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int64
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[ 29.593374252319336, -41.14164733886719, 15.697420120239258, 97.4842758178711, 28.351648330688477, 3.1270358562469482, -32.56150436401367, -50.391849517822266, 29.086336135864258, 88.33139038085938, -25.128204345703125, 1.4492753744125366 ]
6.4
96
0
96
0
[ 44.56481170654297, -28.969791412353516, 3.489875078201294, 98.28361511230469, 34.847373962402344, 0, -43.604652404785156, -29.402061462402344, 4.886561870574951, 95.9546890258789, -29.426130294799805, 0.08628127723932266 ]
[ 34.487953186035156, -37.75898361206055, 15.26016616821289, 97.4842758178711, 29.377288818359375, 3.1270358562469482, -32.70622253417969, -50.313480377197266, 29.17015838623047, 88.33139038085938, -25.177045822143555, 1.4492753744125366 ]
6.466667
97
0
97
0
[ 46.05902099609375, -27.498064041137695, 0.7324429154396057, 98.28361511230469, 36.4590950012207, 0, -45.348838806152344, -23.793813705444336, -1.6579406261444092, 98.30097198486328, -30.598291397094727, 0.08628127723932266 ]
[ 35.39156723022461, -35.98308563232422, 13.686051368713379, 97.64151000976562, 30.354089736938477, 3.1270358562469482, -34.515193939208984, -49.21630096435547, 27.242246627807617, 89.6538314819336, -26.153846740722656, 1.4492753744125366 ]
6.533333
98
0
98
0
[ 47.40380859375, -25.71649932861328, -1.5079706907272339, 97.30281829833984, 37.68009948730469, 0, -46.511627197265625, -20.329896926879883, -4.45026159286499, 98.22006225585938, -31.819292068481445, 0.08628127723932266 ]
[ 40.737953186035156, -30.486257553100586, 7.30214262008667, 97.64151000976562, 33.52869415283203, 3.1270358562469482, -40.5209846496582, -39.655174255371094, 18.27326011657715, 94.55464935302734, -28.547008514404297, 1.4492753744125366 ]
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": 2,
    "total_frames": 1150,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:2"
    },
    "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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                1280,
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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": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "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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                "channels"
            ],
            "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
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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