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float32
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43.6
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int64
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1.31k
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int64
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[ -6.33568000793457, -99.49409484863281, 96.18962860107422, 56.85432052612305, 2.17338228225708, 1.4150943756103516, -1.70496666431427, -99.66130065917969, 96.62222290039062, 64.83325958251953, -0.3174603283405304, 0.9402283430099487 ]
3.1
93
0
93
0
[ -6.320674896240234, -101.27893829345703, 96.86775207519531, 56.75619888305664, 2.473926544189453, 0.8069728016853333, -2.8312950134277344, -100.61338806152344, 95.86266326904297, 63.71167755126953, -0.41881561279296875, -0.3841263949871063 ]
[ -6.039273738861084, -99.49409484863281, 96.18962860107422, 56.85432052612305, 2.3199024200439453, 1.3477089405059814, -1.7790956497192383, -99.74597930908203, 96.62222290039062, 64.66002655029297, -0.41514042019844055, 0.9402283430099487 ]
3.133333
94
0
94
0
[ -5.5236663818359375, -99.57756805419922, 95.96795654296875, 56.211788177490234, 2.3945579528808594, 0.9489029049873352, -1.8202362060546875, -98.86712646484375, 96.47161102294922, 63.85725402832031, -0.8408279418945312, 0.0275567676872015 ]
[ -6.039273738861084, -99.49409484863281, 96.18962860107422, 56.85432052612305, 2.2710623741149902, 1.2129379510879517, -1.7790956497192383, -99.74597930908203, 96.62222290039062, 65.0064926147461, -0.6105006337165833, 0.9402283430099487 ]
3.166667
95
0
95
0
[ -6.828277587890625, -99.8588638305664, 96.34431457519531, 57.4433479309082, 2.228954315185547, 0.7124022245407104, -1.6304969787597656, -100.56414031982422, 96.48567962646484, 63.83838653564453, 0.386993408203125, 0.2344163954257965 ]
[ -6.113375186920166, -99.49409484863281, 96.18962860107422, 56.85432052612305, 2.2710623741149902, 1.2129379510879517, -1.7790956497192383, -99.74597930908203, 96.53333282470703, 65.17973327636719, -0.5616605877876282, 0.9402283430099487 ]
3.2
96
0
96
0
[ -6.4778900146484375, -99.89202880859375, 98.63241577148438, 57.7312126159668, 2.8121070861816406, 1.2850368022918701, -0.5597877502441406, -99.03429412841797, 96.9450454711914, 64.43810272216797, -0.53057861328125, -0.45194417238235474 ]
[ -5.742867946624756, -99.49409484863281, 96.18962860107422, 56.76837158203125, 2.3199024200439453, 1.0781670808792114, -1.70496666431427, -99.23793029785156, 96.62222290039062, 64.4867935180664, -0.7081807255744934, 0.9402283430099487 ]
3.233333
97
0
97
0
[ -6.376506805419922, -98.88028717041016, 95.86280822753906, 56.75654220581055, 2.169086456298828, 2.0388147830963135, -1.3707237243652344, -99.4037857055664, 95.95561981201172, 64.43988800048828, 0.2178955078125, 0.7220190763473511 ]
[ -5.594664573669434, -99.49409484863281, 96.18962860107422, 56.76837158203125, 2.3199024200439453, 1.0781670808792114, -1.70496666431427, -99.23793029785156, 96.62222290039062, 64.4867935180664, -0.7081807255744934, 0.9402283430099487 ]
3.266667
98
0
98
0
[ -7.062526702880859, -99.93998718261719, 96.79763793945312, 56.4738883972168, 2.0365638732910156, 1.0545454025268555, -0.9930458068847656, -99.98755645751953, 96.88811492919922, 64.00000762939453, -0.05487060546875, 0.3763536810874939 ]
[ -5.965172290802002, -99.57841491699219, 96.18962860107422, 57.1981086730957, 2.222222328186035, 1.0107816457748413, -1.7790956497192383, -99.23793029785156, 96.62222290039062, 64.4867935180664, -0.6105006337165833, 0.9402283430099487 ]
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": 10,
    "total_frames": 13011,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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
            ]
        },
        "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
            ]
        },
        "observation.images.left_gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "observation.images.right_gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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