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float32
0
40.2
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int64
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1.21k
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int64
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[ 2.17338228225708, -94.78114318847656, 84.66424560546875, 73.3105239868164, -9.405292510986328, 1.3495277166366577, -4.468864440917969, -88.6054458618164, 97.02836608886719, 65.18962097167969, 0.052356019616127014, 2.482269525527954 ]
3.066667
92
0
92
0
[ 5.529050350189209, -83.26220703125, 60.82139587402344, 74.25547790527344, -9.767101287841797, 0.22546100616455078, -5.105225086212158, -86.50270080566406, 92.32666778564453, 64.88423919677734, -0.20052146911621094, 0.5502181053161621 ]
[ 2.5152626037597656, -93.77104187011719, 83.03085327148438, 73.65269470214844, -9.405292510986328, 1.3495277166366577, -4.468864440917969, -88.6054458618164, 97.02836608886719, 65.18962097167969, 0.052356019616127014, 2.482269525527954 ]
3.1
93
0
93
0
[ 6.111260890960693, -80.62515258789062, 57.2540283203125, 74.50187683105469, -9.741875648498535, 0.25260162353515625, -5.099721908569336, -86.64884185791016, 92.4998550415039, 64.84407806396484, -0.19079184532165527, 0.5504093170166016 ]
[ 2.857142925262451, -92.76094055175781, 81.21597290039062, 73.9093246459961, -9.405292510986328, 1.3495277166366577, -4.468864440917969, -88.6054458618164, 97.02836608886719, 65.18962097167969, 0.052356019616127014, 2.482269525527954 ]
3.133333
94
0
94
0
[ 6.769462585449219, -77.79832458496094, 53.777793884277344, 74.60780334472656, -9.628862380981445, 0.26943302154541016, -5.152015209197998, -86.62551879882812, 92.5582046508789, 64.84750366210938, -0.22575891017913818, 0.5677495002746582 ]
[ 3.0525031089782715, -91.58248901367188, 79.67332458496094, 73.99486541748047, -9.405292510986328, 1.3495277166366577, -4.468864440917969, -88.6054458618164, 97.02836608886719, 65.18962097167969, 0.052356019616127014, 2.482269525527954 ]
3.166667
95
0
95
0
[ 6.795550346374512, -76.68499755859375, 52.503623962402344, 74.7754135131836, -9.634777069091797, 0.23670005798339844, -5.199057579040527, -86.56774139404297, 92.50370025634766, 64.87975311279297, -0.18092715740203857, 0.5658149719238281 ]
[ 3.443223476409912, -90.06733703613281, 77.94918060302734, 74.16595458984375, -9.405292510986328, 1.3495277166366577, -4.468864440917969, -88.6054458618164, 97.02836608886719, 65.18962097167969, 0.052356019616127014, 2.482269525527954 ]
3.2
96
0
96
0
[ 8.35047721862793, -72.78270721435547, 47.96809387207031, 74.9847412109375, -9.540183067321777, 0.1494426727294922, -5.253362655639648, -86.67373657226562, 92.61312866210938, 65.06440734863281, -0.2007129192352295, 0.6186256408691406 ]
[ 4.029304027557373, -87.8787841796875, 75.13611602783203, 74.4225845336914, -9.405292510986328, 1.3495277166366577, -4.468864440917969, -88.6054458618164, 97.02836608886719, 65.18962097167969, 0.052356019616127014, 2.482269525527954 ]
3.233333
97
0
97
0
[ 8.932930946350098, -70.99268341064453, 45.55940246582031, 74.97433471679688, -9.528117179870605, 0.15457916259765625, -5.315614700317383, -86.38102722167969, 92.47539520263672, 64.98161315917969, -0.1958085298538208, 0.593867301940918 ]
[ 4.371184349060059, -86.61616516113281, 73.50272369384766, 74.50812530517578, -9.405292510986328, 1.3495277166366577, -4.468864440917969, -88.6054458618164, 97.02836608886719, 65.18962097167969, 0.052356019616127014, 2.482269525527954 ]
3.266667
98
0
98
0
[ 9.411519050598145, -69.73131561279297, 44.09893798828125, 75.0805435180664, -9.486001014709473, 0.1469888687133789, -5.33420991897583, -86.36563110351562, 92.4901351928711, 64.98126983642578, -0.2253206968307495, 0.6002802848815918 ]
[ 5.006104946136475, -84.0067367553711, 70.23593139648438, 74.50812530517578, -9.405292510986328, 1.3495277166366577, -4.468864440917969, -88.6054458618164, 97.02836608886719, 65.18962097167969, 0.052356019616127014, 2.482269525527954 ]
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": 10,
    "total_frames": 6805,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.head": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
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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": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
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                "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
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        },
        "observation.images.left": {
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            "names": [
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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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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