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int64
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95
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[ 20.972166061401367, 23.320301055908203, 58.52173614501953, -44.64235305786133, -43.66513442993164, 2.9269485473632812, -17.882041931152344, -45.61811065673828, 97.87427520751953, -0.7461509704589844, 59.87031936645508, 97.75546264648438 ]
[ 21.79878044128418, 17.726316452026367, 68.22682189941406, -43.31505584716797, -44.17582321166992, 2.421652317047119, -17.01972198486328, -48.25291061401367, 98.2014389038086, 7.057823181152344, 59.267398834228516, 98.2078857421875 ]
3.2
96
0
96
0
[ 21.009241104125977, 24.232311248779297, 57.31260299682617, -44.8117561340332, -43.682769775390625, 2.948528289794922, -17.96920394897461, -45.08769607543945, 97.88135528564453, -1.6348342895507812, 59.904850006103516, 97.74630737304688 ]
[ 21.79878044128418, 19.157894134521484, 66.60665893554688, -43.6524658203125, -44.17582321166992, 2.421652317047119, -17.01972198486328, -47.50415802001953, 98.11151123046875, 5.69727897644043, 59.267398834228516, 98.2078857421875 ]
3.233333
97
0
97
0
[ 21.048189163208008, 24.920398712158203, 56.502052307128906, -45.01125717163086, -43.69343185424805, 2.970914840698242, -18.04313087463379, -44.56883239746094, 97.88706970214844, -2.54107666015625, 59.9182243347168, 97.74241638183594 ]
[ 21.79878044128418, 20.75789451599121, 64.62646484375, -44.15858459472656, -44.17582321166992, 2.421652317047119, -17.01972198486328, -46.589019775390625, 98.11151123046875, 4.166666507720947, 59.267398834228516, 98.2078857421875 ]
3.266667
98
0
98
0
[ 21.068628311157227, 25.566024780273438, 55.7988395690918, -45.249488830566406, -43.72145080566406, 2.9949874877929688, -18.118976593017578, -44.21101760864258, 97.89590454101562, -3.1711044311523438, 59.940773010253906, 97.74638366699219 ]
[ 21.79878044128418, 22.44210433959961, 62.646263122558594, -44.580345153808594, -44.17582321166992, 2.421652317047119, -17.01972198486328, -45.75707244873047, 98.11151123046875, 2.8061225414276123, 59.267398834228516, 98.2078857421875 ]
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": 2,
    "total_frames": 853,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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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