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float32
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42.1
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int64
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1.26k
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int64
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[ -4.557243347167969, -93.08600616455078, 93.88568878173828, 47.74387741088867, 0.21978022158145905, 1.4150943756103516, -1.8754688501358032, -96.9383544921875, 95.19358825683594, 69.8453598022461, -8.571428298950195, 0.664893627166748 ]
3.1
93
0
93
0
[ -4.349498748779297, -92.21549987792969, 90.94988250732422, 47.688209533691406, 0.6589508056640625, 1.1863521337509155, -1.8896636962890625, -97.37456512451172, 93.80550384521484, 69.31168365478516, -8.156234741210938, 0.10792813450098038 ]
[ -4.705446243286133, -92.74873352050781, 93.88568878173828, 47.8298225402832, 0.21978022158145905, 1.4150943756103516, -1.8754688501358032, -96.9383544921875, 95.28260040283203, 69.8453598022461, -8.327228546142578, 0.664893627166748 ]
3.133333
94
0
94
0
[ -4.073028564453125, -91.42721557617188, 90.9212417602539, 47.176300048828125, 0.3841552734375, 1.430450677871704, -1.6959304809570312, -97.21359252929688, 93.0077896118164, 69.1695327758789, -7.7700347900390625, 0.3105227053165436 ]
[ -4.779548168182373, -92.49578094482422, 93.88568878173828, 47.8298225402832, 0.21978022158145905, 1.4150943756103516, -1.8754688501358032, -96.9383544921875, 95.28260040283203, 69.8453598022461, -8.229548454284668, 0.664893627166748 ]
3.166667
95
0
95
0
[ -4.629936218261719, -87.85894012451172, 87.08406829833984, 48.57884216308594, 0.0744171142578125, 1.0669041872024536, -1.5133323669433594, -97.09172058105469, 93.64580535888672, 69.67333221435547, -8.53936767578125, 0.6224342584609985 ]
[ -4.631344795227051, -92.49578094482422, 93.88568878173828, 47.8298225402832, 0.21978022158145905, 1.3477089405059814, -1.800450086593628, -96.9383544921875, 95.28260040283203, 69.8453598022461, -8.229548454284668, 0.664893627166748 ]
3.2
96
0
96
0
[ -4.470951080322266, -85.27873229980469, 84.83667755126953, 48.11150360107422, -0.03685760498046875, 1.3000401258468628, -1.4156379699707031, -97.08062744140625, 94.01757049560547, 69.90399169921875, -7.910942077636719, 0.7997388243675232 ]
[ -4.631344795227051, -91.90556335449219, 93.88568878173828, 47.8298225402832, 0.21978022158145905, 1.3477089405059814, -1.800450086593628, -96.9383544921875, 95.28260040283203, 69.75945281982422, -8.034188270568848, 0.664893627166748 ]
3.233333
97
0
97
0
[ -4.5184326171875, -83.46094512939453, 83.70030975341797, 48.36140441894531, -0.324920654296875, 1.0653655529022217, -0.7932586669921875, -96.62952423095703, 93.88709259033203, 69.85789489746094, -8.093387603759766, 0.9307570457458496 ]
[ -4.631344795227051, -91.82125091552734, 93.88568878173828, 47.8298225402832, 0.21978022158145905, 1.3477089405059814, -1.800450086593628, -96.9383544921875, 95.28260040283203, 69.75945281982422, -8.034188270568848, 0.664893627166748 ]
3.266667
98
0
98
0
[ -4.055728912353516, -81.83065795898438, 81.5849380493164, 48.54804992675781, 0.36124420166015625, 1.52626371383667, -1.1034927368164062, -97.28269958496094, 93.8694076538086, 69.58634948730469, -8.044326782226562, 0.4171293079853058 ]
[ -4.705446243286133, -90.80944061279297, 92.91094207763672, 48.0017204284668, 0.21978022158145905, 1.3477089405059814, -1.800450086593628, -96.9383544921875, 95.28260040283203, 69.75945281982422, -8.131868362426758, 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": 23,
    "total_frames": 29039,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:23"
    },
    "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
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        },
        "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,
                "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",
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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