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float32
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29.4
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int64
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[ -0.4604437053203583, -90.06790924072266, 22.26910400390625, 70.3125, -49.1931266784668, 0.9408602118492126, -57.3883171081543, -30.222021102905273, 44.48979568481445, 18.45082664489746, -63.1674919128418, 0.7477906346321106 ]
3.1
93
0
93
0
[ 0.03416866064071655, -89.5608901977539, 22.14973258972168, 68.04670715332031, -48.96562576293945, 0.8858053088188171, -59.55781173706055, -27.616230010986328, 36.76372146606445, 15.396411895751953, -63.93034744262695, 0.6546862721443176 ]
[ -0.4604437053203583, -90.15280151367188, 22.081575393676758, 69.96527862548828, -49.24518585205078, 0.9408602118492126, -57.541046142578125, -30.403263092041016, 44.48979568481445, 18.45082664489746, -63.1674919128418, 0.7477906346321106 ]
3.133333
94
0
94
0
[ 0.11202332377433777, -88.93002319335938, 21.677377700805664, 68.02604675292969, -48.91008377075195, 0.8860683441162109, -60.63909912109375, -27.93428611755371, 36.81772994995117, 15.598968505859375, -63.96490478515625, 0.6547146439552307 ]
[ -0.4604437053203583, -90.06790924072266, 22.081575393676758, 68.75, -49.1931266784668, 0.9408602118492126, -57.541046142578125, -30.222021102905273, 44.126983642578125, 18.45082664489746, -63.32378387451172, 0.7477906346321106 ]
3.166667
95
0
95
0
[ 0.4015980362892151, -88.92269134521484, 21.021116256713867, 67.76255798339844, -48.86229705810547, 0.887353241443634, -61.72268295288086, -26.766498565673828, 35.80414962768555, 16.582660675048828, -64.0156478881836, 0.6545851230621338 ]
[ -0.4604437053203583, -90.06790924072266, 22.362869262695312, 68.40277862548828, -49.1931266784668, 0.9408602118492126, -57.46467971801758, -29.22519302368164, 43.492061614990234, 18.45082664489746, -63.427974700927734, 0.7477906346321106 ]
3.2
96
0
96
0
[ 0.6858513951301575, -87.36710357666016, 19.245014190673828, 67.99967956542969, -48.876808166503906, 0.8858097195625305, -62.66288757324219, -26.61322784423828, 35.435909271240234, 17.140499114990234, -63.953208923339844, 0.6546973586082458 ]
[ -0.4604437053203583, -90.06790924072266, 22.362869262695312, 68.57638549804688, -49.24518585205078, 0.9408602118492126, -57.3883171081543, -28.681468963623047, 43.03854751586914, 18.45082664489746, -63.427974700927734, 0.7477906346321106 ]
3.233333
97
0
97
0
[ 0.4147254228591919, -87.56534576416016, 22.694887161254883, 69.1963882446289, -48.83549880981445, 0.8860212564468384, -61.135475158691406, -28.522668838500977, 38.45424270629883, 15.86935806274414, -63.84592819213867, 0.6547344923019409 ]
[ -0.4604437053203583, -90.06790924072266, 22.362869262695312, 68.57638549804688, -49.1931266784668, 0.9408602118492126, -57.3883171081543, -28.409605026245117, 42.85714340209961, 18.45082664489746, -63.480072021484375, 0.7477906346321106 ]
3.266667
98
0
98
0
[ 0.8694052696228027, -86.9495849609375, 20.250022888183594, 69.246826171875, -48.94682693481445, 0.884508490562439, -61.43513107299805, -25.916229248046875, 36.24764633178711, 15.262855529785156, -63.81630325317383, 0.6546698212623596 ]
[ -0.20929259061813354, -89.98302459716797, 21.987810134887695, 68.57638549804688, -49.08901596069336, 0.9408602118492126, -57.541046142578125, -27.865880966186523, 42.312923431396484, 18.45082664489746, -63.532169342041016, 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": 882,
    "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": [
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            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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            ],
            "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": {
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            "shape": [
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                640,
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            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.fps": 30,
                "video.channels": 3,
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        },
        "observation.images.left": {
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            "names": [
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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