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float32
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136
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int64
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4.07k
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int64
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19
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50.5k
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2.7
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3
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3.1
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3.133333
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[ -2.0397298336029053, -97.39136505126953, 24.940853118896484, 95.00212860107422, 3.202834129333496, 17.652830123901367, 2.7043607234954834, -98.18777465820312, 23.353759765625, 95.00212860107422, -0.07448451220989227, 4.205510139465332 ]
3.166667
95
0
95
0
[ -2.019315242767334, -97.36264038085938, 25.09685707092285, 98.7745132446289, 3.1501832008361816, 37.55303955078125, 2.700186252593994, -98.10855102539062, 23.46938705444336, 99.1820068359375, -0.07326007634401321, 4.0564374923706055 ]
[ -2.022541046142578, -97.43720245361328, 24.923664093017578, 95.00212860107422, 3.202834129333496, 20.5519962310791, 2.6986312866210938, -98.210693359375, 23.34803009033203, 95.00212860107422, -0.07448451220989227, 4.205510139465332 ]
3.2
96
0
96
0
[ -2.019315242767334, -97.36264038085938, 25.09685707092285, 98.7745132446289, 3.1013431549072266, 38.048091888427734, 2.700186252593994, -98.10855102539062, 23.46938705444336, 99.1820068359375, -0.07326007634401321, 4.0564374923706055 ]
[ -2.022541046142578, -97.43720245361328, 24.923664093017578, 95.00212860107422, 3.202834129333496, 20.5519962310791, 2.6986312866210938, -98.210693359375, 23.34803009033203, 95.00212860107422, -0.07448451220989227, 4.205510139465332 ]
3.233333
97
0
97
0
[ -2.019315242767334, -97.36264038085938, 25.09685707092285, 98.7745132446289, 3.0525031089782715, 38.18953323364258, 2.700186252593994, -98.10855102539062, 23.46938705444336, 99.1820068359375, -0.07326007634401321, 4.0564374923706055 ]
[ -2.079836845397949, -97.44293212890625, 24.95804214477539, 95.00212860107422, 3.202834129333496, 21.778125762939453, 2.6986312866210938, -98.18777465820312, 23.353759765625, 95.00212860107422, -0.07448451220989227, 4.205510139465332 ]
3.266667
98
0
98
0
[ -2.019315242767334, -97.36264038085938, 25.09685707092285, 98.7745132446289, 3.0525031089782715, 38.47241973876953, 2.700186252593994, -98.10855102539062, 23.46938705444336, 99.1820068359375, -0.07326007634401321, 4.0564374923706055 ]
[ -2.125673532485962, -97.3970947265625, 24.969501495361328, 95.00212860107422, 3.202834129333496, 22.94696044921875, 2.7043607234954834, -98.17058563232422, 23.353759765625, 95.00212860107422, -0.07448451220989227, 4.205510139465332 ]
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": 50514,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "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": {
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            "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": [
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        },
        "observation.images.top": {
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            "shape": [
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            "names": [
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            ],
            "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
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        },
        "observation.images.left": {
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            "shape": [
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            "names": [
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.right": {
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            "info": {
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                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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