SiddharthS2K01/act_bimanual_so101_stacking_100_original
Robotics
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Updated
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18
Datasets:
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "bi_so100_follower",
"total_episodes": 108,
"total_frames": 64788,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:108"
},
"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
],
"fps": 30
},
"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
],
"fps": 30
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"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.front": {
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480,
640,
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],
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"width",
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],
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}
},
"timestamp": {
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"shape": [
1
],
"names": null,
"fps": 30
},
"frame_index": {
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},
"episode_index": {
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},
"index": {
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},
"task_index": {
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}
},
"camera_keys": [
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"observation.images.top_depth",
"observation.images.top_edge",
"observation.images.top_mask_edge_overlay",
"observation.images.front_mask",
"observation.images.front_depth",
"observation.images.front_edge",
"observation.images.front_mask_edge_overlay"
],
"videos": {
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"fps": 30,
"codec": "libx264",
"pix_fmt": "yuv420p",
"crf": 18,
"width": null,
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"_info": {
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"timestamp": "2025-12-31T19:12:40.768495",
"source_observation": "observation.images.top",
"modality": "mask",
"model": "/home/kinisi/Documents/side/AutoAnnotatorPy/model_training/annotations/top_camera/output/seg_20251231_124816/weights/best.pt",
"mask_type": "colored"
}
},
"observation.images.top_depth": {
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"_info": {
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"timestamp": "2025-12-31T19:12:40.768522",
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}
},
"observation.images.top_edge": {
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"_info": {
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"timestamp": "2025-12-31T19:12:40.768542",
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},
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"_info": {
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"timestamp": "2025-12-31T19:12:40.768555",
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"mask_type": "colored"
}
},
"observation.images.front_mask": {
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"pix_fmt": "yuv420p",
"crf": 18,
"width": null,
"height": null,
"_info": {
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"timestamp": "2025-12-31T19:12:40.768569",
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"modality": "mask",
"model": "/home/kinisi/Documents/side/AutoAnnotatorPy/model_training/annotations/real/output/seg_20251231_135408/weights/best.pt",
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},
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"codec": "libx264",
"pix_fmt": "yuv420p",
"crf": 18,
"width": null,
"height": null,
"_info": {
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"timestamp": "2025-12-31T19:12:40.768582",
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"modality": "depth"
}
},
"observation.images.front_edge": {
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"codec": "libx264",
"pix_fmt": "yuv420p",
"crf": 18,
"width": null,
"height": null,
"_info": {
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"timestamp": "2025-12-31T19:12:40.768593",
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}
},
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"crf": 18,
"width": null,
"height": null,
"_info": {
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"timestamp": "2025-12-31T19:12:40.768608",
"source_observation": "observation.images.front",
"modality": "mask_edge_overlay",
"model": "/home/kinisi/Documents/side/AutoAnnotatorPy/model_training/annotations/real/output/seg_20251231_135408/weights/best.pt",
"mask_type": "colored"
}
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}
Citation
BibTeX:
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Models trained or fine-tuned on SiddharthS2K01/bimanual_so101_stacking_100_augmented