
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1.9
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1.933333
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2
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2.033333
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2.1
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2.833333
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3
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3.033333
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3.166667
95
0
95
0
[ -2.934537172317505, -99.49622344970703, 99.72887420654297, 72.59100341796875, 0.6366182565689087, 1.1933174133300781, -6.426966190338135, -98.07289123535156, 99.54833221435547, 75.3319091796875, -52.44282913208008, 0.8573655486106873 ]
[ -2.637460947036743, -97.44898223876953, 99.27239990234375, 68.99563598632812, 0.832466185092926, 2.709847927093506, -7.05636739730835, -96.7810287475586, 99.36189270019531, 74.10009002685547, -47.494781494140625, 1.056105613708496 ]
3.2
96
0
96
0
[ -2.934537172317505, -99.49622344970703, 99.72887420654297, 72.59100341796875, 0.6366182565689087, 1.1933174133300781, -5.707865238189697, -98.07289123535156, 99.54833221435547, 75.24625396728516, -52.96257781982422, 0.8573655486106873 ]
[ -2.637460947036743, -97.44898223876953, 99.27239990234375, 68.99563598632812, 0.832466185092926, 2.709847927093506, -7.05636739730835, -96.7810287475586, 99.27073669433594, 74.01229095458984, -48.74739074707031, 1.056105613708496 ]
3.233333
97
0
97
0
[ -2.934537172317505, -99.49622344970703, 99.72887420654297, 72.59100341796875, 0.6366182565689087, 1.1933174133300781, -4.898876190185547, -98.15668487548828, 99.54833221435547, 75.24625396728516, -53.22245407104492, 0.8573655486106873 ]
[ -2.637460947036743, -97.44898223876953, 99.27239990234375, 68.99563598632812, 0.832466185092926, 2.709847927093506, -7.05636739730835, -96.7810287475586, 99.27073669433594, 74.01229095458984, -50, 1.056105613708496 ]
3.266667
98
0
98
0
[ -2.934537172317505, -99.49622344970703, 99.72887420654297, 72.59100341796875, 0.6366182565689087, 1.1933174133300781, -4.269662857055664, -97.821533203125, 99.54833221435547, 74.81798553466797, -53.430355072021484, 0.8573655486106873 ]
[ -2.637460947036743, -97.44898223876953, 99.27239990234375, 68.99563598632812, 0.832466185092926, 2.709847927093506, -7.05636739730835, -96.7810287475586, 99.17958068847656, 73.92449188232422, -50.887264251708984, 1.056105613708496 ]
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": 82,
    "total_frames": 63885,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:82"
    },
    "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"
            ],
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        },
        "observation.images.left": {
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            "shape": [
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            "names": [
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.right": {
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            "names": [
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            "info": {
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        },
        "observation.images.left_wrist": {
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            "names": [
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            "info": {
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                "video.width": 640,
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        "task_index": {
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        }
    }
}

Citation

BibTeX:

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