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andreasBihlmaier
/
dual_arm_transfer_2025_02_16

Tasks:
Robotics
Modalities:
Tabular
Time-series
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parquet
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10K - 100K
Tags:
LeRobot
so100
tutorial
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observation.state
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float32
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89.8
frame_index
int64
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2.7k
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int64
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[ 13.0078125, 189.31640625, 161.806640625, -9.31640625, 22.412109375, 52.998046875, 0.42075735330581665, -3.779296875, 186.943359375, 160.224609375, 57.392578125, -2.8125, 8.26171875, -7.08737850189209 ]
[ 12.83203125, 188.26171875, 164.70703125, -8.173828125, 22.67578125, 53.26171875, 0.6116207838058472, -4.04296875, 185.9765625, 162.421875, 57.919921875, -1.845703125, 7.470703125, -3.003246784210205 ]
2.366667
71
0
71
0
[ 12.919921875, 189.31640625, 161.806640625, -9.4921875, 22.32421875, 52.998046875, 0.42075735330581665, -3.69140625, 186.943359375, 160.3125, 57.392578125, -2.8125, 8.26171875, -7.1844658851623535 ]
[ 12.83203125, 188.26171875, 164.70703125, -8.26171875, 22.67578125, 53.26171875, 0.6116207838058472, -3.69140625, 185.9765625, 162.421875, 57.919921875, -1.58203125, 7.55859375, -3.003246784210205 ]
2.4
72
0
72
0
[ 12.919921875, 189.31640625, 161.806640625, -9.580078125, 22.32421875, 52.998046875, 0.42075735330581665, -3.69140625, 186.943359375, 160.400390625, 57.392578125, -2.8125, 8.349609375, -7.1844658851623535 ]
[ 12.83203125, 188.26171875, 164.70703125, -8.4375, 22.587890625, 53.26171875, 0.6116207838058472, -3.427734375, 185.9765625, 162.421875, 57.919921875, -1.669921875, 7.646484375, -3.003246784210205 ]
2.433333
73
0
73
0
[ 12.919921875, 189.31640625, 161.806640625, -9.580078125, 22.32421875, 53.173828125, 0.42075735330581665, -3.69140625, 186.85546875, 160.400390625, 57.392578125, -2.8125, 8.349609375, -7.1844658851623535 ]
[ 12.568359375, 188.26171875, 164.70703125, -8.525390625, 22.412109375, 53.26171875, 0.6116207838058472, -3.1640625, 185.9765625, 162.421875, 57.919921875, -1.7578125, 7.646484375, -3.003246784210205 ]
2.466667
74
0
74
0
[ 12.919921875, 189.31640625, 161.806640625, -9.580078125, 22.8515625, 53.26171875, 0.42075735330581665, -3.69140625, 186.85546875, 160.13671875, 57.392578125, -2.8125, 8.4375, -7.1844658851623535 ]
[ 12.392578125, 188.26171875, 164.70703125, -8.525390625, 22.236328125, 53.26171875, 0.6116207838058472, -3.1640625, 185.9765625, 162.421875, 57.919921875, -1.845703125, 7.646484375, -3.003246784210205 ]
2.5
75
0
75
0
[ 12.919921875, 189.31640625, 161.806640625, -9.66796875, 23.115234375, 53.0859375, 0.42075735330581665, -3.69140625, 186.85546875, 159.873046875, 57.392578125, -2.8125, 8.4375, -7.1844658851623535 ]
[ 12.216796875, 188.26171875, 164.70703125, -8.525390625, 22.236328125, 53.349609375, 0.6116207838058472, -3.251953125, 185.9765625, 162.421875, 57.919921875, -1.7578125, 7.646484375, -3.003246784210205 ]
2.533333
76
0
76
0
[ 12.919921875, 189.31640625, 161.71875, -9.84375, 23.203125, 53.0859375, 0.5610098242759705, -3.69140625, 186.85546875, 159.697265625, 57.3046875, -2.8125, 8.4375, -6.407766819000244 ]
