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float32
0
41.6
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int64
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1.25k
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int64
0
9
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int64
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12.4k
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2.7
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3
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3.1
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0
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[ -3.0752129554748535, -99.49409484863281, 99.29109191894531, 54.877525329589844, 2.3687424659729004, 0.9433962106704712, 0.7412898540496826, -96.8670654296875, 94.04444122314453, 68.47119903564453, -2.5152626037597656, 1.141705870628357 ]
3.133333
94
0
94
0
[ -3.0896224975585938, -100.2323226928711, 100.2286376953125, 54.868099212646484, 2.199687957763672, 0.7013117671012878, 0.19559097290039062, -96.3708724975586, 92.74494171142578, 68.06211853027344, -2.4275436401367188, 1.1080615520477295 ]
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3.166667
95
0
95
0
[ -4.5616302490234375, -100.61710357666016, 101.12710571289062, 54.37540817260742, 2.031970977783203, 0.5679036974906921, 1.5336990356445312, -96.59132385253906, 92.3688735961914, 69.9053955078125, -3.3291015625, 1.009429693222046 ]
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3.2
96
0
96
0
[ -3.1616783142089844, -100.98426818847656, 99.9017333984375, 54.41965103149414, 2.690296173095703, 0.8161954879760742, 0.7926139831542969, -97.99439239501953, 92.92359161376953, 68.38876342773438, -1.86749267578125, 0.7670857310295105 ]
[ -3.445720672607422, -99.66273498535156, 99.46832275390625, 55.04941940307617, 2.3199024200439453, 0.9433962106704712, 0.3706449270248413, -96.69771575927734, 94.04444122314453, 68.47119903564453, -2.4664225578308105, 1.141705870628357 ]
3.233333
97
0
97
0
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[ -3.445720672607422, -99.66273498535156, 99.46832275390625, 55.04941940307617, 2.3199024200439453, 0.9433962106704712, 0.44477391242980957, -96.69771575927734, 94.04444122314453, 68.47119903564453, -2.5152626037597656, 1.141705870628357 ]
3.266667
98
0
98
0
[ -3.8597412109375, -99.95719909667969, 100.80326843261719, 55.010128021240234, 2.255046844482422, 0.7352235317230225, 0.7167396545410156, -97.85897827148438, 98.27652740478516, 68.36326599121094, -3.7505874633789062, 1.0988720655441284 ]
[ -3.519822120666504, -99.66273498535156, 99.46832275390625, 54.877525329589844, 2.3687424659729004, 0.9433962106704712, 0.44477391242980957, -96.8670654296875, 94.04444122314453, 68.6444320678711, -2.710622787475586, 1.141705870628357 ]
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": 12409,
    "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
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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,
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                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "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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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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