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float32
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33.9
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int64
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1.02k
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3
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3.1
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95
0
[ 20.225379943847656, 8.31943130493164, 32.28816223144531, -56.41045379638672, -46.23844909667969, 3.5111656188964844, -10.716705322265625, -14.640005111694336, 98.4600830078125, -62.98951721191406, 54.960838317871094, 99.59327697753906 ]
[ 21.57012176513672, 27.410526275634766, 25.112510681152344, -52.509490966796875, -46.42246627807617, 2.8490028381347656, -9.642074584960938, -14.975041389465332, 98.8309326171875, -57.312923431396484, 54.18803405761719, 98.78136444091797 ]
3.2
96
0
96
0
[ 19.937238693237305, 5.9514617919921875, 34.400169372558594, -56.618019104003906, -46.13869857788086, 3.5501861572265625, -10.963563919067383, -14.335653305053711, 98.38212585449219, -63.784423828125, 55.01707458496094, 99.56419372558594 ]
[ 21.57012176513672, 25.473684310913086, 26.822681427001953, -53.01560592651367, -46.42246627807617, 2.8490028381347656, -9.642074584960938, -14.64226245880127, 98.8309326171875, -58.33333206176758, 54.38339614868164, 98.78136444091797 ]
3.233333
97
0
97
0
[ 19.75600814819336, 4.050083160400391, 36.6946907043457, -56.86207580566406, -46.0959358215332, 3.508546829223633, -11.049942016601562, -14.047183990478516, 98.27037048339844, -64.51654815673828, 55.05921936035156, 99.56098937988281 ]
[ 21.417682647705078, 22.105262756347656, 30.063005447387695, -54.027835845947266, -46.42246627807617, 2.8490028381347656, -9.715120315551758, -14.226289749145508, 98.8309326171875, -59.86394500732422, 54.52991485595703, 98.78136444091797 ]
3.266667
98
0
98
0
[ 19.43142318725586, 1.7522544860839844, 39.12356185913086, -56.896697998046875, -46.0211296081543, 3.4111976623535156, -11.109626770019531, -13.966387748718262, 98.10916900634766, -64.66084289550781, 55.167236328125, 99.51265716552734 ]
[ 21.189023971557617, 19.831579208374023, 32.22322082519531, -54.44960021972656, -46.42246627807617, 2.8490028381347656, -9.715120315551758, -14.059900283813477, 98.8309326171875, -60.62925338745117, 54.627593994140625, 98.78136444091797 ]
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": 1,
    "total_frames": 1017,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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