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Faless
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piper_full_3cam_merged_dagger

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
100K - 1M
Tags:
LeRobot
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float32
0
48.5
frame_index
int64
0
1.21k
episode_index
int64
0
222
index
int64
0
116k
task_index
int64
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[ 0.9345794320106506, -27.885425567626953, 68.56217956542969, -1.6833245754241943, -51.45210266113281, 1.5215109586715698, 1.9277108907699585 ]
[ 0.9010162353515625, -38.70225524902344, 72.63491821289062, -1.6092071533203125, -42.22527313232422, 1.50592041015625, 1.9141156673431396, 0 ]
3.92
98
0
98
0
[ 0.9345794320106506, -27.885425567626953, 68.56217956542969, -1.6833245754241943, -51.45210266113281, 1.5215109586715698, 1.9277108907699585 ]
[ 0.9010162353515625, -38.70225524902344, 72.63491821289062, -1.6092071533203125, -42.22527313232422, 1.50592041015625, 1.9141156673431396, 0 ]
3.96
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": "piper_full",
    "total_episodes": 223,
    "total_frames": 116325,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 25,
    "splits": {
        "train": "0:223"
    },
    "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": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos",
                "gripper.tau"
            ],
            "shape": [
                8
            ]
        },
        "observation.images.camera1": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera2": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera3": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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Total file size:
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Models trained or fine-tuned on Faless/piper_full_3cam_merged_dagger