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float32
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18.7
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int64
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[ 9.13742733001709, 19.616025924682617, 11.967727661132812, 61.71452331542969, -0.7081807255744934, 45.149253845214844, -36.35704040527344, 23.825225830078125, -43.07282257080078, 89.85200500488281, 22.490842819213867, 34.53841018676758 ]
3.133333
94
0
94
0
[ 10.423067092895508, 22.90129852294922, 6.868419647216797, 61.31181335449219, -1.0514826774597168, 47.36328125, -36.93608093261719, 27.501466751098633, -50.90489959716797, 89.49615478515625, 23.51955795288086, 35.729408264160156 ]
[ 9.429824829101562, 20.868114471435547, 10.533392906188965, 61.71452331542969, -0.7081807255744934, 45.83333206176758, -36.50217819213867, 25.55647087097168, -44.93783187866211, 89.85200500488281, 22.539682388305664, 34.7966423034668 ]
3.166667
95
0
95
0
[ 10.592094421386719, 23.094974517822266, 6.455530166625977, 61.33145523071289, -1.0396091938018799, 46.453346252441406, -37.267459869384766, 27.727781295776367, -51.03318786621094, 89.29265594482422, 23.637523651123047, 35.193275451660156 ]
[ 9.868420600891113, 22.036727905273438, 10.174809455871582, 61.71452331542969, -0.7081807255744934, 46.20646667480469, -36.647315979003906, 26.545753479003906, -46.35879135131836, 89.85200500488281, 22.930402755737305, 34.861202239990234 ]
3.2
96
0
96
0
[ 10.576555252075195, 23.699913024902344, 5.912099838256836, 61.349891662597656, -1.0618793964385986, 47.10314178466797, -37.29194641113281, 28.50822639465332, -51.9036865234375, 89.20176696777344, 23.732467651367188, 35.47943878173828 ]
[ 10.160819053649902, 22.370616912841797, 10.085164070129395, 61.71452331542969, -0.7081807255744934, 46.393035888671875, -36.574745178222656, 27.040395736694336, -46.89165115356445, 89.85200500488281, 23.076923370361328, 34.925758361816406 ]
3.233333
97
0
97
0
[ 10.594867706298828, 24.032005310058594, 5.422939300537109, 61.34425735473633, -1.0613428354263306, 46.37674331665039, -37.46651077270508, 28.58685874938965, -52.194969177246094, 89.12457275390625, 23.800113677978516, 34.87798309326172 ]
[ 10.30701732635498, 22.87145233154297, 9.636934280395508, 61.71452331542969, -0.7081807255744934, 46.64179229736328, -36.50217819213867, 27.782358169555664, -47.690940856933594, 89.85200500488281, 23.321123123168945, 35.054874420166016 ]
3.266667
98
0
98
0
[ 10.654329299926758, 24.138248443603516, 5.486259460449219, 61.367740631103516, -1.0542843341827393, 46.3552360534668, -37.50072479248047, 28.899160385131836, -52.488677978515625, 89.04566955566406, 23.852890014648438, 34.85159683227539 ]
[ 10.30701732635498, 23.288814544677734, 9.099059104919434, 61.71452331542969, -0.7081807255744934, 46.64179229736328, -36.71988296508789, 28.112117767333984, -48.3126106262207, 89.85200500488281, 23.418804168701172, 35.054874420166016 ]
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_so100_follower",
    "total_episodes": 20,
    "total_frames": 11006,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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.arm_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.arm_right": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "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
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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