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float32
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26.6
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int64
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2.6
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2.633333
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2.7
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2.733333
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2.833333
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3
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3.1
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3.133333
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94
0
[ 16.930023193359375, -92.44332122802734, 98.28287506103516, 44.239830017089844, 3.234020948410034, 15.513126373291016, -14.516854286193848, -98.9107666015625, 99.36766052246094, 71.56317138671875, 2.234927177429199, 0.7794232368469238 ]
[ 17.299955368041992, -95.83333587646484, 99.36334991455078, 45.06550216674805, 3.1737773418426514, 8.195637702941895, -14.572025299072266, -98.13638305664062, 99.45305633544922, 71.37840270996094, 2.2442588806152344, 1.3861385583877563 ]
3.166667
95
0
95
0
[ 16.930023193359375, -90.7640609741211, 97.55987548828125, 44.32548141479492, 3.234020948410034, 16.308671951293945, -14.516854286193848, -98.9107666015625, 99.36766052246094, 71.56317138671875, 2.1829521656036377, 0.7794232368469238 ]
[ 17.299955368041992, -94.89795684814453, 99.36334991455078, 45.06550216674805, 3.1737773418426514, 10.17845344543457, -14.572025299072266, -98.13638305664062, 99.45305633544922, 71.37840270996094, 2.2442588806152344, 1.3861385583877563 ]
3.2
96
0
96
0
[ 16.930023193359375, -88.58102416992188, 96.92724609375, 44.32548141479492, 3.183091402053833, 16.388225555419922, -14.516854286193848, -98.9107666015625, 99.36766052246094, 71.56317138671875, 2.1829521656036377, 0.7794232368469238 ]
[ 17.299955368041992, -94.04762268066406, 99.36334991455078, 45.06550216674805, 3.1737773418426514, 12.161269187927246, -14.572025299072266, -98.13638305664062, 99.45305633544922, 71.37840270996094, 2.2442588806152344, 1.3861385583877563 ]
3.233333
97
0
97
0
[ 16.930023193359375, -86.1460952758789, 95.57162475585938, 44.32548141479492, 2.9284441471099854, 16.388225555419922, -14.516854286193848, -98.9107666015625, 99.36766052246094, 71.56317138671875, 2.1829521656036377, 0.7794232368469238 ]
[ 17.299955368041992, -93.28231048583984, 99.36334991455078, 45.06550216674805, 3.1737773418426514, 13.549240112304688, -14.572025299072266, -98.13638305664062, 99.45305633544922, 71.37840270996094, 2.2442588806152344, 1.3861385583877563 ]
3.266667
98
0
98
0
[ 17.020315170288086, -83.87909698486328, 94.03524780273438, 44.32548141479492, 2.5210084915161133, 16.388225555419922, -14.516854286193848, -98.9107666015625, 99.36766052246094, 71.56317138671875, 2.1829521656036377, 0.7794232368469238 ]
[ 17.299955368041992, -91.83673095703125, 99.18144989013672, 45.06550216674805, 3.1737773418426514, 14.738929748535156, -14.572025299072266, -98.13638305664062, 99.45305633544922, 71.37840270996094, 2.2442588806152344, 1.3861385583877563 ]
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": 30,
    "total_frames": 23948,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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.front": {
            "dtype": "video",
            "shape": [
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                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",
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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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