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README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so101_two_followers",
+    "total_episodes": 5,
+    "total_frames": 11454,
+    "total_tasks": 1,
+    "total_videos": 20,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:5"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "right_arm.shoulder_pan.pos",
+                "right_arm.shoulder_lift.pos",
+                "right_arm.elbow_flex.pos",
+                "right_arm.wrist_flex.pos",
+                "right_arm.wrist_roll.pos",
+                "right_arm.gripper.pos",
+                "right_arm.shoulder_pan.vel",
+                "right_arm.shoulder_lift.vel",
+                "right_arm.elbow_flex.vel",
+                "right_arm.wrist_flex.vel",
+                "right_arm.wrist_roll.vel",
+                "right_arm.gripper.vel",
+                "left_arm.shoulder_pan.pos",
+                "left_arm.shoulder_lift.pos",
+                "left_arm.elbow_flex.pos",
+                "left_arm.wrist_flex.pos",
+                "left_arm.wrist_roll.pos",
+                "left_arm.gripper.pos",
+                "left_arm.shoulder_pan.vel",
+                "left_arm.shoulder_lift.vel",
+                "left_arm.elbow_flex.vel",
+                "left_arm.wrist_flex.vel",
+                "left_arm.wrist_roll.vel",
+                "left_arm.gripper.vel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                36
+            ],
+            "names": [
+                "right_arm.shoulder_pan.pos",
+                "right_arm.shoulder_lift.pos",
+                "right_arm.elbow_flex.pos",
+                "right_arm.wrist_flex.pos",
+                "right_arm.wrist_roll.pos",
+                "right_arm.gripper.pos",
+                "right_arm.shoulder_pan.vel",
+                "right_arm.shoulder_lift.vel",
+                "right_arm.elbow_flex.vel",
+                "right_arm.wrist_flex.vel",
+                "right_arm.wrist_roll.vel",
+                "right_arm.gripper.vel",
+                "right_arm.shoulder_pan.load",
+                "right_arm.shoulder_lift.load",
+                "right_arm.elbow_flex.load",
+                "right_arm.wrist_flex.load",
+                "right_arm.wrist_roll.load",
+                "right_arm.gripper.load",
+                "left_arm.shoulder_pan.pos",
+                "left_arm.shoulder_lift.pos",
+                "left_arm.elbow_flex.pos",
+                "left_arm.wrist_flex.pos",
+                "left_arm.wrist_roll.pos",
+                "left_arm.gripper.pos",
+                "left_arm.shoulder_pan.vel",
+                "left_arm.shoulder_lift.vel",
+                "left_arm.elbow_flex.vel",
+                "left_arm.wrist_flex.vel",
+                "left_arm.wrist_roll.vel",
+                "left_arm.gripper.vel",
+                "left_arm.shoulder_pan.load",
+                "left_arm.shoulder_lift.load",
+                "left_arm.elbow_flex.load",
+                "left_arm.wrist_flex.load",
+                "left_arm.wrist_roll.load",
+                "left_arm.gripper.load"
+            ]
+        },
+        "observation.images.global1": {
+            "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.global2": {
+            "dtype": "video",
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+                480,
+                640,
+                3
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+            "names": [
+                "height",
+                "width",
+                "channels"
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+                "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_arm.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+                "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.left_arm.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": {
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+            "shape": [
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+            "names": null
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+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "episode_index": {
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+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```

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meta/episodes.jsonl

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+{"episode_index":0,"tasks":["Fold the T-shirt in front of you."],"length":1796}
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+{"episode_index":2,"tasks":["Fold the T-shirt in front of you."],"length":3014}
+{"episode_index":3,"tasks":["Fold the T-shirt in front of you."],"length":3052}
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meta/episodes_stats.jsonl

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