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float32
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219
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int64
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6.58k
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int64
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int64
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6.58k
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3.066667
92
0
92
0
[ 9.91086196899414, 40.6142578125, -52.1051139831543, 95.63224792480469, 4.976404190063477, 3.232996940612793, -12.753135681152344, 28.71234130859375, -32.1155891418457, 91.00025177001953, -5.683778762817383, 5.916840553283691 ]
[ 10.768099784851074, 39.350486755371094, -49.36936950683594, 95.6025390625, 4.609743118286133, 1.2524720430374146, -13.106973648071289, 25.463743209838867, -30.21582794189453, 91.11299133300781, -6.12777042388916, 4.718217372894287 ]
3.1
93
0
93
0
[ 9.481025695800781, 39.88481140136719, -51.25579071044922, 95.70225524902344, 5.117527008056641, 7.812359809875488, -12.826465606689453, 29.510360717773438, -31.69219207763672, 91.10616302490234, -5.649567127227783, 9.164763450622559 ]
[ 10.694597244262695, 40.27836227416992, -49.5495491027832, 95.6025390625, 4.7668938636779785, 1.2524720430374146, -13.106973648071289, 26.728498458862305, -30.21582794189453, 91.11299133300781, -6.023468017578125, 4.652686595916748 ]
3.133333
94
0
94
0
[ 9.407611846923828, 39.7318115234375, -50.2621955871582, 95.7730712890625, 5.731489181518555, 13.72476863861084, -12.937816619873047, 29.224441528320312, -30.997180938720703, 91.43751525878906, -5.792649269104004, 13.22579574584961 ]
[ 10.547593116760254, 41.03753662109375, -49.72972869873047, 95.6025390625, 4.819277286529541, 1.5161503553390503, -13.033953666687012, 27.908937454223633, -30.21582794189453, 91.11299133300781, -5.971316814422607, 4.652686595916748 ]
3.166667
95
0
95
0
[ 9.382015228271484, 39.239013671875, -49.46860885620117, 95.88885498046875, 5.938058853149414, 20.314367294311523, -13.123889923095703, 29.032241821289062, -30.37987518310547, 92.00270080566406, -6.1298933029174805, 17.781574249267578 ]
[ 10.327085494995117, 41.03753662109375, -49.72972869873047, 95.6025390625, 4.819277286529541, 2.307185173034668, -13.033953666687012, 29.00505828857422, -30.21582794189453, 91.11299133300781, -5.91916561126709, 5.504587173461914 ]
3.2
96
0
96
0
[ 9.63161849975586, 38.72819519042969, -48.776031494140625, 96.27962493896484, 6.164846420288086, 24.945091247558594, -13.146080017089844, 28.7974853515625, -30.306583404541016, 92.136474609375, -6.266223907470703, 21.918363571166992 ]
[ 10.106578826904297, 41.03753662109375, -49.72972869873047, 95.6025390625, 4.924044132232666, 4.680290222167969, -13.106973648071289, 29.595277786254883, -30.21582794189453, 91.11299133300781, -5.91916561126709, 7.470510959625244 ]
3.233333
97
0
97
0
[ 9.721122741699219, 38.129974365234375, -48.30553436279297, 96.31539154052734, 6.366020202636719, 28.86501693725586, -13.457107543945312, 29.043411254882812, -29.403778076171875, 92.00118255615234, -6.457704544067383, 25.795082092285156 ]
[ 9.88607120513916, 41.03753662109375, -49.5495491027832, 95.6025390625, 5.343111515045166, 7.910349369049072, -13.106973648071289, 29.763912200927734, -30.125898361206055, 91.11299133300781, -5.91916561126709, 10.091743469238281 ]
3.266667
98
0
98
0
[ 9.9407958984375, 37.58245849609375, -47.474483489990234, 96.14013671875, 6.663270950317383, 31.725723266601562, -13.56308364868164, 28.72119140625, -27.91558837890625, 91.74079895019531, -6.5351738929748535, 29.040056228637695 ]
[ 9.66556453704834, 41.03753662109375, -49.18918991088867, 95.6025390625, 5.6050286293029785, 11.865524291992188, -13.033953666687012, 29.679595947265625, -29.946043014526367, 91.28226470947266, -6.023468017578125, 13.630406379699707 ]
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": 6583,
    "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.wrist": {
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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