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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
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6.31k
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[ -21.748796463012695, 7.3355817794799805, 38.76827621459961, 14.482166290283203, -59.70695877075195, 45.889488220214844, -2.850712776184082, -99.58626556396484, 96.26168060302734, 68.64260864257812, -4.273504257202148, 0.5319148898124695 ]
3.1
93
0
93
0
[ -21.4456729888916, 6.1565399169921875, 37.8687744140625, 15.531814575195312, -59.3244514465332, 40.739959716796875, -2.6807937622070312, -100.90105438232422, 93.9983901977539, 69.05450439453125, -3.895538330078125, 0.7898145914077759 ]
[ -21.89699935913086, 7.419898986816406, 38.76827621459961, 14.482166290283203, -59.70695877075195, 44.87870788574219, -2.9257314205169678, -99.58626556396484, 95.81664276123047, 68.90034484863281, -4.175824165344238, 0.5319148898124695 ]
3.133333
94
0
94
0
[ -21.476863861083984, 6.5546417236328125, 38.322120666503906, 16.110397338867188, -59.300655364990234, 40.21242141723633, -2.7418174743652344, -99.90360260009766, 95.06415557861328, 69.44550323486328, -4.06146240234375, 0.41357421875 ]
[ -21.971099853515625, 7.419898986816406, 38.76827621459961, 14.482166290283203, -59.9511604309082, 44.20485305786133, -3.0007503032684326, -99.58626556396484, 95.81664276123047, 69.0721664428711, -4.175824165344238, 0.5319148898124695 ]
3.166667
95
0
95
0
[ -22.07077407836914, 7.0222320556640625, 36.05110168457031, 15.538520812988281, -60.46329116821289, 39.48695373535156, -2.4189376831054688, -98.80825805664062, 94.99398040771484, 69.3777084350586, -4.3036346435546875, 0.933037281036377 ]
[ -21.89699935913086, 7.504215717315674, 38.76827621459961, 14.654061317443848, -59.902320861816406, 43.53099822998047, -2.9257314205169678, -99.58626556396484, 96.35069274902344, 69.32989501953125, -4.126984119415283, 0.5319148898124695 ]
3.2
96
0
96
0
[ -22.358217239379883, 5.9694061279296875, 36.03965759277344, 15.26287841796875, -60.63463592529297, 37.89210510253906, -2.4668960571289062, -98.54263305664062, 94.01187896728516, 69.1275863647461, -4.878150939941406, 0.933355987071991 ]
[ -21.748796463012695, 7.251264572143555, 38.76827621459961, 15.771379470825195, -59.413917541503906, 40.768192291259766, -2.850712776184082, -99.58626556396484, 96.26168060302734, 69.32989501953125, -4.126984119415283, 0.5319148898124695 ]
3.233333
97
0
97
0
[ -22.04437828063965, 8.136466979980469, 35.775779724121094, 14.445137023925781, -60.41153335571289, 37.121795654296875, -2.7152862548828125, -99.0609130859375, 94.24445343017578, 68.26203155517578, -4.9431915283203125, 0.5849009156227112 ]
[ -21.748796463012695, 7.251264572143555, 38.76827621459961, 15.685431480407715, -59.413917541503906, 40.566036224365234, -2.850712776184082, -99.58626556396484, 96.26168060302734, 69.32989501953125, -4.126984119415283, 0.5319148898124695 ]
3.266667
98
0
98
0
[ -22.47547721862793, 5.901435852050781, 36.46574401855469, 15.163932800292969, -60.042213439941406, 35.49699020385742, -2.509552001953125, -98.4984359741211, 94.53487396240234, 68.78150939941406, -5.163200378417969, 0.9383206963539124 ]
[ -21.748796463012695, 7.251264572143555, 38.23659896850586, 15.94327449798584, -59.70695877075195, 39.75741195678711, -2.850712776184082, -99.58626556396484, 96.26168060302734, 69.32989501953125, -4.3223443031311035, 0.5984042286872864 ]
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": 5,
    "total_frames": 6308,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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,
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                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
        },
        "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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