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chamorajg
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bi_so101_task_transfer_v5

Tasks:
Robotics
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10K - 100K
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LeRobot
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float32
0
32.7
frame_index
int64
0
981
episode_index
int64
0
19
index
int64
0
16.4k
task_index
int64
0
0
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2.6
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3
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0
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3.166667
95
0
95
0
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3.2
96
0
96
0
[ -3.0414071083068848, -69.87342071533203, 31.269628524780273, 93.26133728027344, -11.822916984558105, 1.8110235929489136, -12.173593521118164, -98.31649780273438, 99.27568817138672, -98.78524780273438, 5.039370059967041, 1.574803113937378 ]
[ -2.9900331497192383, -73.00717163085938, 32.37668228149414, 91.31929779052734, -10.454323768615723, 2.3402910232543945, -12.244138717651367, -98.73257446289062, 98.82512664794922, -97.93902587890625, 5.155142784118652, 1.8927444219589233 ]
3.233333
97
0
97
0
[ -2.7482595443725586, -70.37974548339844, 31.62853240966797, 93.00215911865234, -11.875, 1.8110235929489136, -12.10003662109375, -98.31649780273438, 99.27568817138672, -98.78524780273438, 5.039370059967041, 1.574803113937378 ]
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3.266667
98
0
98
0
[ -2.7482595443725586, -70.97046661376953, 31.269628524780273, 92.65658569335938, -11.927083015441895, 1.8110235929489136, -12.173593521118164, -98.31649780273438, 99.27568817138672, -98.78524780273438, 5.039370059967041, 1.574803113937378 ]
[ -3.211517095565796, -71.48882293701172, 32.37668228149414, 92.5225601196289, -11.187103271484375, 2.3402910232543945, -12.244138717651367, -98.73257446289062, 98.82512664794922, -97.93902587890625, 5.155142784118652, 1.8927444219589233 ]
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_so101_follower",
    "total_episodes": 20,
    "total_frames": 16360,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": [
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        },
        "observation.images.top": {
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            "shape": [
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            "names": [
                "height",
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            ],
            "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
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        },
        "observation.images.left": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.codec": "av1",
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        "observation.images.right": {
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            "info": {
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        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
16,360