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Datasets:
lirislab
/
bimanual_scene2_take1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
bimanual
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
18
frame_index
int64
0
270
episode_index
int64
0
52
index
int64
0
11k
task_index
int64
0
0
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5.466667
82
0
82
0
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5.533333
83
0
83
0
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5.6
84
0
84
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5.666667
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85
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5.733333
86
0
86
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5.8
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5.866667
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0
88
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5.933333
89
0
89
0
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6
90
0
90
0
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6.066667
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0
91
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6.133333
92
0
92
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6.266667
94
0
94
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6.333333
95
0
95
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6.4
96
0
96
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6.466667
97
0
97
0
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6.533333
98
0
98
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6.6
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100_bimanual",
    "total_episodes": 53,
    "total_frames": 10975,
    "total_tasks": 1,
    "total_videos": 106,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:53"
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    "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": [
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            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            "names": [
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            "info": {
                "video.fps": 15.0,
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                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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        "observation.images.top": {
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            "names": [
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            ],
            "info": {
                "video.fps": 15.0,
                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "h264",
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
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        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
1.17 MB
Number of rows:
10,975

Collection including lirislab/bimanual_scene2_take1