[ 12.216796875, 188.26171875, 164.70703125, -8.525390625, 22.236328125, 53.349609375, 0.6116207838058472, -3.33984375, 185.9765625, 162.421875, 57.919921875, -1.669921875, 7.646484375, -3.003246784210205 ]
2.566667
77
0
77
0
[ 12.83203125, 189.31640625, 161.455078125, -9.931640625, 23.203125, 52.998046875, 0.5610098242759705, -3.69140625, 186.85546875, 159.521484375, 57.216796875, -2.8125, 8.4375, -6.3106794357299805 ]
[ 12.216796875, 188.26171875, 164.70703125, -8.525390625, 22.5, 53.349609375, 0.6116207838058472, -3.427734375, 185.9765625, 162.333984375, 57.919921875, -1.669921875, 7.646484375, -3.003246784210205 ]
2.6
78
0
78
0
[ 12.744140625, 189.31640625, 161.19140625, -10.107421875, 23.291015625, 52.998046875, 0.5610098242759705, -3.69140625, 186.85546875, 158.818359375, 56.77734375, -2.8125, 8.4375, -6.3106794357299805 ]
[ 12.3046875, 188.26171875, 164.70703125, -8.525390625, 22.67578125, 53.349609375, 0.6116207838058472, -3.427734375, 185.9765625, 162.24609375, 57.919921875, -1.669921875, 7.646484375, -3.003246784210205 ]
2.633333
79
0
79
0
[ 12.65625, 189.31640625, 161.103515625, -10.1953125, 23.37890625, 52.998046875, 0.5610098242759705, -3.69140625, 186.85546875, 157.763671875, 56.25, -2.8125, 8.349609375, -6.3106794357299805 ]
[ 12.3046875, 188.26171875, 164.70703125, -8.61328125, 22.67578125, 53.349609375, 0.6116207838058472, -3.427734375, 185.9765625, 162.158203125, 57.919921875, -1.669921875, 7.646484375, -3.003246784210205 ]
2.666667
80
0
80
0
[ 12.568359375, 189.31640625, 161.015625, -10.283203125, 23.37890625, 52.998046875, 0.5610098242759705, -3.69140625, 186.85546875, 156.796875, 55.986328125, -2.8125, 8.26171875, -6.213592052459717 ]
[ 12.216796875, 188.26171875, 164.70703125, -9.052734375, 22.67578125, 53.26171875, 0.6116207838058472, -3.515625, 185.9765625, 161.71875, 57.744140625, -1.58203125, 7.646484375, -3.003246784210205 ]
2.7
81
0
81
0
[ 12.12890625, 189.31640625, 160.927734375, -10.283203125, 23.37890625, 52.998046875, 0.5610098242759705, -3.69140625, 186.85546875, 156.09375, 55.8984375, -2.8125, 8.26171875, -6.116504669189453 ]
[ 12.216796875, 188.26171875, 164.70703125, -9.31640625, 22.67578125, 53.26171875, 0.6116207838058472, -3.515625, 185.9765625, 161.015625, 57.568359375, -1.58203125, 7.646484375, -3.003246784210205 ]
2.733333
82
0
82
0
[ 11.25, 189.31640625, 160.83984375, -10.1953125, 23.37890625, 52.998046875, 0.5610098242759705, -3.603515625, 186.85546875, 155.390625, 55.8984375, -2.900390625, 8.173828125, -6.116504669189453 ]
[ 12.041015625, 188.26171875, 164.70703125, -9.404296875, 22.67578125, 53.26171875, 0.6116207838058472, -3.515625, 185.9765625, 160.13671875, 57.041015625, -1.58203125, 7.646484375, -3.003246784210205 ]
2.766667
83
0
83
0
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[ 12.041015625, 188.26171875, 164.53125, -9.4921875, 22.67578125, 53.26171875, 0.6116207838058472, -3.515625, 185.9765625, 159.43359375, 56.6015625, -1.7578125, 7.646484375, -3.003246784210205 ]
2.8
84
0
84
0
[ 9.66796875, 189.31640625, 160.48828125, -10.107421875, 22.412109375, 52.91015625, 0.7012622952461243, -3.603515625, 186.767578125, 152.9296875, 56.6015625, -2.900390625, 8.0859375, -5.825242519378662 ]
[ 11.77734375, 188.26171875, 164.267578125, -9.4921875, 22.67578125, 53.26171875, 0.6116207838058472, -3.515625, 185.9765625, 158.466796875, 56.513671875, -1.7578125, 7.646484375, -3.003246784210205 ]
