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float32
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35.8
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int64
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1.07k
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3
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3.1
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3.133333
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3.166667
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95
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[ 20.615020751953125, -8.732612609863281, 50.20205307006836, -56.164676666259766, -43.12946701049805, 2.957479476928711, -20.147541046142578, -18.64512062072754, 97.9946517944336, -65.35050201416016, 48.27228546142578, 98.66822052001953 ]
[ 22.02743911743164, 5.852631568908691, 46.264625549316406, -54.11219024658203, -43.83394241333008, 3.276353359222412, -18.84587287902832, -17.637271881103516, 98.2014389038086, -62.15986251831055, 47.741146087646484, 98.06451416015625 ]
3.2
96
0
96
0
[ 20.482858657836914, -10.176029205322266, 51.919456481933594, -56.155128479003906, -43.03977966308594, 2.8779144287109375, -20.354156494140625, -18.7094669342041, 97.96756744384766, -65.50981140136719, 48.26770782470703, 98.71733856201172 ]
[ 21.95121955871582, 3.8315789699554443, 47.704769134521484, -54.3652458190918, -43.68742370605469, 3.276353359222412, -18.99196434020996, -17.637271881103516, 98.2014389038086, -62.58503341674805, 47.741146087646484, 98.06451416015625 ]
3.233333
97
0
97
0
[ 19.94240951538086, -11.433441162109375, 53.94321060180664, -56.355167388916016, -42.93582534790039, 2.832122802734375, -20.55291748046875, -18.558483123779297, 97.72698211669922, -66.10823822021484, 48.21908187866211, 98.70849609375 ]
[ 21.72256088256836, 1.4736841917037964, 49.50495147705078, -54.53395080566406, -43.5409049987793, 3.276353359222412, -19.211103439331055, -17.637271881103516, 98.2014389038086, -63.01020431518555, 47.741146087646484, 98.06451416015625 ]
3.266667
98
0
98
0
[ 19.81760597229004, -12.548110961914062, 55.18286895751953, -56.60776901245117, -42.84463119506836, 2.840608596801758, -20.672531127929688, -18.305809020996094, 97.48116302490234, -66.7221450805664, 48.20951461791992, 98.72269439697266 ]
[ 21.417682647705078, -0.378947377204895, 50.94509506225586, -54.53395080566406, -43.44322204589844, 3.276353359222412, -19.430240631103516, -17.637271881103516, 98.2014389038086, -63.350341796875, 47.741146087646484, 98.06451416015625 ]
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": 9,
    "total_frames": 7774,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:9"
    },
    "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.top_global": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_arm": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_arm": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "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",
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                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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