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float32
0
120
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int64
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3.61k
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int64
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4
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int64
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18k
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[ -8.44881534576416, -97.2789077758789, 99.7271499633789, 67.33624267578125, -2.5494277477264404, 2.445472478866577, -7.640918731689453, -26.810672760009766, 35.27803039550781, 62.07199478149414, -56.21085739135742, 1.7821781635284424 ]
3.1
93
0
93
0
[ -9.04393482208252, -98.59004211425781, 99.27491760253906, 67.59976196289062, -2.6550590991973877, 1.5001745223999023, -7.4141387939453125, -20.191070556640625, 38.61373519897461, 44.4073600769043, -56.31278991699219, 1.3844890594482422 ]
[ -8.44881534576416, -97.2789077758789, 99.7271499633789, 67.33624267578125, -2.5494277477264404, 2.445472478866577, -7.640918731689453, -25.28589630126953, 36.280765533447266, 58.208953857421875, -56.21085739135742, 1.7821781635284424 ]
3.133333
94
0
94
0
[ -9.060201644897461, -98.59173583984375, 99.28962707519531, 67.63664245605469, -2.667903423309326, 1.4930152893066406, -7.31065559387207, -19.700069427490234, 41.62979507446289, 39.064640045166016, -56.23153305053711, 1.3874006271362305 ]
[ -8.44881534576416, -97.2789077758789, 99.7271499633789, 67.33624267578125, -2.5494277477264404, 2.445472478866577, -7.640918731689453, -23.506988525390625, 37.374656677246094, 54.52151107788086, -56.21085739135742, 1.7821781635284424 ]
3.166667
95
0
95
0
[ -9.088530540466309, -98.62884521484375, 99.34315490722656, 67.63343811035156, -2.663888931274414, 1.488111972808838, -7.390003204345703, -19.20069122314453, 44.868141174316406, 33.919124603271484, -56.266319274902344, 1.386209487915039 ]
[ -8.44881534576416, -97.2789077758789, 99.7271499633789, 67.33624267578125, -2.5494277477264404, 2.445472478866577, -7.640918731689453, -22.151630401611328, 38.55970764160156, 51.09745407104492, -56.21085739135742, 1.7821781635284424 ]
3.2
96
0
96
0
[ -9.080456733703613, -98.60342407226562, 99.30812072753906, 67.64729309082031, -2.682440996170044, 1.4873852729797363, -7.285617828369141, -17.738113403320312, 46.761173248291016, 29.114246368408203, -56.301918029785156, 1.3382978439331055 ]
[ -8.44881534576416, -97.2789077758789, 99.7271499633789, 67.33624267578125, -2.5494277477264404, 2.445472478866577, -7.557411193847656, -20.711563110351562, 39.288970947265625, 47.41000747680664, -56.21085739135742, 1.7821781635284424 ]
3.233333
97
0
97
0
[ -9.096014976501465, -98.64801025390625, 99.31427001953125, 67.6996841430664, -2.686936855316162, 1.482785701751709, -7.266651153564453, -17.628036499023438, 49.897216796875, 24.375598907470703, -56.21138000488281, 1.3609142303466797 ]
[ -8.44881534576416, -97.2789077758789, 99.7271499633789, 67.33624267578125, -2.5494277477264404, 2.445472478866577, -7.557411193847656, -19.949174880981445, 41.385597229003906, 42.844600677490234, -56.21085739135742, 1.7821781635284424 ]
3.266667
98
0
98
0
[ -9.077220916748047, -98.6900634765625, 99.38201904296875, 67.67289733886719, -2.6812448501586914, 1.4769763946533203, -7.342342376708984, -15.394309997558594, 52.01408386230469, 18.351070404052734, -56.26512145996094, 1.3542423248291016 ]
[ -8.44881534576416, -97.2789077758789, 99.7271499633789, 67.33624267578125, -2.5494277477264404, 2.445472478866577, -7.557411193847656, -19.102075576782227, 43.938011169433594, 38.80596923828125, -56.21085739135742, 1.7821781635284424 ]
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": 5,
    "total_frames": 18004,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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.left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "observation.images.right": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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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": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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