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float32
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19.1
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int64
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3.1
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[ 4.168176651000977, -89.18019104003906, 95.11753845214844, 61.08195495605469, 48.47374725341797, 17.382551193237305, -9.924215316772461, -77.99730682373047, 78.610107421875, 70.25495910644531, -50.03662872314453, 24.254741668701172 ]
3.233333
97
0
97
0
[ 5.6057868003845215, -60.13542175292969, 65.21343994140625, 61.300811767578125, 47.741146087646484, 17.869718551635742, -11.375089645385742, -62.42476272583008, 65.74284362792969, 68.57731628417969, -49.987789154052734, 24.74793815612793 ]
[ 3.4432766437530518, -84.18643188476562, 89.96383666992188, 61.08195495605469, 48.47374725341797, 17.382551193237305, -9.996391296386719, -72.60889434814453, 75.18050384521484, 70.16053009033203, -49.79243087768555, 24.45799446105957 ]
3.266667
98
0
98
0
[ 5.967450141906738, -57.68091583251953, 62.6702995300293, 61.300811767578125, 47.78998947143555, 17.869718551635742, -12.16702651977539, -61.73688888549805, 65.6519775390625, 68.74227142333984, -50.52503204345703, 24.74793815612793 ]
[ 3.5157666206359863, -78.36038208007812, 83.63471984863281, 61.08195495605469, 48.376068115234375, 17.382551193237305, -9.924215316772461, -67.84912109375, 72.1119155883789, 70.16053009033203, -49.74359130859375, 24.45799446105957 ]
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": "v2.1",
    "robot_type": "bi_so100_follower",
    "total_episodes": 52,
    "total_frames": 15335,
    "total_tasks": 1,
    "total_videos": 156,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:52"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "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.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "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.workspace": {
            "dtype": "video",
            "shape": [
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            "names": [
                "height",
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_wrist": {
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            "shape": [
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            ],
            "names": [
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                "channels"
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            "info": {
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                "video.codec": "av1",
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        },
        "observation.images.right_wrist": {
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            "names": [
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            ],
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                "video.width": 640,
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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