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float32
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18.1
frame_index
int64
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542
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int64
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49
index
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3
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94
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[ 6.862385272979736, 53.37007141113281, -57.584014892578125, 73.35047149658203, -6.276371479034424, 20.3389835357666, -14.64404296875, 46.30645751953125, -42.009132385253906, 61.17747497558594, 13.236459732055664, 23.909530639648438 ]
[ 7.119386672973633, 53.98155975341797, -53.43580627441406, 75.05303192138672, -6.186374187469482, 20.825016021728516, -15.24434757232666, 48.132606506347656, -38.21138381958008, 63.552188873291016, 13.136589050292969, 23.513870239257812 ]
3.166667
95
0
95
0
[ 6.862385272979736, 53.539634704589844, -57.584014892578125, 73.26477813720703, -6.276371479034424, 20.3389835357666, -14.64404296875, 46.30645751953125, -42.009132385253906, 61.0068244934082, 13.236459732055664, 23.909530639648438 ]
[ 7.119386672973633, 54.14920425415039, -53.43580627441406, 74.96817779541016, -6.186374187469482, 20.825016021728516, -15.24434757232666, 48.30046081542969, -38.21138381958008, 63.04713821411133, 13.136589050292969, 23.513870239257812 ]
3.2
96
0
96
0
[ 6.862385272979736, 53.79397964477539, -57.584014892578125, 73.17909240722656, -6.276371479034424, 20.25423812866211, -14.64404296875, 46.3908805847168, -42.009132385253906, 61.0068244934082, 13.236459732055664, 23.82875633239746 ]
[ 7.046367168426514, 54.31684875488281, -53.43580627441406, 74.62876892089844, -6.186374187469482, 20.825016021728516, -15.24434757232666, 48.30046081542969, -38.21138381958008, 62.62626266479492, 13.136589050292969, 23.513870239257812 ]
3.233333
97
0
97
0
[ 6.935780048370361, 54.04832458496094, -57.584014892578125, 73.09339904785156, -6.276371479034424, 20.25423812866211, -14.64404296875, 46.3908805847168, -42.009132385253906, 61.0068244934082, 13.183619499206543, 23.82875633239746 ]
[ 7.046367168426514, 54.484493255615234, -53.43580627441406, 74.45906066894531, -6.186374187469482, 20.825016021728516, -15.171407699584961, 48.30046081542969, -38.21138381958008, 62.2895622253418, 13.136589050292969, 23.513870239257812 ]
3.266667
98
0
98
0
[ 6.935780048370361, 54.302669525146484, -57.584014892578125, 73.09339904785156, -6.276371479034424, 20.169490814208984, -14.64404296875, 46.3908805847168, -41.917808532714844, 61.0068244934082, 13.183619499206543, 23.82875633239746 ]
[ 7.046367168426514, 54.81978225708008, -53.43580627441406, 74.37420654296875, -6.186374187469482, 20.75848388671875, -15.098467826843262, 48.30046081542969, -38.21138381958008, 61.86868667602539, 13.136589050292969, 23.513870239257812 ]
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": 50,
    "total_frames": 20084,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.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.above": {
            "dtype": "video",
            "shape": [
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                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
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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BibTeX:

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