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float32
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138
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int64
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4.14k
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[ -3.7113819122314453, -9.800582885742188, 0.1041717529296875, 40.35597229003906, -1.8337211608886719, 5.939387798309326, 3.8348388671875, -87.15452575683594, 24.626754760742188, 89.3137435913086, 3.9045658111572266, 3.4033854007720947 ]
[ -5.9110894203186035, -18.854415893554688, 8.237747192382812, 42.8807258605957, -2.17338228225708, 6.962025165557861, 5.231688976287842, -91.12867736816406, 27.071823120117188, 91.03053283691406, 3.1990232467651367, 3.9200615882873535 ]
3.166667
95
0
95
0
[ -6.379238128662109, -14.928680419921875, -1.8284454345703125, 40.18507766723633, -2.8202285766601562, 7.1469902992248535, 6.4962310791015625, -94.90228271484375, 27.7835693359375, 93.67622375488281, 2.026552200317383, 2.294705390930176 ]
[ -5.617977619171143, -16.785999298095703, 7.716371059417725, 42.468013763427734, -2.17338228225708, 6.645569801330566, 5.231688976287842, -90.68950653076172, 27.071823120117188, 91.03053283691406, 3.1990232467651367, 3.9200615882873535 ]
3.2
96
0
96
0
[ -6.437945365905762, -14.037551879882812, -2.392730712890625, 39.936737060546875, -2.9809341430664062, 7.390030384063721, 6.276695251464844, -94.9848861694336, 26.70178985595703, 93.46600341796875, 2.2305078506469727, 2.495154619216919 ]
[ -4.543233871459961, -12.967382431030273, 5.630865573883057, 42.13784408569336, -2.17338228225708, 6.25, 3.936223268508911, -90.60166931152344, 26.9797420501709, 91.03053283691406, 3.443223476409912, 3.9200615882873535 ]
3.233333
97
0
97
0
[ -6.57646369934082, -12.033981323242188, -2.6536407470703125, 38.907928466796875, -2.997875213623047, 7.569072246551514, 6.484428405761719, -93.84614562988281, 26.286033630371094, 93.26566314697266, 2.705629348754883, 2.5421133041381836 ]
[ -4.34782600402832, -12.330946922302246, 5.213764190673828, 42.13784408569336, -2.17338228225708, 6.25, 3.8365719318389893, -90.60166931152344, 27.071823120117188, 91.03053283691406, 3.492063522338867, 3.9200615882873535 ]
3.266667
98
0
98
0
[ -5.001887321472168, -11.560287475585938, -3.1269989013671875, 38.03668212890625, -2.996030807495117, 7.7881646156311035, 6.234413146972656, -93.49905395507812, 28.028717041015625, 93.23668670654297, 2.8691577911376953, 2.4667162895202637 ]
[ -4.445529937744141, -11.694510459899902, 4.483837127685547, 41.97275924682617, -2.3199024200439453, 6.408227920532227, 4.135525703430176, -90.68950653076172, 27.163904190063477, 91.41221618652344, 3.247863292694092, 3.9200615882873535 ]
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": 118,
    "total_frames": 127547,
    "total_tasks": 6,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:118"
    },
    "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": [
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            ]
        },
        "observation.images.top": {
            "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.left": {
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            "shape": [
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                640,
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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,
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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.right": {
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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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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