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float32
0
42.1
frame_index
int64
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1.26k
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int64
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23
index
int64
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30.2k
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[ -3.668025255203247, -99.57841491699219, 98.58219146728516, 54.361839294433594, 3.1013431549072266, 1.1455525159835815, 3.600900173187256, -35.53992462158203, 18.558076858520508, 80.32646179199219, -18.437118530273438, 0.5319148898124695 ]
3.1
93
0
93
0
[ -3.738574981689453, -102.00202941894531, 96.95507049560547, 54.13434600830078, 3.4631576538085938, 0.6910539269447327, 6.149665832519531, -28.421829223632812, 9.110527038574219, 81.61965942382812, -22.15237045288086, -0.0782020315527916 ]
[ -3.668025255203247, -99.57841491699219, 98.58219146728516, 54.01804733276367, 3.1990232467651367, 1.1455525159835815, 3.900975227355957, -33.96772766113281, 17.578994750976562, 80.75601196289062, -19.072038650512695, 0.5319148898124695 ]
3.133333
94
0
94
0
[ -3.8641204833984375, -102.3125991821289, 96.92772674560547, 53.736785888671875, 3.1406707763671875, 0.632789134979248, 6.054607391357422, -26.65735626220703, 7.46356201171875, 82.292236328125, -23.048316955566406, 0.2842143774032593 ]
[ -3.8903298377990723, -99.57841491699219, 98.49357604980469, 53.50236511230469, 3.296703338623047, 1.0107816457748413, 4.201050281524658, -32.47827911376953, 15.976858139038086, 80.75601196289062, -19.60927963256836, 0.5319148898124695 ]
3.166667
95
0
95
0
[ -3.292827606201172, -99.41607666015625, 97.61205291748047, 53.82572937011719, 2.6417388916015625, 0.22444307804107666, 8.364486694335938, -23.008827209472656, 4.40679931640625, 81.76593017578125, -24.443862915039062, 1.0150898694992065 ]
[ -3.8903298377990723, -99.57841491699219, 98.40496063232422, 53.76020812988281, 3.296703338623047, 1.0107816457748413, 4.651162624359131, -31.071577072143555, 14.196706771850586, 80.84192657470703, -20.293041229248047, 0.5319148898124695 ]
3.2
96
0
96
0
[ -3.29052734375, -99.58650970458984, 97.69466400146484, 53.48535919189453, 3.0135116577148438, 0.8372495174407959, 8.841510772705078, -22.635765075683594, 3.691436767578125, 81.85443115234375, -24.016719818115234, 0.7525870203971863 ]
[ -3.9644312858581543, -99.57841491699219, 97.78466796875, 53.93210220336914, 3.247863292694092, 0.8760107755661011, 6.001500606536865, -26.768720626831055, 10.369380950927734, 81.87284851074219, -22.78388214111328, 0.5319148898124695 ]
3.233333
97
0
97
0
[ -3.5522117614746094, -99.2083969116211, 97.19937896728516, 53.263336181640625, 3.5542984008789062, 0.7004778385162354, 8.802356719970703, -21.676292419433594, 3.5361480712890625, 81.53091430664062, -24.609073638916016, 0.7553907036781311 ]
[ -3.9644312858581543, -99.57841491699219, 97.78466796875, 53.93210220336914, 3.247863292694092, 0.8760107755661011, 5.701425552368164, -26.768720626831055, 10.280373573303223, 81.87284851074219, -22.78388214111328, 0.5319148898124695 ]
3.266667
98
0
98
0
[ -3.2341270446777344, -99.91258239746094, 97.99962615966797, 53.12977600097656, 3.0878524780273438, 0.44753316044807434, 9.716049194335938, -20.006256103515625, 2.464141845703125, 81.69404602050781, -25.34793472290039, 0.45309239625930786 ]
[ -3.668025255203247, -99.57841491699219, 97.78466796875, 53.93210220336914, 3.0525031089782715, 0.7412399053573608, 6.451612949371338, -25.94124984741211, 9.21228313446045, 81.87284851074219, -23.174602508544922, 0.664893627166748 ]
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": 24,
    "total_frames": 30244,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:24"
    },
    "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": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "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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