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float32
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55.4
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int64
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4.2
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[ -37.198795318603516, -92.47357177734375, 91.42981719970703, 59.74842834472656, 29.181928634643555, 8.07817554473877, 40.5209846496582, -87.4608154296875, 88.85163116455078, 58.770904541015625, -32.5518913269043, 1.1342154741287231 ]
6.4
96
0
96
0
[ -37.317893981933594, -58.09450149536133, 65.53209686279297, 56.02779006958008, 25.323564529418945, 7.7519378662109375, 42.00581359863281, -53.64948272705078, 65.7940673828125, 52.912620544433594, -28.986568450927734, 0.08628127723932266 ]
[ -37.04819107055664, -83.9323501586914, 85.39571380615234, 56.91823959350586, 28.30280876159668, 8.07817554473877, 40.5209846496582, -79.54545593261719, 82.1458511352539, 56.12602233886719, -31.72161102294922, 1.1342154741287231 ]
6.466667
97
0
97
0
[ -39.2603645324707, -41.828041076660156, 50.88323974609375, 58.47977066040039, 23.125762939453125, 7.665805339813232, 44.98546600341797, -44.08247375488281, 57.59162139892578, 53.155338287353516, -26.739927291870117, 0.08628127723932266 ]
[ -37.04819107055664, -72.1775894165039, 78.39965057373047, 56.367923736572266, 27.22832679748535, 7.947882652282715, 41.17221450805664, -59.79623794555664, 71.75188446044922, 54.10346221923828, -29.621490478515625, 1.1342154741287231 ]
6.533333
98
0
98
0
[ -39.932762145996094, -37.955074310302734, 47.35028076171875, 59.13363265991211, 22.63736343383789, 7.7519378662109375, 45.85755920410156, -41.278350830078125, 55.14834213256836, 53.478965759277344, -26.05616569519043, 0.08628127723932266 ]
[ -36.89759063720703, -62.029598236083984, 70.17927551269531, 56.289306640625, 26.007326126098633, 7.947882652282715, 41.316932678222656, -57.21002960205078, 70.326904296875, 53.87009048461914, -29.377288818359375, 1.1342154741287231 ]
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": 3109,
    "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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        },
        "observation.images.right_wrist": {
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            "names": [
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            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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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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