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float32
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56.3
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int64
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1.69k
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31
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3
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[ 4.50751256942749, -58.639705657958984, 53.43721389770508, 78.6993408203125, -99.12748718261719, 15.181195259094238, -30.118289947509766, -63.231956481933594, 58.29122543334961, 72.68158721923828, -99.02581787109375, 2.334630250930786 ]
3.233333
97
0
97
0
[ 8.04395580291748, -54.989009857177734, 43.82417678833008, 78.02198028564453, -103.86813354492188, 15.139442443847656, -30.41758155822754, -53.978023529052734, 46.06593322753906, 71.25274658203125, -111.16483306884766, 1.5459723472595215 ]
[ 4.924874782562256, -57.90441131591797, 52.703941345214844, 78.6993408203125, -99.12748718261719, 15.181195259094238, -30.118289947509766, -62.505672454833984, 57.556270599365234, 72.68158721923828, -99.02581787109375, 2.334630250930786 ]
3.266667
98
0
98
0
[ 8.131868362426758, -54.901100158691406, 43.64834976196289, 78.02198028564453, -103.86813354492188, 15.139442443847656, -30.329669952392578, -51.516483306884766, 44.131866455078125, 71.25274658203125, -112.92308044433594, 1.5459723472595215 ]
[ 5.4257097244262695, -57.35293960571289, 52.06232833862305, 78.6993408203125, -99.12748718261719, 15.181195259094238, -30.20928192138672, -61.50703430175781, 56.54570388793945, 72.68158721923828, -99.02581787109375, 2.334630250930786 ]
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_k01_m2",
    "total_episodes": 32,
    "total_frames": 36235,
    "total_tasks": 1,
    "chunks_size": 1000000,
    "data_files_size_in_mb": 10000,
    "video_files_size_in_mb": 50000,
    "fps": 30,
    "splits": {
        "train": "0:32"
    },
    "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.up": {
            "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,
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        "observation.images.right": {
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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
            }
        },
        "observation.images.left": {
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            "names": [
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                "channels"
            ],
            "info": {
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                "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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            "shape": [
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                640,
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            ],
            "names": [
                "height",
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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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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            "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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