2.833333
85
0
85
0
[ 9.404296875, 189.31640625, 159.78515625, -10.107421875, 22.32421875, 52.91015625, 0.8415147066116333, -3.515625, 186.767578125, 151.34765625, 56.689453125, -2.900390625, 7.998046875, -5.631067752838135 ]
[ 11.07421875, 188.26171875, 163.916015625, -9.404296875, 22.412109375, 53.173828125, 0.6116207838058472, -3.515625, 185.9765625, 157.763671875, 56.6015625, -1.669921875, 7.646484375, -3.003246784210205 ]
2.866667
86
0
86
0
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[ 9.931640625, 188.26171875, 163.65234375, -9.4921875, 22.236328125, 53.173828125, 0.6116207838058472, -3.603515625, 185.9765625, 156.796875, 56.6015625, -1.58203125, 7.646484375, -3.003246784210205 ]
2.9
87
0
87
0
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[ 9.31640625, 188.26171875, 163.125, -9.580078125, 22.236328125, 53.173828125, 0.6116207838058472, -3.603515625, 185.9765625, 155.478515625, 56.6015625, -1.58203125, 7.294921875, -3.003246784210205 ]
2.933333
88
0
88
0
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[ 9.228515625, 188.26171875, 162.509765625, -9.931640625, 22.1484375, 53.26171875, 0.6116207838058472, -3.603515625, 185.537109375, 153.896484375, 56.6015625, -1.58203125, 7.20703125, -2.7597403526306152 ]
2.966667
89
0
89
0
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[ 9.228515625, 188.26171875, 161.19140625, -9.31640625, 22.236328125, 53.4375, 0.6116207838058472, -3.515625, 185.2734375, 152.40234375, 56.6015625, -1.669921875, 7.20703125, -2.191558361053467 ]
3
90
0
90
0
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[ 9.4921875, 188.26171875, 159.521484375, -8.96484375, 22.1484375, 53.525390625, 0.8409786224365234, -3.515625, 185.2734375, 151.259765625, 56.865234375, -1.7578125, 7.20703125, -1.3798701763153076 ]
3.033333
91
0
91
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[ 10.283203125, 189.140625, 148.88671875, -9.404296875, 21.796875, 54.228515625, 7.854137420654297, -3.603515625, 185.625, 146.6015625, 60.029296875, -2.900390625, 7.20703125, 9.22330093383789 ]
[ 9.931640625, 188.26171875, 157.67578125, -8.96484375, 22.236328125, 53.876953125, 1.4525994062423706, -3.515625, 185.185546875, 150.556640625, 57.041015625, -1.7578125, 7.20703125, 0.3246753215789795 ]
3.066667
92
0
92
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[ 10.37109375, 189.052734375, 148.095703125, -8.876953125, 21.708984375, 54.31640625, 11.500700950622559, -3.69140625, 185.712890625, 146.513671875, 61.171875, -2.8125, 7.20703125, 11.747572898864746 ]
[ 10.01953125, 188.26171875, 155.654296875, -8.96484375, 21.796875, 53.876953125, 2.370030641555786, -3.515625, 185.185546875, 149.765625, 57.744140625, -1.7578125, 7.20703125, 2.4350650310516357 ]
3.1
93
0
93
0
[ 10.458984375, 189.052734375, 147.83203125, -8.701171875, 21.181640625, 54.31640625, 15.708274841308594, -3.955078125, 185.80078125, 146.42578125, 62.314453125, -2.724609375, 7.119140625, 13.203883171081543 ]
[ 10.107421875, 188.26171875, 153.80859375, -8.96484375, 21.533203125, 53.876953125, 3.669724702835083, -3.603515625, 185.185546875, 149.23828125, 58.798828125, -1.669921875, 7.20703125, 4.8701300621032715 ]
3.133333
94
0
94
0
[ 10.458984375, 189.052734375, 147.83203125, -8.525390625, 20.126953125, 54.31640625, 19.915847778320312, -4.482421875, 185.80078125, 146.42578125, 63.28125, -2.4609375, 7.20703125, 14.17475700378418 ]
