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ChihHanShen
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bimanual-so101-pickvials-sim

Tasks:
Robotics
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10K - 100K
Tags:
LeRobot
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observation.state
list
action
list
timestamp
float32
0
17.5
frame_index
int64
0
526
episode_index
int64
0
99
index
int64
0
26.8k
task_index
int64
0
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[ 0, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.093048095703125, 1.8477457761764526, 2.078016757965088, 8.333333015441895, -9.410175323486328, 75.36656951904297, -55.89743423461914, 27.888446807861328 ]
3.066667
92
0
92
0
[ -0.0000762939453125, -97.21450805664062, 99.27426147460938, -97.66665649414062, -60.11002731323242, 1.8382996320724487, 2.6340866088867188, 10.149620056152344, -6.356178283691406, 75.59016418457031, -55.861358642578125, 27.872913360595703 ]
[ 0, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.093048095703125, 1.8477457761764526, 2.6613197326660156, 8.417508125305176, -6.618640422821045, 73.0205307006836, -55.89743423461914, 27.888446807861328 ]
3.1
93
0
93
0
[ -0.00008392333984375, -97.21450805664062, 99.27426147460938, -97.66667938232422, -60.104679107666016, 1.8382996320724487, 3.1531906127929688, 10.665908813476562, -4.407447814941406, 73.38880920410156, -55.88315963745117, 27.875160217285156 ]
[ 0, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.093048095703125, 1.8477457761764526, 3.0258841514587402, 9.006733894348145, -5.267897129058838, 70.92584991455078, -55.89743423461914, 27.888446807861328 ]
3.133333
94
0
94
0
[ -0.00008392333984375, -97.21450805664062, 99.27426147460938, -97.66667938232422, -60.10132598876953, 1.8382996320724487, 3.8043746948242188, 11.247673034667969, -3.2629852294921875, 71.57023620605469, -55.873863220214844, 27.872562408447266 ]
[ 0, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.093048095703125, 1.8477457761764526, 3.827925682067871, 9.680134773254395, -4.367402076721191, 69.50146484375, -55.89743423461914, 27.888446807861328 ]
3.166667
95
0
95
0
[ -0.00008392333984375, -97.21450805664062, 99.27426147460938, -97.66667938232422, -60.09922790527344, 1.8382996320724487, 4.639801025390625, 12.204086303710938, -2.9685287475585938, 70.11343383789062, -55.88176345825195, 27.87380599975586 ]
[ 0, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.093048095703125, 1.8477457761764526, 4.55705451965332, 10.942760467529297, -4.277352333068848, 68.4122314453125, -55.89743423461914, 27.888446807861328 ]
3.2
96
0
96
0
[ 0.06832122802734375, -97.214599609375, 99.27420043945312, -97.66673278808594, -60.097862243652344, 1.8383126258850098, 5.5697174072265625, 13.281570434570312, -2.9550323486328125, 68.93275451660156, -55.88357925415039, 27.87388801574707 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.093048095703125, 1.8477457761764526, 5.5049214363098145, 12.037036895751953, -4.367402076721191, 67.4905776977539, -55.89743423461914, 27.888446807861328 ]
3.233333
97
0
97
0
[ 0.0722503662109375, -97.21444702148438, 99.27438354492188, -97.6666259765625, -60.07788848876953, 1.8383185863494873, 6.438934326171875, 14.511634826660156, -2.9307708740234375, 67.80784606933594, -55.89545822143555, 27.87622833251953 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.04135513305664, 1.8477457761764526, 6.306962966918945, 13.468013763427734, -4.187303066253662, 66.4851303100586, -55.89743423461914, 27.888446807861328 ]
3.266667
98
0
98
0
[ 0.07244110107421875, -97.21446228027344, 99.27432250976562, -97.66661071777344, -60.06523132324219, 1.8383185863494873, 6.7380523681640625, 15.959205627441406, -2.86962890625, 66.58537292480469, -55.92003631591797, 27.880535125732422 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.04135513305664, 1.8477457761764526, 6.525701999664307, 14.8989896774292, -4.187303066253662, 65.14453125, -55.89743423461914, 27.888446807861328 ]
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": "so101_follower",
    "total_episodes": 100,
    "total_frames": 26802,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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": {
        "observation.state": {
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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"
            ]
        },
        "observation.images.wrist_left": {
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            "shape": [
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            "names": [
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        "observation.images.wrist_right": {
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        },
        "observation.images.center": {
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        "action": {
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            "names": [
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                "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"
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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    }
}

Citation

BibTeX:

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