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[ -0.07279610633850098, -26.2362060546875, 43.13555908203125, 67.00486755371094, -1.403016448020935, 1.6789937019348145, -4.53221321105957, -28.33678436279297, 44.658470153808594, 61.96360397338867, -0.43549346923828125, 31.524097442626953 ]
[ -0.1141987070441246, -25.728559494018555, 44.15877151489258, 66.66666412353516, -1.2942613363265991, 2.222222328186035, -3.6599764823913574, -33.5811653137207, 51.38516616821289, 60.68734359741211, -0.2686202824115753, 19.225889205932617 ]
3.1
93
0
93
0
[ -0.0833897590637207, -26.22381591796875, 43.0156364440918, 66.96308898925781, -1.4484354257583618, 1.6797800064086914, -5.013092041015625, -25.321638107299805, 42.30655288696289, 62.850894927978516, -0.6297016143798828, 32.0196418762207 ]
[ -0.1141987070441246, -25.728559494018555, 44.15877151489258, 66.66666412353516, -1.2942613363265991, 2.222222328186035, -3.896103858947754, -32.50722885131836, 50.40214538574219, 61.10645294189453, -0.5128205418586731, 22.715736389160156 ]
3.133333
94
0
94
0
[ -0.08966481685638428, -26.187171936035156, 43.001930236816406, 66.89806365966797, -1.4476916790008545, 1.6794261932373047, -5.342538356781006, -22.395538330078125, 40.3112678527832, 63.43022537231445, -0.7675538063049316, 32.60004425048828 ]
[ -0.1141987070441246, -25.728559494018555, 44.15877151489258, 66.66666412353516, -1.2942613363265991, 2.222222328186035, -4.210940361022949, -30.68979835510254, 49.15102767944336, 61.52556610107422, -0.2686202824115753, 25.76142120361328 ]
3.166667
95
0
95
0
[ -0.09681320190429688, -26.317520141601562, 43.056068420410156, 66.91661071777344, -1.4650100469589233, 1.6804370880126953, -5.243332862854004, -22.47709083557129, 40.25639724731445, 63.43182373046875, -0.7602367401123047, 33.0574836730957 ]
[ -0.1141987070441246, -25.728559494018555, 44.15877151489258, 66.66666412353516, -1.2942613363265991, 2.222222328186035, -4.525777339935303, -28.54192543029785, 47.45308303833008, 61.94467544555664, -0.6593406796455383, 28.236040115356445 ]
3.2
96
0
96
0
[ -0.14719891548156738, -26.341140747070312, 42.98594284057617, 66.90296173095703, -1.4893698692321777, 1.682115077972412, -5.6711835861206055, -19.729082107543945, 38.202903747558594, 64.14322662353516, -0.9241213798522949, 33.11187744140625 ]
[ -0.1141987070441246, -25.728559494018555, 44.15877151489258, 66.66666412353516, -1.2942613363265991, 2.222222328186035, -4.840613842010498, -26.063610076904297, 45.665771484375, 62.615257263183594, -0.5616605877876282, 29.758882522583008 ]
3.233333
97
0
97
0
[ -0.13505566120147705, -26.439697265625, 42.994178771972656, 66.9054183959961, -1.458426833152771, 1.6864066123962402, -5.778731346130371, -18.463918685913086, 37.35204315185547, 64.3399658203125, -1.0198554992675781, 33.522953033447266 ]
[ -0.1141987070441246, -25.728559494018555, 44.15877151489258, 66.66666412353516, -1.2942613363265991, 2.222222328186035, -5.155450820922852, -23.91573715209961, 44.41465759277344, 62.69907760620117, -0.7570207715034485, 30.964466094970703 ]
3.266667
98
0
98
0
[ -0.136094331741333, -26.64865493774414, 43.05923843383789, 66.81409454345703, -1.4839189052581787, 1.6936569213867188, -6.293417453765869, -15.708087921142578, 35.03787612915039, 65.13782501220703, -1.3082051277160645, 33.452552795410156 ]
[ -0.1141987070441246, -25.728559494018555, 44.15877151489258, 66.66666412353516, -1.2942613363265991, 2.222222328186035, -5.23415994644165, -22.5113582611084, 43.431636810302734, 63.621124267578125, -0.8547008633613586, 31.59898567199707 ]
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": 10,
    "total_frames": 8321,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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,
                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
            }
        },
        "observation.images.front": {
            "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
            }
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
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                "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
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                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
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "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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