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[ -6.273062705993652, -40.76595687866211, 23.476701736450195, 84.9834976196289, -50.20854949951172, 2.792553186416626, -6.8276824951171875, 8.749466896057129, 17.222963333129883, 51.34687042236328, -35.415592193603516, 12.449528694152832 ]
3.1
93
0
93
0
[ -7.069219589233398, -40.65478515625, 16.69675064086914, 85.39468383789062, -50.59070587158203, 2.021772861480713, -9.261260986328125, 9.556730270385742, 5.582849502563477, 50.14811706542969, -34.82971954345703, 15.222482681274414 ]
[ -6.273062705993652, -40.76595687866211, 23.476701736450195, 84.9834976196289, -50.20854949951172, 2.792553186416626, -6.920576095581055, 9.432352066040039, 16.42189598083496, 51.34687042236328, -35.415592193603516, 13.055181503295898 ]
3.133333
94
0
94
0
[ -7.069219589233398, -40.65478515625, 16.69675064086914, 85.39468383789062, -50.59070587158203, 2.021772861480713, -9.477477073669434, 9.882065773010254, 5.2255473136901855, 50.14811706542969, -34.82971954345703, 15.222482681274414 ]
[ -6.273062705993652, -40.76595687866211, 23.476701736450195, 84.9834976196289, -50.20854949951172, 2.792553186416626, -7.199256896972656, 10.11523723602295, 15.531820297241211, 51.34687042236328, -35.415592193603516, 13.391655921936035 ]
3.166667
95
0
95
0
[ -6.99558162689209, -40.65478515625, 16.69675064086914, 85.39468383789062, -50.59070587158203, 2.021772861480713, -9.765766143798828, 10.207401275634766, 4.68959379196167, 50.14811706542969, -34.82971954345703, 15.222482681274414 ]
[ -6.273062705993652, -40.76595687866211, 23.476701736450195, 84.9834976196289, -50.20854949951172, 2.792553186416626, -7.385044097900391, 10.627400398254395, 14.819759368896484, 51.34687042236328, -35.415592193603516, 13.728129386901855 ]
3.2
96
0
96
0
[ -6.99558162689209, -40.65478515625, 16.69675064086914, 85.39468383789062, -50.59070587158203, 2.021772861480713, -10.342342376708984, 10.614070892333984, 4.153639793395996, 50.14811706542969, -34.82971954345703, 15.222482681274414 ]
[ -6.273062705993652, -40.76595687866211, 23.476701736450195, 84.9834976196289, -50.20854949951172, 2.792553186416626, -7.663724899291992, 11.139564514160156, 14.107699394226074, 51.34687042236328, -35.415592193603516, 13.997307777404785 ]
3.233333
97
0
97
0
[ -6.99558162689209, -40.65478515625, 16.69675064086914, 85.39468383789062, -50.59070587158203, 2.021772861480713, -10.91891860961914, 10.939406394958496, 3.796337604522705, 50.14811706542969, -34.88132095336914, 15.222482681274414 ]
[ -6.273062705993652, -40.76595687866211, 23.476701736450195, 84.9834976196289, -50.20854949951172, 2.792553186416626, -7.942406177520752, 11.651728630065918, 13.48464584350586, 51.34687042236328, -35.415592193603516, 14.19919204711914 ]
3.266667
98
0
98
0
[ -6.99558162689209, -40.65478515625, 16.69675064086914, 85.39468383789062, -50.59070587158203, 2.021772861480713, -11.567567825317383, 11.1834077835083, 3.5283608436584473, 50.14811706542969, -34.88132095336914, 15.222482681274414 ]
[ -6.273062705993652, -40.76595687866211, 23.476701736450195, 84.9834976196289, -50.20854949951172, 2.792553186416626, -8.313980102539062, 11.993170738220215, 12.950600624084473, 51.34687042236328, -35.415592193603516, 14.333782196044922 ]
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": 132,
    "total_frames": 199714,
    "total_tasks": 3,
    "chunks_size": 1000,
    "data_files_size_in_mb": 10000,
    "video_files_size_in_mb": 50000,
    "fps": 30,
    "splits": {
        "train": "0:132"
    },
    "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,
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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
            }
        },
        "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.up": {
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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": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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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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