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float32
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53.5
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int64
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1.61k
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[ 28.883378982543945, 5.1622314453125, 36.46586608886719, 45.19019317626953, 16.070363998413086, 1.8465633392333984, -30.754150390625, 9.225717544555664, 40.40520477294922, 50.577484130859375, -17.170244216918945, 2.8239893913269043 ]
[ 27.312774658203125, 4.285714149475098, 38.63939666748047, 45.39363479614258, 15.65323543548584, 2.3358585834503174, -29.285449981689453, 6.666666507720947, 41.707645416259766, 49.747474670410156, -16.630037307739258, 3.0401034355163574 ]
3.133333
94
0
94
0
[ 29.161977767944336, 4.831024169921875, 36.61236572265625, 45.12185287475586, 16.182830810546875, 1.8481324911117554, -30.78911781311035, 9.258453369140625, 40.68738555908203, 50.29730987548828, -16.934619903564453, 2.8705215454101562 ]
[ 27.665197372436523, 4.453781604766846, 38.46154022216797, 45.30988311767578, 15.65323543548584, 2.3358585834503174, -29.581636428833008, 6.750524044036865, 41.260616302490234, 49.747474670410156, -16.77655601501465, 3.0401034355163574 ]
3.166667
95
0
95
0
[ 29.198612213134766, 5.6381072998046875, 35.88005065917969, 45.2850456237793, 16.107851028442383, 1.8475868701934814, -30.99114227294922, 9.213346481323242, 39.693450927734375, 50.4024543762207, -17.260658264160156, 2.8138318061828613 ]
[ 27.929515838623047, 4.6218485832214355, 38.19475173950195, 45.30988311767578, 15.65323543548584, 2.3358585834503174, -29.7297306060791, 7.169811248779297, 40.81359100341797, 49.83164978027344, -16.77655601501465, 3.0401034355163574 ]
3.2
96
0
96
0
[ 29.385953903198242, 5.3201904296875, 36.53235626220703, 44.834312438964844, 16.120494842529297, 1.8463586568832397, -30.79636001586914, 8.898639678955078, 40.276832580566406, 50.87579345703125, -17.220701217651367, 2.8128719329833984 ]
[ 28.10572624206543, 4.8739495277404785, 38.01689529418945, 45.30988311767578, 15.65323543548584, 2.3358585834503174, -29.95186996459961, 7.337526321411133, 40.6347770690918, 49.83164978027344, -16.874237060546875, 3.0401034355163574 ]
3.233333
97
0
97
0
[ 29.94058609008789, 5.86383056640625, 35.449607849121094, 45.07135772705078, 16.249122619628906, 1.8509061336517334, -31.305583953857422, 9.47305679321289, 38.86765670776367, 51.071067810058594, -17.242177963256836, 2.8653016090393066 ]
[ 28.370044708251953, 4.957983016967773, 37.7501106262207, 45.30988311767578, 15.702075958251953, 2.3358585834503174, -30.09996223449707, 7.337526321411133, 40.45596694946289, 49.83164978027344, -16.874237060546875, 3.0401034355163574 ]
3.266667
98
0
98
0
[ 30.275686264038086, 5.92742919921875, 35.370845794677734, 44.98210906982422, 16.33731460571289, 1.8512943983078003, -31.25823974609375, 9.227048873901367, 38.94875717163086, 51.09003829956055, -17.253677368164062, 2.8366832733154297 ]
[ 28.546255111694336, 5.210083961486816, 37.48332595825195, 45.30988311767578, 15.799756050109863, 2.3358585834503174, -30.248056411743164, 7.421383857727051, 40.09834671020508, 49.83164978027344, -17.0207576751709, 3.0401034355163574 ]
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": 3,
    "total_frames": 3630,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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.front": {
            "dtype": "video",
            "shape": [
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                640,
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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
            }
        },
        "observation.images.arm_left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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,
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            }
        },
        "observation.images.arm_right": {
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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,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "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": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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