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1.6
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1.7
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1.8
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1.9
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2
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95
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[ 17.064220428466797, -20.317726135253906, 31.258337020874023, 58.65302658081055, -13.668315887451172, 10.054987907409668, -23.966337203979492, -16.948453903198242, 26.95259666442871, 66.96774291992188, -90.6429672241211, 34.1732292175293 ]
[ 15.980355262756348, -19.98324203491211, 32.14445114135742, 59.629940032958984, -13.962458610534668, 9.573770523071289, -24.05987548828125, -16.493560791015625, 29.910715103149414, 66.91983032226562, -90.98591613769531, 33.04692840576172 ]
3.2
96
0
96
0
[ 17.504587173461914, -20.317726135253906, 31.436193466186523, 58.65302658081055, -13.668315887451172, 10.054987907409668, -23.966337203979492, -16.86598014831543, 25.86907386779785, 68, -90.5906982421875, 34.1732292175293 ]
[ 16.055912017822266, -19.98324203491211, 32.14445114135742, 59.629940032958984, -13.962458610534668, 9.704917907714844, -24.05987548828125, -16.493560791015625, 29.910715103149414, 66.91983032226562, -90.98591613769531, 33.245208740234375 ]
3.233333
97
0
97
0
[ 17.871559143066406, -20.317726135253906, 31.614049911499023, 58.65302658081055, -13.668315887451172, 10.054987907409668, -23.966337203979492, -16.783504486083984, 24.604965209960938, 68.94623565673828, -90.5906982421875, 34.1732292175293 ]
[ 16.1314697265625, -19.98324203491211, 32.14445114135742, 59.629940032958984, -13.962458610534668, 9.704917907714844, -24.05987548828125, -16.493560791015625, 29.821428298950195, 66.91983032226562, -90.98591613769531, 33.44348907470703 ]
3.266667
98
0
98
0
[ 18.23853302001953, -20.317726135253906, 31.614049911499023, 58.65302658081055, -13.668315887451172, 10.054987907409668, -23.893157958984375, -16.783504486083984, 23.431150436401367, 69.63440704345703, -90.5906982421875, 34.1732292175293 ]
[ 16.35814094543457, -19.98324203491211, 32.14445114135742, 59.629940032958984, -13.962458610534668, 9.770491600036621, -24.05987548828125, -16.493560791015625, 29.196428298950195, 67.1729965209961, -90.93470001220703, 33.50958251953125 ]
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": 5,
    "total_frames": 7986,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.images.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
            }
        },
        "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.front": {
            "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": {
            "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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