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Datasets:
ReubenLim
/
bimanual-so100-left-pick-tape

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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License:
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float32
0
36.2
frame_index
int64
0
1.09k
episode_index
int64
0
49
index
int64
0
35.8k
task_index
int64
0
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1.6
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1.7
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1.8
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1.833333
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1.866667
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1.9
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2
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2.066667
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2.1
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2.133333
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2.166667
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2.2
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2.233333
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2.3
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2.333333
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2.366667
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2.4
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2.433333
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2.466667
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2.5
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2.533333
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2.566667
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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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2.733333
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2.766667
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2.8
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2.833333
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2.866667
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2.9
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2.933333
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3
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3.066667
92
0
92
0
[ -1.0137581825256348, -82.37484741210938, 89.69534301757812, -40.13715362548828, -50.42734909057617, 0, 0.035273369401693344, -98.25145721435547, 99.40093994140625, -34.45378112792969, -44.908424377441406, 4.874333381652832 ]
[ -1.490418791770935, -85.47115325927734, 93.78606414794922, -39.78494644165039, -50.28083038330078, 0.3120124936103821, -0.4267425239086151, -97.27385711669922, 99.0658187866211, -32.83828353881836, -45.05494689941406, 4.4845662117004395 ]
3.1
93
0
93
0
[ -1.0861694812774658, -81.96110534667969, 89.3369140625, -40.13715362548828, -50.42734909057617, 0, 0.035273369401693344, -98.25145721435547, 99.40093994140625, -34.45378112792969, -44.908424377441406, 4.874333381652832 ]
[ -1.490418791770935, -84.30884552001953, 93.07589721679688, -39.78494644165039, -50.28083038330078, 0.3120124936103821, -0.4267425239086151, -97.27385711669922, 99.0658187866211, -32.83828353881836, -45.05494689941406, 4.4845662117004395 ]
3.133333
94
0
94
0
[ -1.0861694812774658, -81.4646224975586, 88.9784927368164, -40.13715362548828, -50.42734909057617, 0, 0.035273369401693344, -98.25145721435547, 99.40093994140625, -34.45378112792969, -44.908424377441406, 4.874333381652832 ]
[ -1.490418791770935, -83.31257629394531, 92.36573791503906, -39.78494644165039, -50.28083038330078, 0.3120124936103821, -0.4267425239086151, -97.27385711669922, 99.0658187866211, -32.83828353881836, -45.05494689941406, 4.4845662117004395 ]
3.166667
95
0
95
0
[ -1.1585807800292969, -80.9681396484375, 88.70967864990234, -40.13715362548828, -50.42734909057617, 0, 0.035273369401693344, -98.25145721435547, 99.40093994140625, -34.45378112792969, -44.908424377441406, 4.874333381652832 ]
[ -1.490418791770935, -82.48236083984375, 91.83311462402344, -39.78494644165039, -50.28083038330078, 0.3120124936103821, -0.4267425239086151, -97.27385711669922, 99.0658187866211, -32.83828353881836, -45.05494689941406, 4.4845662117004395 ]
3.2
96
0
96
0
[ -1.230992078781128, -80.71990203857422, 88.53046417236328, -40.13715362548828, -50.42734909057617, 0, 0.035273369401693344, -98.25145721435547, 99.40093994140625, -34.45378112792969, -44.908424377441406, 4.874333381652832 ]
[ -1.490418791770935, -81.73516082763672, 91.3892593383789, -39.78494644165039, -50.28083038330078, 0.3120124936103821, -0.4267425239086151, -97.27385711669922, 99.0658187866211, -32.83828353881836, -45.05494689941406, 4.4845662117004395 ]
3.233333
97
0
97
0
[ -1.303403377532959, -80.71990203857422, 88.35125732421875, -40.13715362548828, -50.42734909057617, 0, 0.035273369401693344, -98.25145721435547, 99.40093994140625, -34.45378112792969, -44.908424377441406, 4.874333381652832 ]
[ -1.490418791770935, -81.23703002929688, 90.94540405273438, -39.78494644165039, -50.28083038330078, 0.3120124936103821, -0.4267425239086151, -97.27385711669922, 99.0658187866211, -32.83828353881836, -45.05494689941406, 4.4845662117004395 ]
3.266667
98
0
98
0
[ -1.37581467628479, -80.63715362548828, 88.35125732421875, -40.13715362548828, -50.42734909057617, 0, 0.035273369401693344, -98.25145721435547, 99.40093994140625, -34.45378112792969, -44.908424377441406, 4.874333381652832 ]
[ -1.490418791770935, -80.82191467285156, 90.59032440185547, -39.78494644165039, -50.28083038330078, 0.3120124936103821, -0.4267425239086151, -97.27385711669922, 99.0658187866211, -32.83828353881836, -45.05494689941406, 4.4845662117004395 ]
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": 25,
    "total_frames": 18337,
    "total_tasks": 1,
    "total_videos": 75,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:25"
    },
    "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": {
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            "shape": [
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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.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"
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        "observation.images.top": {
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            "names": [
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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,
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        "observation.images.left": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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    }
}

Citation

BibTeX:

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