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float32
0
44.1
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int64
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1.32k
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int64
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13.1k
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[ -3.742126703262329, -99.49409484863281, 97.16437530517578, 55.73699951171875, 0.5128205418586731, 1.2129379510879517, 2.5945143699645996, -99.74597930908203, 94.57777404785156, 71.93590545654297, 2.4664225578308105, 1.0073875188827515 ]
3.1
93
0
93
0
[ -3.742523193359375, -99.4179458618164, 98.0063705444336, 54.346221923828125, 0.43050384521484375, 0.9695701599121094, 2.9623985290527344, -100.31961822509766, 91.30689239501953, 72.08412170410156, 2.7746505737304688, 0.40789175033569336 ]
[ -3.668025255203247, -99.49409484863281, 97.25299072265625, 55.56510543823242, 0.5128205418586731, 1.1455525159835815, 2.520385503768921, -99.74597930908203, 94.57777404785156, 71.84928894042969, 2.3199024200439453, 1.0745466947555542 ]
3.133333
94
0
94
0
[ -3.4782791137695312, -99.97527313232422, 95.5531234741211, 55.032936096191406, 0.49097442626953125, 2.2828574180603027, 2.3062171936035156, -100.95840454101562, 92.6097183227539, 72.27206420898438, 3.3147506713867188, 0.8120625615119934 ]
[ -3.1493146419525146, -99.49409484863281, 97.25299072265625, 55.04941940307617, 0.6593406796455383, 1.1455525159835815, 2.520385503768921, -99.74597930908203, 94.4888916015625, 72.02252197265625, 2.17338228225708, 1.141705870628357 ]
3.166667
95
0
95
0
[ -3.6420059204101562, -100.13046264648438, 98.41210174560547, 56.38860321044922, 0.879241943359375, 0.9770691990852356, 2.530506134033203, -103.20879364013672, 94.32813262939453, 73.08954620361328, 3.633697509765625, 0.8937678337097168 ]
[ -3.2975175380706787, -99.49409484863281, 97.25299072265625, 55.04941940307617, 0.8058608174324036, 1.0781670808792114, 2.520385503768921, -99.74597930908203, 94.4000015258789, 72.10913848876953, 2.222222328186035, 1.0745466947555542 ]
3.2
96
0
96
0
[ -3.5041732788085938, -100.2801513671875, 97.8746109008789, 55.76435852050781, 0.599761962890625, 1.6640876531600952, 2.5919151306152344, -101.52332305908203, 93.1901626586914, 71.70660400390625, 2.3569259643554688, 0.46162259578704834 ]
[ -3.742126703262329, -99.57841491699219, 96.27824401855469, 55.13536834716797, 0.6593406796455383, 2.0215632915496826, 2.3721275329589844, -99.74597930908203, 94.22222137451172, 72.10913848876953, 3.0036630630493164, 1.0745466947555542 ]
3.233333
97
0
97
0
[ -3.7740211486816406, -100.81034088134766, 97.9988784790039, 55.138343811035156, 0.6081466674804688, 1.6075915098190308, 2.3689613342285156, -102.15669250488281, 92.75670623779297, 72.07260131835938, 3.1147689819335938, 0.6983948945999146 ]
[ -3.742126703262329, -99.57841491699219, 96.27824401855469, 55.2213134765625, 0.6593406796455383, 2.0215632915496826, 2.3721275329589844, -99.74597930908203, 94.22222137451172, 72.19575500488281, 3.0525031089782715, 1.0745466947555542 ]
3.266667
98
0
98
0
[ -3.2428016662597656, -100.68719482421875, 97.74443817138672, 55.241188049316406, 0.6520004272460938, 1.8266372680664062, 2.5542945861816406, -101.6309814453125, 92.10773468017578, 71.5107421875, 2.6466522216796875, 0.8604736924171448 ]
[ -3.816228151321411, -99.57841491699219, 96.54408264160156, 55.56510543823242, 0.6593406796455383, 1.8867924213409424, 2.3721275329589844, -99.74597930908203, 94.31111145019531, 72.45561218261719, 3.1501832008361816, 1.0745466947555542 ]
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": 10,
    "total_frames": 13149,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.left_gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
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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.top": {
            "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_gripper": {
            "dtype": "video",
            "shape": [
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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": [
                1
            ],
            "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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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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