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float32
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26.9
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int64
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807
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2.7
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2.8
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2.9
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3
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3.1
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3.2
96
0
96
0
[ 23.399639129638672, -57.34236145019531, 79.47320556640625, 51.626014709472656, 53.5042724609375, 22.18309783935547, -28.221742630004883, -65.52020263671875, 76.28350830078125, 67.25772857666016, -52.478633880615234, 27.86434555053711 ]
[ 21.20333480834961, -54.3071174621582, 77.57685089111328, 53.976585388183594, 51.4529914855957, 21.409395217895508, -25.442079544067383, -64.61607360839844, 75, 71.48252868652344, -50.52503204345703, 29.065040588378906 ]
3.233333
97
0
97
0
[ 23.833635330200195, -57.68091583251953, 80.3814697265625, 51.219512939453125, 53.846153259277344, 22.18309783935547, -28.7257022857666, -64.66036224365234, 76.9195785522461, 65.93814086914062, -52.771671295166016, 27.86434555053711 ]
[ 21.710763931274414, -55.30586624145508, 79.65641784667969, 53.249900817871094, 52.28327178955078, 21.677852630615234, -26.380367279052734, -65.15491485595703, 76.26353454589844, 70.3493881225586, -51.25762939453125, 28.92953872680664 ]
3.266667
98
0
98
0
[ 24.26763153076172, -57.93482971191406, 81.10808563232422, 50.81300735473633, 54.13919448852539, 22.18309783935547, -29.15766716003418, -63.62854766845703, 77.28305053710938, 64.78350830078125, -53.06471252441406, 27.956003189086914 ]
[ 22.07321548461914, -55.971702575683594, 81.01265716552734, 52.92692947387695, 52.96703338623047, 21.677852630615234, -27.102128982543945, -65.24472045898438, 77.34657287597656, 69.40509796142578, -51.79487228393555, 28.38753318786621 ]
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": "v2.1",
    "robot_type": "bi_so100_follower",
    "total_episodes": 9,
    "total_frames": 4080,
    "total_tasks": 1,
    "total_videos": 27,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:9"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.images.workspace": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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            "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.left_wrist": {
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            "shape": [
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                640,
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            ],
            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "observation.images.right_wrist": {
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
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                "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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                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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