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mvhk
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bi-so101-dataset15

Tasks:
Robotics
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1K - 10K
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LeRobot
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float32
0
28.1
frame_index
int64
0
843
episode_index
int64
0
9
index
int64
0
6.27k
task_index
int64
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2.1
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2.133333
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2.166667
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2.2
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2.233333
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2.266667
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2.3
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2.333333
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2.366667
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2.4
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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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0
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[ -7.252747058868408, -99.73626708984375, 93.62637329101562, 71.12088012695312, 0.8351648449897766, 1.4246946573257446, 5.318681240081787, -97.93406677246094, 92.61538696289062, 81.67032623291016, -0.21978022158145905, 1.7473118305206299 ]
3.1
93
0
93
0
[ -7.120879173278809, -108.52747344970703, 92.3956069946289, 77.05494689941406, 1.7142857313156128, 1.0301109552383423, 5.714285850524902, -97.67032623291016, 90.54945373535156, 81.93406677246094, -0.5714285969734192, 1.2232415676116943 ]
[ -7.252747058868408, -99.73626708984375, 93.62637329101562, 71.12088012695312, 0.8351648449897766, 1.4246946573257446, 5.318681240081787, -97.93406677246094, 92.61538696289062, 81.67032623291016, -0.21978022158145905, 1.7473118305206299 ]
3.133333
94
0
94
0
[ -7.120879173278809, -108.52747344970703, 92.3956069946289, 77.05494689941406, 1.7142857313156128, 1.0301109552383423, 5.714285850524902, -97.67032623291016, 90.54945373535156, 81.93406677246094, -0.5714285969734192, 1.2232415676116943 ]
[ -7.252747058868408, -99.73626708984375, 93.62637329101562, 71.12088012695312, 0.8351648449897766, 1.4246946573257446, 5.318681240081787, -97.93406677246094, 92.61538696289062, 81.67032623291016, -0.21978022158145905, 1.7473118305206299 ]
3.166667
95
0
95
0
[ -7.120879173278809, -108.52747344970703, 92.3956069946289, 77.05494689941406, 1.7142857313156128, 1.0301109552383423, 5.714285850524902, -97.67032623291016, 90.54945373535156, 81.93406677246094, -0.5714285969734192, 1.2232415676116943 ]
[ -7.252747058868408, -99.73626708984375, 93.62637329101562, 71.12088012695312, 0.8351648449897766, 1.4246946573257446, 5.318681240081787, -97.93406677246094, 92.61538696289062, 81.67032623291016, -0.21978022158145905, 1.7473118305206299 ]
3.2
96
0
96
0
[ -7.120879173278809, -108.52747344970703, 92.3956069946289, 77.05494689941406, 1.7142857313156128, 1.0301109552383423, 5.714285850524902, -97.67032623291016, 90.54945373535156, 81.93406677246094, -0.5714285969734192, 1.2232415676116943 ]
[ -7.252747058868408, -99.73626708984375, 93.62637329101562, 71.12088012695312, 0.8351648449897766, 1.4246946573257446, 5.318681240081787, -97.93406677246094, 92.61538696289062, 81.67032623291016, -0.21978022158145905, 1.7473118305206299 ]
3.233333
97
0
97
0
[ -7.120879173278809, -108.52747344970703, 92.3956069946289, 77.05494689941406, 1.7142857313156128, 1.0301109552383423, 5.714285850524902, -97.67032623291016, 90.54945373535156, 81.93406677246094, -0.5714285969734192, 1.2232415676116943 ]
[ -7.252747058868408, -99.73626708984375, 93.62637329101562, 71.12088012695312, 0.8351648449897766, 1.4246946573257446, 5.318681240081787, -97.93406677246094, 92.61538696289062, 81.67032623291016, -0.21978022158145905, 1.7473118305206299 ]
3.266667
98
0
98
0
[ -7.120879173278809, -108.52747344970703, 92.3956069946289, 77.05494689941406, 1.7142857313156128, 1.0301109552383423, 5.714285850524902, -97.67032623291016, 90.54945373535156, 81.93406677246094, -0.5714285969734192, 1.2232415676116943 ]
[ -7.252747058868408, -99.73626708984375, 93.62637329101562, 71.12088012695312, 0.8351648449897766, 1.4246946573257446, 5.318681240081787, -97.93406677246094, 92.61538696289062, 81.67032623291016, -0.21978022158145905, 1.7473118305206299 ]
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_so_follower",
    "total_episodes": 10,
    "total_frames": 6275,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.images.left_camera": {
            "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
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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