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float32
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47.2
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int64
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1.42k
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int64
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int64
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3
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95
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[ 10.125646591186523, -54.787010192871094, 63.267147064208984, 48.8636360168457, -4.615384578704834, 23.296354293823242, -10.314557075500488, -40.39900207519531, 53.74271774291992, 43.015804290771484, 1.5384615659713745, 29.53821563720703 ]
[ 10.459940910339355, -61.816654205322266, 69.52039337158203, 49.76221466064453, -4.761904716491699, 23.387096405029297, -9.610389709472656, -50.76795196533203, 61.15044403076172, 43.20572280883789, 1.88034188747406, 27.774085998535156 ]
3.2
96
0
96
0
[ 10.125646591186523, -53.3530158996582, 62.454872131347656, 48.8636360168457, -4.713064670562744, 23.375595092773438, -10.314557075500488, -38.320865631103516, 52.66696548461914, 43.10123825073242, 1.5873016119003296, 31.528661727905273 ]
[ 10.459940910339355, -59.79814910888672, 68.53428649902344, 49.76221466064453, -4.761904716491699, 23.387096405029297, -9.610389709472656, -47.69614028930664, 59.8230094909668, 43.20572280883789, 1.7338217496871948, 27.840532302856445 ]
3.233333
97
0
97
0
[ 10.125646591186523, -51.91902160644531, 61.732852935791016, 48.776222229003906, -4.713064670562744, 24.48494529724121, -10.314557075500488, -36.658355712890625, 51.7705078125, 43.18667221069336, 1.5873016119003296, 34.07643127441406 ]
[ 10.459940910339355, -57.86375045776367, 67.45854187011719, 49.76221466064453, -4.761904716491699, 23.387096405029297, -9.610389709472656, -45.03943634033203, 58.14159393310547, 43.20572280883789, 1.6849817037582397, 28.305646896362305 ]
3.266667
98
0
98
0
[ 10.125646591186523, -50.65373229980469, 61.01082992553711, 48.776222229003906, -4.713064670562744, 26.624404907226562, -10.314557075500488, -35.24522018432617, 51.053340911865234, 43.52840805053711, 1.6361416578292847, 36.624202728271484 ]
[ 10.459940910339355, -56.181663513183594, 66.56208038330078, 49.76221466064453, -4.761904716491699, 23.454301834106445, -9.610389709472656, -42.54877471923828, 56.81415939331055, 43.20572280883789, 1.6849817037582397, 29.302326202392578 ]
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": 31,
    "total_frames": 34759,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:31"
    },
    "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.front": {
            "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.side_left": {
            "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.side_right": {
            "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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