[ 10.01953125, 188.26171875, 152.490234375, -8.876953125, 21.4453125, 53.876953125, 6.3455657958984375, -3.603515625, 185.185546875, 149.0625, 60.029296875, -1.58203125, 7.20703125, 7.061688423156738 ]
3.166667
95
0
95
0
[ 10.546875, 188.96484375, 147.744140625, -8.4375, 18.984375, 54.31640625, 23.84291648864746, -4.74609375, 185.80078125, 146.337890625, 64.072265625, -1.845703125, 7.91015625, 14.368931770324707 ]
[ 9.755859375, 188.349609375, 151.435546875, -8.61328125, 21.26953125, 53.876953125, 9.403669357299805, -3.603515625, 185.185546875, 149.0625, 60.99609375, -1.58203125, 7.20703125, 9.496753692626953 ]
3.2
96
0
96
0
[ 10.546875, 188.876953125, 147.65625, -8.4375, 17.841796875, 54.31640625, 26.507713317871094, -5.09765625, 185.888671875, 146.337890625, 64.86328125, -1.7578125, 7.998046875, 14.368931770324707 ]
[ 9.66796875, 188.349609375, 150.8203125, -8.4375, 20.654296875, 53.876953125, 12.920489311218262, -3.515625, 185.185546875, 149.0625, 62.05078125, -1.669921875, 7.20703125, 11.201298713684082 ]
3.233333
97
0
97
0
[ 10.634765625, 188.525390625, 147.392578125, -8.349609375, 16.875, 54.31640625, 28.050491333007812, -5.9765625, 185.888671875, 146.25, 65.56640625, -1.7578125, 8.173828125, 14.368931770324707 ]
[ 9.66796875, 188.173828125, 150.556640625, -8.4375, 19.51171875, 53.876953125, 16.360857009887695, -3.515625, 185.009765625, 149.0625, 62.9296875, -1.7578125, 7.20703125, 12.094156265258789 ]
3.266667
98
0
98
0
[ 11.25, 187.646484375, 147.216796875, -8.26171875, 16.171875, 54.404296875, 29.312763214111328, -7.294921875, 185.888671875, 145.546875, 66.181640625, -1.7578125, 8.26171875, 14.368931770324707 ]
[ 9.66796875, 188.0859375, 150.46875, -8.349609375, 18.369140625, 53.876953125, 19.801223754882812, -3.955078125, 185.009765625, 149.0625, 63.544921875, -1.58203125, 7.20703125, 12.662337303161621 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 12,
    "total_frames": 17428,
    "total_tasks": 1,
    "total_videos": 36,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:12"
    },
    "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": [
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_wrist_yaw",
                "right_gripper",
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_wrist_yaw",
                "left_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_wrist_yaw",
                "right_gripper",
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_wrist_yaw",
                "left_gripper"
            ]
        },
        "observation.images.webcam_1": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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                "width",
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.webcam_2": {
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            "shape": [
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            "names": [
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            "info": {
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        "observation.images.webcam_3": {
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        "timestamp": {
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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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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
17,428