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float32
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44.2
frame_index
int64
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1.33k
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int64
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2.366667
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2.5
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2.533333
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2.566667
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2.6
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2.633333
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2.666667
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2.7
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2.8
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2.9
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3
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3.1
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3.133333
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94
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[ 1.139737606048584, -53.074466705322266, 14.276786804199219, 57.64113998413086, -50.11252975463867, 0.877418041229248, -61.53776550292969, -28.197986602783203, 28.162918090820312, 29.917837142944336, -61.39939498901367, 0.6547911763191223 ]
[ 1.13018000125885, -51.0186767578125, 12.33005142211914, 57.29166793823242, -50.49453353881836, 0.8736559152603149, -61.58839416503906, -30.94698715209961, 32.06349182128906, 30.461271286010742, -61.44829559326172, 0.7477906346321106 ]
3.166667
95
0
95
0
[ 1.6053142547607422, -51.09468078613281, 13.905998229980469, 57.447383880615234, -50.22102355957031, 0.8756762742996216, -61.29684829711914, -27.71269416809082, 27.513168334960938, 30.332752227783203, -61.24496078491211, 0.6546815037727356 ]
[ 0.9627459049224854, -51.188453674316406, 12.705110549926758, 57.29166793823242, -50.49453353881836, 0.8736559152603149, -61.58839416503906, -30.94698715209961, 32.06349182128906, 30.461271286010742, -61.44829559326172, 0.7477906346321106 ]
3.2
96
0
96
0
[ 2.425992727279663, -49.9669075012207, 15.060810089111328, 57.61834716796875, -50.311920166015625, 0.8738920092582703, -60.48845672607422, -28.092681884765625, 25.351295471191406, 32.10997009277344, -61.05955505371094, 0.6547633409500122 ]
[ 1.0464630126953125, -51.697792053222656, 13.830286026000977, 57.29166793823242, -50.54658889770508, 0.8736559152603149, -61.58839416503906, -30.94698715209961, 32.06349182128906, 30.461271286010742, -61.44829559326172, 0.7477906346321106 ]
3.233333
97
0
97
0
[ 2.0242793560028076, -51.46385192871094, 15.852500915527344, 56.39570999145508, -50.081485748291016, 0.8761409521102905, -60.71229553222656, -27.585176467895508, 26.48607635498047, 31.862489700317383, -61.37723922729492, 0.6548274755477905 ]
[ 1.0464630126953125, -52.12224197387695, 14.205344200134277, 57.29166793823242, -50.39042282104492, 0.8736559152603149, -61.58839416503906, -30.49388313293457, 31.428571701049805, 30.461271286010742, -61.44829559326172, 0.7477906346321106 ]
3.266667
98
0
98
0
[ 1.6872341632843018, -51.209022521972656, 15.542238235473633, 57.1424446105957, -50.092689514160156, 0.875464677810669, -60.64596939086914, -27.489540100097656, 24.326738357543945, 32.056419372558594, -61.2529182434082, 0.6546781659126282 ]
[ 1.0464630126953125, -51.86757278442383, 14.205344200134277, 57.29166793823242, -50.33836364746094, 0.8736559152603149, -61.58839416503906, -30.131399154663086, 30.70294761657715, 30.63533592224121, -61.44829559326172, 0.7477906346321106 ]
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": 1328,
    "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.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.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
            }
        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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