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float32
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40.7
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int64
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[ -52.7861442565918, 2.5792810916900635, -23.48054313659668, 98.03459167480469, 12.869353294372559, 2.801302909851074, 49.927642822265625, -19.043888092041016, -1.4249790906906128, 93.07662200927734, -11.843711853027344, 1.3232513666152954 ]
6.4
96
0
96
0
[ -32.387001037597656, -34.23702621459961, -0.99095219373703, 98.77400970458984, 15.311355590820312, 0.08613264560699463, 21.6569766998291, -58.68041229248047, 17.27748680114746, 92.31391906738281, -15.897436141967773, 0.08628127723932266 ]
[ -50, -8.245243072509766, -14.64801025390625, 98.03459167480469, 12.820512771606445, 2.801302909851074, 43.99421310424805, -30.799373626708984, 4.9455156326293945, 93.07662200927734, -11.89255142211914, 1.3232513666152954 ]
6.466667
97
0
97
0
[ -22.151662826538086, -38.18745040893555, 0.9047824144363403, 98.44707489013672, 17.851037979125977, 0.08613264560699463, 9.22965145111084, -66.10309600830078, 22.51308822631836, 91.58576202392578, -18.876678466796875, 0.08628127723932266 ]
[ -45.632530212402344, -18.985200881958008, -7.739396572113037, 98.03459167480469, 13.308913230895996, 2.801302909851074, 34.587554931640625, -45.45454406738281, 12.489521980285645, 93.07662200927734, -14.04151439666748, 1.3232513666152954 ]
6.533333
98
0
98
0
[ -9.1520357131958, -42.13787841796875, 4.437742233276367, 96.24029541015625, 21.318681716918945, 0.08613264560699463, -2.107558250427246, -70.63917541503906, 27.48691177368164, 89.88673400878906, -21.61172103881836, 0.08628127723932266 ]
[ -38.930721282958984, -28.118392944335938, -2.7547004222869873, 98.11320495605469, 14.822955131530762, 2.801302909851074, 26.121562957763672, -55.32915496826172, 16.429170608520508, 92.9210433959961, -15.409035682678223, 1.3232513666152954 ]
6.6
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": 4,
    "total_frames": 2238,
    "total_tasks": 1,
    "total_videos": 12,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:4"
    },
    "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.front": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "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"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
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                "video.is_depth_map": false,
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        },
        "observation.images.right_wrist": {
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            "names": [
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            "info": {
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                "video.width": 640,
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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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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