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Datasets:
ChihHanShen
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bimanual_so101_pickplace_95

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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float32
0
17.6
frame_index
int64
0
529
episode_index
int64
0
94
index
int64
0
30k
task_index
int64
0
0
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[ -19.824174880981445, -6.989010810852051, 77.05494689941406, -49.05494689941406, -82.06593322753906, 0.9916094541549683, -10.15384578704834, -100.17582702636719, 96.83516693115234, -100.79120635986328, 2.5054945945739746, 1.3559322357177734 ]
[ -18.769229888916016, -14.10988998413086, 83.6043930053711, -45.80219650268555, -64.21977996826172, 1.244269847869873, -10.725275039672852, -101.23076629638672, 96.48351287841797, -101.0988998413086, 2.4175825119018555, 1.826483964920044 ]
3.066667
92
0
92
0
[ -20, -4.9670329093933105, 76.43955993652344, -50.10988998413086, -82.76923370361328, 0.9916094541549683, -10.15384578704834, -100.0879135131836, 96.83516693115234, -100.79120635986328, 2.5054945945739746, 1.3559322357177734 ]
[ -18.769229888916016, -12.087912559509277, 82.37362670898438, -46.41758346557617, -65.53845977783203, 1.244269847869873, -10.725275039672852, -101.23076629638672, 96.48351287841797, -101.0988998413086, 2.4175825119018555, 1.826483964920044 ]
3.1
93
0
93
0
[ -20, -3.0329670906066895, 75.9120864868164, -50.901100158691406, -83.38461303710938, 0.9916094541549683, -10.15384578704834, -100.0879135131836, 96.83516693115234, -100.79120635986328, 2.5054945945739746, 1.3559322357177734 ]
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3.133333
94
0
94
0
[ -20, -1.274725317955017, 75.20879364013672, -51.42856979370117, -84.17582702636719, 0.9916094541549683, -10.15384578704834, -100.0879135131836, 96.83516693115234, -100.79120635986328, 2.5054945945739746, 1.3559322357177734 ]
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3.166667
95
0
95
0
[ -20, 0.3076923191547394, 74.24176025390625, -51.42856979370117, -84.79120635986328, 0.9916094541549683, -10.15384578704834, -100.0879135131836, 96.83516693115234, -100.79120635986328, 2.5054945945739746, 1.3559322357177734 ]
[ -18.769229888916016, -5.5824174880981445, 79.64835357666016, -48.879119873046875, -69.4065933227539, 1.244269847869873, -10.725275039672852, -101.23076629638672, 96.48351287841797, -101.0988998413086, 2.4175825119018555, 1.826483964920044 ]
3.2
96
0
96
0
[ -20, 1.9780219793319702, 72.92308044433594, -51.516483306884766, -85.23076629638672, 0.9916094541549683, -10.15384578704834, -100.0879135131836, 96.83516693115234, -100.79120635986328, 2.5054945945739746, 1.3559322357177734 ]
[ -18.94505500793457, -3.6483516693115234, 78.76923370361328, -49.4945068359375, -70.72527313232422, 1.244269847869873, -10.725275039672852, -101.23076629638672, 96.48351287841797, -101.0988998413086, 2.4175825119018555, 1.826483964920044 ]
3.233333
97
0
97
0
[ -20, 3.5604395866394043, 71.69230651855469, -51.60439682006836, -85.75823974609375, 0.9916094541549683, -10.15384578704834, -100.0879135131836, 96.83516693115234, -100.79120635986328, 2.5054945945739746, 1.3559322357177734 ]
[ -19.208791732788086, -1.802197813987732, 77.89010620117188, -49.758243560791016, -71.95604705810547, 1.244269847869873, -10.725275039672852, -101.23076629638672, 96.48351287841797, -101.0988998413086, 2.4175825119018555, 1.826483964920044 ]
3.266667
98
0
98
0
[ -20, 5.05494499206543, 70.54945373535156, -51.60439682006836, -86.46154022216797, 0.9916094541549683, -10.15384578704834, -100.0879135131836, 96.83516693115234, -100.79120635986328, 2.5054945945739746, 1.3559322357177734 ]
[ -19.296703338623047, -0.04395604506134987, 76.83516693115234, -50.10988998413086, -73.18681335449219, 1.244269847869873, -10.725275039672852, -101.23076629638672, 96.48351287841797, -101.0988998413086, 2.4175825119018555, 1.826483964920044 ]
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",
    "fps": 30,
    "features": {
        "action": {
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                "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": [
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        },
        "observation.state": {
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            "names": [
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                "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"
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        },
        "observation.images.left_ego_centric": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
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        },
        "observation.images.right_third_person": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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    },
    "total_episodes": 95,
    "total_frames": 29958,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "bi_so_follower",
    "splits": {
        "train": "0:95"
    }
}

Citation

BibTeX:

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License:
apache-2.0
Number of rows:
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Total file size:
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Models trained or fine-tuned on ChihHanShen/bimanual_so101_pickplace_95