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Datasets:
pranavnaik98
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bimanual_so101_stacking_100

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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Polars
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float32
0
20
frame_index
int64
0
599
episode_index
int64
0
107
index
int64
0
64.8k
task_index
int64
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1.6
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1.7
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3
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3.166667
95
0
95
0
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3.2
96
0
96
0
[ -4.972875118255615, -79.25553894042969, 89.13336181640625, 63.08867263793945, 5.44566535949707, 0.23291926085948944, -5.694564342498779, -12.545381546020508, 30.86092758178711, 50.559932708740234, 2.857142925262451, 27.61310386657715 ]
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3.233333
97
0
97
0
[ -4.972875118255615, -79.25553894042969, 89.13336181640625, 63.08867263793945, 5.44566535949707, 0.23291926085948944, -5.780845642089844, -11.738604545593262, 30.86092758178711, 50.559932708740234, 2.857142925262451, 27.61310386657715 ]
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3.266667
98
0
98
0
[ -4.972875118255615, -79.25553894042969, 89.13336181640625, 63.08867263793945, 5.44566535949707, 0.23291926085948944, -5.953408241271973, -11.012504577636719, 30.86092758178711, 50.559932708740234, 2.857142925262451, 27.53510093688965 ]
[ -4.0065412521362305, -79.85012817382812, 92.36298370361328, 64.0458984375, 5.201465129852295, 0.9900990128517151, -5.909510612487793, -12.621358871459961, 33.64446258544922, 51.338199615478516, 2.661782741546631, 27.738094329833984 ]
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": 108,
    "total_frames": 64788,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:108"
    },
    "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": [
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                640,
                3
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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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            "shape": [
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                640,
                3
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            "names": [
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                "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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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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