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Datasets:
Faless
/
piper_full_3cam_teleop

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
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action
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observation.state
list
timestamp
float32
0
37.2
frame_index
int64
0
930
episode_index
int64
0
32
index
int64
0
18.6k
task_index
int64
0
0
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3
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3.08
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3.12
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3.16
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3.24
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3.28
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3.32
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3.36
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3.4
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3.44
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3.48
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3.56
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3.6
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3.68
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[ -9.824000358581543, -42.10333251953125, 67.0552978515625, -0.652999997138977, -41.17714309692383, -0.995555579662323, 5.300000190734863, -0.10316428542137146 ]
3.76
94
0
94
0
[ -9.919839859008789, -40.18456268310547, 64.00553894042969, -0.6319115161895752, -41.29225540161133, -1.023890733718872, 5.91093111038208 ]
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3.8
95
0
95
0
[ -9.919839859008789, -39.513423919677734, 63.082603454589844, -0.6319115161895752, -41.29225540161133, -1.023890733718872, 5.91093111038208 ]
[ -9.907999992370605, -40.79888916015625, 64.86705780029297, -0.652999997138977, -41.37571334838867, -0.995555579662323, 5.300000190734863, -0.10428307205438614 ]
3.84
96
0
96
0
[ -9.919839859008789, -38.75838851928711, 62.25196075439453, -0.6319115161895752, -41.29225540161133, -1.023890733718872, 5.91093111038208 ]
[ -9.907999992370605, -40.00555419921875, 63.97058868408203, -0.652999997138977, -41.37571334838867, -0.995555579662323, 5.300000190734863, -0.10505476593971252 ]
3.88
97
0
97
0
[ -9.919839859008789, -38.087249755859375, 61.60590744018555, -0.6319115161895752, -41.29225540161133, -1.023890733718872, 5.91093111038208 ]
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3.92
98
0
98
0
[ -9.819639205932617, -37.5, 61.052146911621094, -0.6319115161895752, -41.29225540161133, -1.023890733718872, 5.91093111038208 ]
[ -9.907999992370605, -38.46666717529297, 62.04470443725586, -0.652999997138977, -41.37571334838867, -0.995555579662323, 5.300000190734863, -0.10220436006784439 ]
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": 33,
    "total_frames": 18633,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 25,
    "splits": {
        "train": "0:33"
    },
    "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"
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        },
        "observation.images.camera1": {
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            "shape": [
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                640,
                3
            ],
            "names": [
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                "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": {
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            "names": [
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            "info": {
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "observation.images.camera3": {
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            "shape": [
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                3
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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Models trained or fine-tuned on Faless/piper_full_3cam_teleop