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int64
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[ 14.417744636535645, -39.70149230957031, 2.4866786003112793, 88.97769927978516, -48.948326110839844, 3.394625186920166, -12.174720764160156, -40.817203521728516, -6.474820137023926, 98.6463623046875, -56.21734619140625, 23.148147583007812 ]
3.166667
95
0
95
0
[ 15.40195369720459, -40.27149200439453, -5.244444370269775, 90.94371795654297, -48.0384521484375, 2.511415481567383, -14.411765098571777, -41.37353515625, -11.856822967529297, 99.9150390625, -59.82095718383789, 25.294580459594727 ]
[ 14.417744636535645, -39.70149230957031, 2.4866786003112793, 88.97769927978516, -48.89638900756836, 3.394625186920166, -11.988847732543945, -40.817203521728516, -6.474820137023926, 98.6463623046875, -56.84430694580078, 23.478836059570312 ]
3.2
96
0
96
0
[ 15.47708511352539, -40.27149200439453, -5.244444370269775, 91.70545959472656, -48.0384521484375, 2.511415481567383, -14.411765098571777, -41.37353515625, -11.946309089660645, 99.9150390625, -59.82095718383789, 25.294580459594727 ]
[ 14.417744636535645, -39.70149230957031, 2.4866786003112793, 89.06184387207031, -48.89638900756836, 3.394625186920166, -11.802973747253418, -40.817203521728516, -6.474820137023926, 98.6463623046875, -57.26227951049805, 23.809524536132812 ]
3.233333
97
0
97
0
[ 15.47708511352539, -40.27149200439453, -5.244444370269775, 92.38256072998047, -48.0384521484375, 2.511415481567383, -14.411765098571777, -41.37353515625, -11.946309089660645, 99.9150390625, -59.82095718383789, 25.294580459594727 ]
[ 14.417744636535645, -39.70149230957031, 2.4866786003112793, 89.31426239013672, -48.89638900756836, 3.394625186920166, -11.802973747253418, -40.817203521728516, -6.474820137023926, 98.6463623046875, -57.57575607299805, 24.007936477661133 ]
3.266667
98
0
98
0
[ 15.47708511352539, -40.27149200439453, -5.244444370269775, 92.89039611816406, -48.0384521484375, 2.511415481567383, -14.411765098571777, -41.37353515625, -12.035794258117676, 99.9150390625, -59.82095718383789, 25.294580459594727 ]
[ 14.417744636535645, -39.70149230957031, 2.4866786003112793, 89.7349624633789, -48.84445571899414, 3.394625186920166, -11.89591121673584, -40.817203521728516, -6.474820137023926, 98.6463623046875, -57.78474426269531, 24.206348419189453 ]
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": 150,
    "total_frames": 104919,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 10000,
    "video_files_size_in_mb": 50000,
    "fps": 30,
    "splits": {
        "train": "0:150"
    },
    "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.up": {
            "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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                3
            ],
            "names": [
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                "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",
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                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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