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Tasks:
Robotics
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Size:
10K - 100K
Tags:
LeRobot
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float32
0
34.4
frame_index
int64
0
1.03k
episode_index
int64
0
50
index
int64
0
36.9k
task_index
int64
0
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2.533333
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2.6
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2.633333
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2.666667
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2.7
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2.8
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2.833333
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2.9
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3
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3.033333
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[ -2.857142925262451, 0.07326007634401321, 2.3199024200439453, -14.334554672241211, -6.373626232147217, 1.5843429565429688, 0.46312788128852844, -96.79872131347656, 96.54154205322266, 56.21970748901367, -0.17094017565250397, 1.075911521911621 ]
3.066667
92
0
92
0
[ -2.951763868331909, -0.3174603283405304, 2.5152626037597656, -13.894993782043457, -6.422466278076172, 0.9523809552192688, 0.17876295745372772, -100, 92.56017303466797, 57.40365219116211, -0.3174603283405304, 0.9608277678489685 ]
[ -2.857142925262451, 0.07326007634401321, 2.3199024200439453, -14.334554672241211, -6.373626232147217, 1.5843429565429688, 0.46312788128852844, -96.79872131347656, 95.8667221069336, 56.30048370361328, -0.17094017565250397, 1.075911521911621 ]
3.1
93
0
93
0
[ -2.951763868331909, -0.3174603283405304, 2.5152626037597656, -13.894993782043457, -6.422466278076172, 0.9523809552192688, 0.17876295745372772, -100, 91.9474868774414, 57.40365219116211, -0.3174603283405304, 0.9608277678489685 ]
[ -2.857142925262451, 0.07326007634401321, 2.3199024200439453, -14.334554672241211, -6.373626232147217, 1.5843429565429688, 0.3918774425983429, -96.79872131347656, 95.10755157470703, 56.30048370361328, -0.17094017565250397, 1.075911521911621 ]
3.133333
94
0
94
0
[ -2.951763868331909, -0.3174603283405304, 2.5152626037597656, -13.894993782043457, -6.422466278076172, 0.9523809552192688, 0.17876295745372772, -100, 91.24726104736328, 57.40365219116211, -0.3174603283405304, 0.9608277678489685 ]
[ -2.857142925262451, 0.07326007634401321, 2.3199024200439453, -14.334554672241211, -6.373626232147217, 1.5843429565429688, 0.3918774425983429, -96.79872131347656, 94.17967224121094, 56.30048370361328, -0.17094017565250397, 1.075911521911621 ]
3.166667
95
0
95
0
[ -2.951763868331909, -0.3174603283405304, 2.5152626037597656, -13.894993782043457, -6.422466278076172, 0.9523809552192688, 0.17876295745372772, -100, 90.45951843261719, 57.40365219116211, -0.3174603283405304, 0.9608277678489685 ]
[ -2.857142925262451, 0.07326007634401321, 2.3199024200439453, -14.334554672241211, -6.373626232147217, 1.5843429565429688, 0.3918774425983429, -96.79872131347656, 93.42049407958984, 56.30048370361328, -0.17094017565250397, 1.075911521911621 ]
3.2
96
0
96
0
[ -2.951763868331909, -0.3174603283405304, 2.5152626037597656, -13.894993782043457, -6.422466278076172, 0.9523809552192688, 0.17876295745372772, -100, 89.6717758178711, 57.40365219116211, -0.3174603283405304, 0.9608277678489685 ]
[ -2.857142925262451, 0.07326007634401321, 2.3199024200439453, -14.334554672241211, -6.373626232147217, 1.5843429565429688, 0.3918774425983429, -96.79872131347656, 92.91438293457031, 56.30048370361328, -0.17094017565250397, 1.075911521911621 ]
3.233333
97
0
97
0
[ -2.951763868331909, -0.3174603283405304, 2.5152626037597656, -13.894993782043457, -6.422466278076172, 0.9523809552192688, 0.17876295745372772, -100, 88.79650115966797, 57.40365219116211, -0.3174603283405304, 0.9608277678489685 ]
[ -2.857142925262451, 0.07326007634401321, 2.3199024200439453, -14.334554672241211, -6.373626232147217, 1.5843429565429688, 0.3918774425983429, -96.79872131347656, 92.32391357421875, 56.30048370361328, -0.17094017565250397, 1.075911521911621 ]
3.266667
98
0
98
0
[ -2.951763868331909, -0.3174603283405304, 2.5152626037597656, -13.894993782043457, -6.422466278076172, 0.9523809552192688, 0.17876295745372772, -100, 88.00875091552734, 57.40365219116211, -0.3174603283405304, 0.9608277678489685 ]
[ -2.857142925262451, 0.07326007634401321, 2.3199024200439453, -14.334554672241211, -6.373626232147217, 1.5843429565429688, 0.3918774425983429, -96.79872131347656, 91.64909362792969, 56.30048370361328, -0.17094017565250397, 1.075911521911621 ]
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": 51,
    "total_frames": 36930,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:51"
    },
    "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.right_arm": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        },
        "observation.images.left_arm": {
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            ],
            "names": [
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                "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,
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        },
        "observation.images.top": {
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            "info": {
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                "video.is_depth_map": false,
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        },
        "observation.images.head": {
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            "shape": [
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                3
            ],
            "names": [
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                "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": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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