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2.6
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2.666667
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2.7
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[ -0.37614184617996216, -98.65470886230469, 93.67483520507812, 71.44981384277344, 1.0500611066818237, 1.4305176734924316, 2.7884089946746826, 29.117259979248047, -22.688318252563477, 82.06278228759766, -3.5897436141967773, 1.3698630332946777 ]
3.1
93
0
93
0
[ -0.8958566784858704, -99.25442504882812, 93.38168334960938, 69.858154296875, 0.9035409092903137, 0.8467400670051575, -4.026217460632324, 22.972972869873047, -25.7637939453125, 82.5174789428711, -3.7362637519836426, 0.5952380895614624 ]
[ -0.37614184617996216, -98.65470886230469, 93.67483520507812, 71.44981384277344, 1.0500611066818237, 1.4305176734924316, 1.0388190746307373, 28.063241958618164, -22.688318252563477, 82.06278228759766, -3.6385836601257324, 1.3698630332946777 ]
3.133333
94
0
94
0
[ -0.8958566784858704, -99.25442504882812, 93.38168334960938, 69.858154296875, 0.9035409092903137, 0.8467400670051575, -6.179775238037109, 22.972972869873047, -25.7637939453125, 82.5174789428711, -3.6874237060546875, 0.5952380895614624 ]
[ -0.37614184617996216, -98.65470886230469, 93.67483520507812, 71.44981384277344, 1.0500611066818237, 1.4305176734924316, -0.8201202750205994, 27.79973602294922, -22.688318252563477, 82.06278228759766, -3.6385836601257324, 1.3698630332946777 ]
3.166667
95
0
95
0
[ -0.8958566784858704, -99.25442504882812, 93.38168334960938, 69.858154296875, 0.9035409092903137, 0.8467400670051575, -8.520599365234375, 22.972972869873047, -25.7637939453125, 82.5174789428711, -3.6874237060546875, 0.5952380895614624 ]
[ -0.37614184617996216, -98.65470886230469, 93.67483520507812, 71.44981384277344, 1.0500611066818237, 1.4305176734924316, -3.007107734680176, 27.79973602294922, -22.688318252563477, 82.19090270996094, -3.6385836601257324, 1.3698630332946777 ]
3.2
96
0
96
0
[ -0.8958566784858704, -99.25442504882812, 93.38168334960938, 69.858154296875, 0.9035409092903137, 0.8467400670051575, -10.767789840698242, 22.972972869873047, -25.67259407043457, 82.5174789428711, -3.6385836601257324, 0.5952380895614624 ]
[ -0.37614184617996216, -98.65470886230469, 93.67483520507812, 71.44981384277344, 1.0500611066818237, 1.4305176734924316, -4.866046905517578, 27.79973602294922, -22.688318252563477, 82.19090270996094, -3.6385836601257324, 1.3698630332946777 ]
3.233333
97
0
97
0
[ -0.8958566784858704, -99.25442504882812, 93.38168334960938, 69.858154296875, 0.9035409092903137, 0.8467400670051575, -14.32584285736084, 22.972972869873047, -25.398996353149414, 82.60489654541016, -3.5897436141967773, 0.5952380895614624 ]
[ -0.37614184617996216, -98.65470886230469, 93.67483520507812, 71.44981384277344, 1.0500611066818237, 1.4305176734924316, -6.615636825561523, 27.79973602294922, -22.688318252563477, 82.19090270996094, -3.6385836601257324, 1.3698630332946777 ]
3.266667
98
0
98
0
[ -0.8958566784858704, -99.25442504882812, 93.38168334960938, 69.858154296875, 0.9035409092903137, 0.8467400670051575, -15.9176025390625, 22.972972869873047, -25.125398635864258, 82.60489654541016, -3.5897436141967773, 0.5952380895614624 ]
[ -0.37614184617996216, -98.65470886230469, 93.67483520507812, 71.44981384277344, 1.0500611066818237, 1.4305176734924316, -10.224165916442871, 27.79973602294922, -22.688318252563477, 82.19090270996094, -3.6385836601257324, 1.3698630332946777 ]
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": 30,
    "total_frames": 9238,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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.head_cam": {
            "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.left_cam": {
            "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_cam": {
            "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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