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float32
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175
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int64
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5.24k
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int64
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92
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[ -0.9634971618652344, -97.7052993774414, 89.67707824707031, 69.86909484863281, -0.9812679290771484, 1.71295166015625, -2.5822525024414062, -98.40223693847656, 93.1728286743164, 72.48977661132812, 2.093480348587036, 0.96893310546875 ]
[ -0.47358834743499756, -99.4102783203125, 94.22903442382812, 69.63087463378906, -1.5873016119003296, 1.9741320610046387, -2.571638584136963, -98.14814758300781, 95.90908813476562, 71.44075012207031, 1.9669551849365234, 1.699524164199829 ]
3.1
93
0
93
0
[ -0.7544593811035156, -95.92036437988281, 86.23336029052734, 70.5416488647461, -0.8966665267944336, 1.8500232696533203, -2.553180694580078, -98.33262634277344, 93.20621490478516, 72.49874877929688, 2.02811598777771, 0.8676128387451172 ]
[ -0.47358834743499756, -98.820556640625, 93.41749572753906, 69.63087463378906, -1.5873016119003296, 1.9741320610046387, -2.571638584136963, -98.14814758300781, 95.90908813476562, 71.44075012207031, 1.9669551849365234, 1.699524164199829 ]
3.133333
94
0
94
0
[ -0.48404693603515625, -94.8851318359375, 84.68595886230469, 70.59204864501953, -0.7693815231323242, 1.9576435089111328, -2.5253257751464844, -98.392578125, 93.44522094726562, 72.48758697509766, 2.0008509159088135, 0.786651611328125 ]
[ -0.47358834743499756, -98.39932250976562, 92.42560577392578, 69.63087463378906, -1.5873016119003296, 1.9741320610046387, -2.645113945007324, -98.2323226928711, 95.90908813476562, 71.5260009765625, 1.9669551849365234, 1.699524164199829 ]
3.166667
95
0
95
0
[ -0.19466400146484375, -93.12036895751953, 81.64265441894531, 71.41018676757812, -0.591008186340332, 2.2739391326904297, -2.5264968872070312, -98.21261596679688, 93.53785705566406, 72.39032745361328, 1.9385631084442139, 0.7677822113037109 ]
[ -0.47358834743499756, -98.06233978271484, 91.9747543334961, 69.63087463378906, -1.5873016119003296, 1.9741320610046387, -2.645113945007324, -98.2323226928711, 95.90908813476562, 71.5260009765625, 1.9669551849365234, 1.699524164199829 ]
3.2
96
0
96
0
[ 0.3035545349121094, -91.6242446899414, 79.6763687133789, 71.38338470458984, -0.36810779571533203, 2.570741653442383, -2.565095901489258, -98.30058288574219, 93.54570007324219, 72.43006896972656, 1.9242427349090576, 0.6715450286865234 ]
[ -0.47358834743499756, -96.54591369628906, 90.35166931152344, 69.79866027832031, -1.5384615659713745, 1.9741320610046387, -2.645113945007324, -98.31649780273438, 95.90908813476562, 71.61125183105469, 1.9669551849365234, 1.4955812692642212 ]
3.233333
97
0
97
0
[ 0.6811180114746094, -90.20378112792969, 77.79657745361328, 71.58873748779297, -0.12259578704833984, 2.922658920288086, -2.5640335083007812, -98.18114471435547, 93.56756591796875, 72.47759246826172, 1.901489496231079, 0.6245708465576172 ]
[ -0.40072858333587646, -95.61920928955078, 88.18755340576172, 70.13423156738281, -1.4896215200424194, 1.9741320610046387, -2.645113945007324, -98.40067291259766, 95.90908813476562, 71.61125183105469, 1.9669551849365234, 1.4276002645492554 ]
3.266667
98
0
98
0
[ 1.7933330535888672, -87.23552703857422, 74.76551055908203, 71.638916015625, 0.597292423248291, 3.8129138946533203, -2.5658016204833984, -98.16029357910156, 93.74320220947266, 72.41331481933594, 1.8857786655426025, 0.49042701721191406 ]
[ -0.40072858333587646, -94.52400970458984, 85.84310150146484, 70.63758087158203, -1.3919414281845093, 1.9741320610046387, -2.645113945007324, -98.40067291259766, 95.90908813476562, 71.61125183105469, 1.9669551849365234, 1.4276002645492554 ]
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": 28114,
    "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.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-left": {
            "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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