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Datasets:
HCHoongChing
/
bimanual-piper-dataset

Tasks:
Robotics
Modalities:
Tabular
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Video
Formats:
parquet
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< 1K
Tags:
LeRobot
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action
list
observation.state
list
timestamp
float32
0
5.1
frame_index
int64
0
153
episode_index
int64
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0
index
int64
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153
task_index
int64
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2.2
66
0
66
0
[ -1341, 35329, -66425, 3330, 12837, 6441, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 35329, -66425, 3330, 12837, 6441, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.233333
67
0
67
0
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2.266667
68
0
68
0
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[ -1341, 40282, -77432, 3510, 12632, 6916, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.3
69
0
69
0
[ -1341, 41344, -79643, 3845, 12594, 7654, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 41344, -79643, 3845, 12594, 7654, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.333333
70
0
70
0
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[ -1341, 43678, -83782, 4683, 12360, 10273, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.366667
71
0
71
0
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[ -1341, 43728, -83575, 4683, 12360, 10329, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.4
72
0
72
0
[ -1341, 43573, -82774, 4753, 12360, 10433, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 43573, -82774, 4753, 12360, 10433, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.433333
73
0
73
0
[ -1341, 43271, -81967, 4749, 12412, 10456, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 43271, -81967, 4749, 12412, 10456, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.466667
74
0
74
0
[ -1341, 42215, -79508, 4597, 12412, 10502, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 42215, -79508, 4597, 12412, 10502, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.5
75
0
75
0
[ -1341, 34568, -66955, 4306, 12412, 10568, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 34568, -66955, 4306, 12412, 10568, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.533333
76
0
76
0
[ -1341, 25915, -53805, -397, 12472, 10697, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 25915, -53805, -397, 12472, 10697, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.566667
77
0
77
0
[ -1341, 19456, -44291, -2704, 12917, 10697, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 19456, -44291, -2704, 12917, 10697, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.6
78
0
78
0
[ -1341, 17828, -41991, -2913, 12978, 10697, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 17828, -41991, -2913, 12978, 10697, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.633333
79
0
79
0
[ -1341, 14645, -37610, -3309, 13058, 10697, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
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2.666667
80
0
80
0
[ -1341, 13427, -35950, -3733, 13218, 10697, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 13427, -35950, -3733, 13218, 10697, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.7
81
0
81
0
[ -1341, 6906, -26785, -7205, 13652, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
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2.733333
82
0
82
0
[ -1341, 3426, -21737, -7670, 13908, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
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2.766667
83
0
83
0
[ -1341, 2366, -20211, -7812, 13988, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 2366, -20211, -7812, 13988, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.8
84
0
84
0
[ -1341, 1337, -18722, -7886, 14109, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 1337, -18722, -7886, 14109, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.833333
85
0
85
0
[ -1341, 244, -15201, -8202, 14113, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 244, -15201, -8202, 14113, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.866667
86
0
86
0
[ -1341, 69, -11733, -8460, 14378, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 69, -11733, -8460, 14378, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.9
87
0
87
0
[ -1341, 0, -8623, -8462, 14317, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 0, -8623, -8462, 14317, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.933333
88
0
88
0
[ -1341, 69, -7393, -8462, 14317, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 69, -7393, -8462, 14317, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
2.966667
89
0
89
0
[ -1341, 69, -1236, -8413, 14215, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 69, -1236, -8413, 14215, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
3
90
0
90
0
[ -1341, 69, 183, -5757, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 69, 183, -5757, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
3.033333
91
0
91
0
[ -1341, 69, 183, -5609, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 69, 183, -5609, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
3.066667
92
0
92
0
[ -1341, 69, 183, -5545, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 69, 183, -5545, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
3.1
93
0
93
0
[ -1341, 69, 183, -5002, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 69, 183, -5002, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
3.133333
94
0
94
0
[ -1341, 69, 183, -4907, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
[ -1341, 69, 183, -4907, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 1234, 15788, 2797, 0 ]
3.166667
95
0
95
0
[ -1341, 69, 183, -4940, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 655, 15788, 2797, 0 ]
[ -1341, 69, 183, -4940, 15505, 10754, -0.20000000298023224, -1336, -25, 90, 655, 15788, 2797, 0 ]
3.2
96
0
96
0
[ -1341, 69, 183, -4940, 15505, 10754, -0.20000000298023224, -1336, 713, -10170, 0, 20088, 2797, 0 ]
[ -1341, 69, 183, -4940, 15505, 10754, -0.20000000298023224, -1336, 713, -10170, 0, 20088, 2797, 0 ]
3.233333
97
0
97
0
[ -1341, 69, 183, -4940, 15505, 10754, -0.20000000298023224, -1336, 6201, -23916, -1802, 17558, 2797, 0 ]
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3.266667
98
0
98
0
[ -1341, 69, 183, -4610, 15505, 10754, -0.20000000298023224, -1336, 10530, -33446, -2300, 13725, 2797, 0 ]
[ -1341, 69, 183, -4610, 15505, 10754, -0.20000000298023224, -1336, 10530, -33446, -2300, 13725, 2797, 0 ]
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": "v2.1",
    "robot_type": "bi_piper",
    "total_episodes": 1,
    "total_frames": 117,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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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": {
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            "shape": [
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            "names": [
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_gripper.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_gripper.pos"
            ]
        },
        "observation.state": {
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                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_gripper.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_gripper.pos"
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        },
        "observation.images.front": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.right": {
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            "names": [
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        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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            "names": null
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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