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float32
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int64
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int64
task_index
int64
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2.1
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2.6
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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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2.9
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2.966667
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3
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3.1
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3.133333
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3.166667
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95
0
[ 2.710806131362915, -100.56927490234375, 98.22797393798828, 62.33678436279297, -1.3597278594970703, 0.7688384056091309, 7.990168571472168, -100.36957550048828, 98.84059143066406, 55.02381896972656, -1.0981006622314453, 0.1256575584411621 ]
[ 1, -99.57356262207031, 98.20948791503906, 60.20209884643555, -1.5384615659713745, 1.6238160133361816, 8.038029670715332, -98.820556640625, 98.3711929321289, 56.6786994934082, -0.8547008633613586, 0.9562841653823853 ]
3.2
96
0
96
0
[ 2.9722695350646973, -100.52296447753906, 98.01190185546875, 62.314212799072266, -1.6107063293457031, 0.774782657623291, 7.7451043128967285, -100.34539794921875, 98.9615478515625, 54.82843017578125, -1.0810794830322266, 0.13939380645751953 ]
[ 1.1666666269302368, -99.57356262207031, 98.20948791503906, 60.82394027709961, -1.5873016119003296, 1.6238160133361816, 8.038029670715332, -98.98905181884766, 98.3711929321289, 56.6786994934082, -0.9523809552192688, 0.9562841653823853 ]
3.233333
97
0
97
0
[ 3.1247377395629883, -100.54560852050781, 97.95049285888672, 62.88971710205078, -1.4701261520385742, 0.7978663444519043, 7.836857318878174, -100.47109985351562, 98.76748657226562, 54.945274353027344, -1.2826347351074219, 0.1266469955444336 ]
[ 1.5, -99.57356262207031, 98.20948791503906, 61.290321350097656, -1.5384615659713745, 1.6238160133361816, 8.038029670715332, -99.15753936767578, 98.3711929321289, 56.51824951171875, -1.0500611066818237, 0.9562841653823853 ]
3.266667
98
0
98
0
[ 3.1520533561706543, -100.60749053955078, 97.71040344238281, 63.29918670654297, -1.4313592910766602, 0.7578816413879395, 8.030431747436523, -100.58406829833984, 98.77070617675781, 54.91401672363281, -1.3367862701416016, 0.12635517120361328 ]
[ 1.9166666269302368, -99.57356262207031, 98.20948791503906, 61.7567024230957, -1.5873016119003296, 1.6238160133361816, 8.038029670715332, -99.24178314208984, 98.3711929321289, 56.35780334472656, -1.0500611066818237, 0.9562841653823853 ]
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": "v2.1",
    "robot_type": "bimanual_so100_follower",
    "total_episodes": 2,
    "total_frames": 2209,
    "total_tasks": 1,
    "total_videos": 8,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.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_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
            }
        },
        "observation.images.right_wrist": {
            "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.overhead": {
            "dtype": "video",
            "shape": [
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                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.side_camera": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "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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