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[ -2.3981728553771973, -28.72606086730957, 44.248985290527344, 68.69198608398438, -0.41514042019844055, 2.222222328186035, -2.794175624847412, -25.072284698486328, 42.180519104003906, 65.4652099609375, -3.5409035682678223, 11.548223495483398 ]
3.1
93
0
93
0
[ -2.168755292892456, -28.927114486694336, 42.326759338378906, 68.77464294433594, -0.2543140947818756, 1.3999805450439453, -3.818340301513672, -20.199838638305664, 36.71699523925781, 66.02101135253906, -3.3818588256835938, 28.47412872314453 ]
[ -2.3981728553771973, -28.72606086730957, 44.248985290527344, 68.69198608398438, -0.41514042019844055, 2.222222328186035, -2.9515938758850098, -24.246179580688477, 41.91242218017578, 65.38139343261719, -3.394383430480957, 14.784263610839844 ]
3.133333
94
0
94
0
[ -2.2031960487365723, -28.612947463989258, 42.07045364379883, 68.74259185791016, -0.2489064633846283, 1.3885140419006348, -3.9250998497009277, -18.62299346923828, 35.74897003173828, 66.21946716308594, -3.3234329223632812, 28.448081970214844 ]
[ -2.3981728553771973, -28.72606086730957, 44.248985290527344, 68.69198608398438, -0.41514042019844055, 2.222222328186035, -3.1877212524414062, -23.420074462890625, 41.55495834350586, 65.38139343261719, -3.247863292694092, 18.21065902709961 ]
3.166667
95
0
95
0
[ -2.163217067718506, -28.719078063964844, 42.22610855102539, 68.70116424560547, -0.24493317306041718, 1.3871479034423828, -3.95304012298584, -17.807575225830078, 35.1573371887207, 66.2892074584961, -3.3120107650756836, 30.034744262695312 ]
[ -2.3981728553771973, -28.72606086730957, 44.248985290527344, 68.69198608398438, -0.41514042019844055, 2.222222328186035, -3.423848867416382, -22.015695571899414, 40.571937561035156, 65.4652099609375, -3.345543384552002, 21.70050811767578 ]
3.2
96
0
96
0
[ -2.167710065841675, -28.710369110107422, 42.206443786621094, 68.69598388671875, -0.24238798022270203, 1.3838605880737305, -4.16371488571167, -16.51557159423828, 34.39104461669922, 66.46602630615234, -3.3472838401794434, 31.210311889648438 ]
[ -2.3981728553771973, -28.642797470092773, 44.248985290527344, 68.69198608398438, -0.41514042019844055, 2.222222328186035, -3.6599764823913574, -20.36348533630371, 39.410186767578125, 65.63285827636719, -3.443223476409912, 24.175127029418945 ]
3.233333
97
0
97
0
[ -2.0920140743255615, -28.75263214111328, 42.29926300048828, 68.69500732421875, -0.2355792075395584, 1.383880615234375, -4.22114896774292, -15.598276138305664, 34.021759033203125, 66.35655212402344, -3.3433680534362793, 32.78023147583008 ]
[ -2.3981728553771973, -28.642797470092773, 44.248985290527344, 68.69198608398438, -0.41514042019844055, 2.222222328186035, -3.817394733428955, -18.876497268676758, 38.605899810791016, 65.80050659179688, -3.443223476409912, 26.26903533935547 ]
3.266667
98
0
98
0
[ -2.093879222869873, -28.964641571044922, 42.46965408325195, 68.59224700927734, -0.24577531218528748, 1.3719921112060547, -4.607884407043457, -12.905965805053711, 32.124176025390625, 66.88206481933594, -3.5019164085388184, 33.787574768066406 ]
[ -2.3981728553771973, -28.642797470092773, 44.248985290527344, 68.69198608398438, -0.41514042019844055, 2.222222328186035, -3.817394733428955, -17.71994972229004, 37.98033905029297, 66.13579559326172, -3.443223476409912, 27.918781280517578 ]
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": 5,
    "total_frames": 8322,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "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
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        },
        "observation.images.front": {
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            "names": [
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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_wrist": {
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            "shape": [
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            ],
            "names": [
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
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                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
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            "names": null
        },
        "frame_index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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