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float32
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49.6
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int64
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1.49k
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2.366667
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2.433333
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2.466667
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2.5
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2.533333
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2.566667
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2.6
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2.633333
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2.666667
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2.7
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2.733333
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2.766667
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2.8
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2.833333
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2.866667
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2.9
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2.933333
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2.966667
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3
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3.033333
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3.066667
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3.1
93
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3.133333
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3.166667
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3.2
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96
0
[ 1.890109896659851, -44.879119873046875, 25.098901748657227, 77.23076629638672, -106.24176025390625, 1.434262990951538, -27.604394912719727, -30.153846740722656, 33.406593322753906, 63.69230651855469, -97.45054626464844, 67.77867889404297 ]
[ 1.9198664426803589, -44.39338302612305, 30.522457122802734, 78.98209381103516, -98.73970031738281, 2.056807041168213, -27.024568557739258, -28.642759323120117, 36.70188522338867, 65.46368408203125, -93.37554931640625, 67.89883422851562 ]
3.233333
97
0
97
0
[ 1.890109896659851, -44.879119873046875, 25.098901748657227, 77.23076629638672, -106.24176025390625, 1.434262990951538, -27.604394912719727, -30.153846740722656, 33.406593322753906, 63.69230651855469, -98.32967376708984, 67.77867889404297 ]
[ 1.9198664426803589, -44.39338302612305, 30.522457122802734, 78.98209381103516, -98.73970031738281, 2.056807041168213, -27.20655059814453, -28.642759323120117, 36.70188522338867, 65.372314453125, -94.3497314453125, 67.89883422851562 ]
3.266667
98
0
98
0
[ 1.890109896659851, -44.879119873046875, 25.098901748657227, 77.23076629638672, -106.15384674072266, 1.434262990951538, -27.604394912719727, -30.153846740722656, 33.406593322753906, 63.69230651855469, -98.68132019042969, 67.77867889404297 ]
[ 1.9198664426803589, -44.39338302612305, 30.522457122802734, 78.98209381103516, -98.73970031738281, 2.056807041168213, -27.20655059814453, -28.642759323120117, 36.70188522338867, 65.28095245361328, -95.42133331298828, 67.89883422851562 ]
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": 40,
    "total_frames": 42666,
    "total_tasks": 1,
    "chunks_size": 1000000,
    "data_files_size_in_mb": 10000,
    "video_files_size_in_mb": 50000,
    "fps": 30,
    "splits": {
        "train": "0:40"
    },
    "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,
                "has_audio": false
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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": {
                "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": [
                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": {
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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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