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[ 2.199922800064087, -31.330829620361328, 37.070526123046875, 66.79341125488281, -3.5409035682678223, 1.7615176439285278, -3.980891704559326, -12.51548957824707, 30.31795883178711, 68.50921630859375, -3.7851037979125977, 25.689882278442383 ]
3.1
93
0
93
0
[ 2.3543033599853516, -31.210723876953125, 34.5076789855957, 66.73792266845703, -3.6385836601257324, 1.535974144935608, -4.386317729949951, -12.657166481018066, 29.92766761779785, 68.55931854248047, -3.931623935699463, 27.715654373168945 ]
[ 2.199922800064087, -31.330829620361328, 37.070526123046875, 66.79341125488281, -3.5409035682678223, 1.7615176439285278, -4.21974515914917, -12.51548957824707, 30.31795883178711, 68.50921630859375, -3.7362637519836426, 26.149803161621094 ]
3.133333
94
0
94
0
[ 2.3543033599853516, -31.210723876953125, 34.5076789855957, 66.65241241455078, -3.6385836601257324, 1.535974144935608, -4.305835247039795, -12.657166481018066, 30.470163345336914, 68.47457885742188, -4.224664211273193, 27.7955265045166 ]
[ 2.199922800064087, -31.330829620361328, 37.070526123046875, 66.79341125488281, -3.5409035682678223, 1.7615176439285278, -4.378981113433838, -12.51548957824707, 30.31795883178711, 68.50921630859375, -3.7851037979125977, 26.544021606445312 ]
3.166667
95
0
95
0
[ 2.3543033599853516, -31.210723876953125, 34.5076789855957, 66.65241241455078, -3.6385836601257324, 1.535974144935608, -4.305835247039795, -12.657166481018066, 31.193490982055664, 68.38983154296875, -4.420024394989014, 27.875398635864258 ]
[ 2.199922800064087, -31.330829620361328, 37.070526123046875, 66.79341125488281, -3.5409035682678223, 1.7615176439285278, -4.458598613739014, -12.51548957824707, 30.31795883178711, 68.50921630859375, -3.6874237060546875, 26.93824005126953 ]
3.2
96
0
96
0
[ 2.3543033599853516, -31.210723876953125, 34.5076789855957, 66.65241241455078, -3.6385836601257324, 1.535974144935608, -4.305835247039795, -12.657166481018066, 31.826400756835938, 68.47457885742188, -4.468864440917969, 27.955270767211914 ]
[ 2.199922800064087, -31.330829620361328, 37.070526123046875, 66.79341125488281, -3.5409035682678223, 1.7615176439285278, -4.458598613739014, -12.51548957824707, 30.586654663085938, 68.50921630859375, -3.882783889770508, 27.135347366333008 ]
3.233333
97
0
97
0
[ 2.3543033599853516, -31.210723876953125, 34.5076789855957, 66.56690979003906, -3.6385836601257324, 1.535974144935608, -4.386317729949951, -12.657166481018066, 32.18806457519531, 68.6440658569336, -4.713064670562744, 27.955270767211914 ]
[ 2.199922800064087, -31.330829620361328, 37.070526123046875, 66.79341125488281, -3.5409035682678223, 1.7615176439285278, -4.21974515914917, -12.51548957824707, 31.124048233032227, 68.50921630859375, -4.224664211273193, 27.332456588745117 ]
3.266667
98
0
98
0
[ 2.3543033599853516, -31.210723876953125, 34.5076789855957, 66.56690979003906, -3.6385836601257324, 1.535974144935608, -4.386317729949951, -12.657166481018066, 32.54972839355469, 68.89830780029297, -4.761904716491699, 27.955270767211914 ]
[ 2.199922800064087, -31.330829620361328, 37.070526123046875, 66.79341125488281, -3.5409035682678223, 1.7615176439285278, -4.06050968170166, -12.51548957824707, 31.751007080078125, 68.50921630859375, -4.420024394989014, 27.398160934448242 ]
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": 45,
    "total_frames": 40301,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:45"
    },
    "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.top": {
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            "shape": [
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            ],
            "names": [
                "height",
                "width",
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            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
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        "observation.images.front": {
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            "names": [
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            "info": {
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                "video.width": 640,
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                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.left_wrist": {
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            "info": {
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                "video.channels": 3,
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        },
        "observation.images.right_wrist": {
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            "shape": [
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                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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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