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float32
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41.6
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int64
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1.25k
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int64
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9
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int64
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12.4k
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[ -3.593923568725586, -99.66273498535156, 98.6707992553711, 54.877525329589844, 2.3687424659729004, 0.9433962106704712, -1.4825797080993652, -98.47586822509766, 95.28888702392578, 68.38458251953125, -0.02442002482712269, 1.3431833982467651 ]
3.066667
92
0
92
0
[ -3.3050384521484375, -99.5906753540039, 98.91439819335938, 54.26119613647461, 2.5480384826660156, 0.7598731517791748, -1.2666168212890625, -98.67742156982422, 94.43682098388672, 67.73309326171875, 0.34426116943359375, 0.9818729162216187 ]
[ -3.668025255203247, -99.66273498535156, 98.6707992553711, 54.877525329589844, 2.3687424659729004, 0.9433962106704712, -1.408450722694397, -98.47586822509766, 95.28888702392578, 68.38458251953125, 0.07326007634401321, 1.3431833982467651 ]
3.1
93
0
93
0
[ -3.6123619079589844, -100.76397705078125, 99.108154296875, 54.56039810180664, 2.5181541442871094, 0.8860677480697632, -1.6150550842285156, -97.94853210449219, 93.49373626708984, 68.09867858886719, 0.7557601928710938, 1.1820262670516968 ]
[ -3.742126703262329, -99.66273498535156, 98.84803009033203, 54.877525329589844, 2.4175825119018555, 0.9433962106704712, -1.408450722694397, -98.56053924560547, 95.28888702392578, 68.47119903564453, 0.17094017565250397, 1.3431833982467651 ]
3.133333
94
0
94
0
[ -3.4763641357421875, -101.04131317138672, 97.88153076171875, 54.78971481323242, 2.338214874267578, 1.1397192478179932, -1.53082275390625, -98.01146697998047, 93.9342269897461, 67.77682495117188, 0.16234588623046875, 1.2545045614242554 ]
[ -3.742126703262329, -99.57841491699219, 98.84803009033203, 54.705631256103516, 2.4175825119018555, 0.9433962106704712, -1.408450722694397, -98.56053924560547, 95.28888702392578, 68.38458251953125, 0.17094017565250397, 1.3431833982467651 ]
3.166667
95
0
95
0
[ -3.5953598022460938, -100.28302764892578, 99.22555541992188, 54.86063766479492, 2.390697479248047, 1.0918445587158203, -1.1510581970214844, -98.79678344726562, 94.47611236572266, 67.86454010009766, 0.5408172607421875, 1.1411614418029785 ]
[ -3.742126703262329, -99.57841491699219, 98.84803009033203, 54.705631256103516, 2.4175825119018555, 0.9433962106704712, -1.408450722694397, -98.56053924560547, 95.28888702392578, 68.38458251953125, 0.2686202824115753, 1.3431833982467651 ]
3.2
96
0
96
0
[ -3.7621002197265625, -99.907470703125, 99.68197631835938, 54.954959869384766, 2.550891876220703, 1.1456634998321533, -1.0975227355957031, -98.67015075683594, 92.99413299560547, 68.32229614257812, 0.6197738647460938, 0.900816798210144 ]
[ -3.742126703262329, -99.7470474243164, 98.40496063232422, 54.705631256103516, 2.4175825119018555, 0.9433962106704712, -1.408450722694397, -98.22184753417969, 95.28888702392578, 68.29796600341797, 0.17094017565250397, 1.3431833982467651 ]
3.233333
97
0
97
0
[ -3.480358123779297, -100.19815826416016, 98.68608093261719, 54.67014694213867, 2.0104637145996094, 1.0157681703567505, -1.3061714172363281, -99.45184326171875, 93.75948333740234, 67.46528625488281, 0.1779632568359375, 1.2849547863006592 ]
[ -3.742126703262329, -99.7470474243164, 98.40496063232422, 54.705631256103516, 2.4175825119018555, 0.9433962106704712, -1.408450722694397, -98.22184753417969, 95.28888702392578, 68.29796600341797, 0.17094017565250397, 1.3431833982467651 ]
3.266667
98
0
98
0
[ -4.321445465087891, -100.11919403076172, 100.10150146484375, 54.21413803100586, 2.7751197814941406, 1.1507446765899658, -1.1726036071777344, -99.65031433105469, 94.4152603149414, 67.6197280883789, 0.28491973876953125, 1.063285231590271 ]
[ -3.816228151321411, -99.7470474243164, 98.40496063232422, 54.705631256103516, 2.4175825119018555, 0.9433962106704712, -1.408450722694397, -98.3065185546875, 95.28888702392578, 68.29796600341797, 0.3174603283405304, 1.3431833982467651 ]
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": 12420,
    "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",
                "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.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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                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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            "names": null
        },
        "index": {
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            "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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