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Datasets:
jwwoo
/
piper_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
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action
list
observation.state
list
timestamp
float32
0
22.4
frame_index
int64
0
447
episode_index
int64
0
49
index
int64
0
13.1k
task_index
int64
0
0
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0.7
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0.75
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0.8
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0.85
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0.9
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0.95
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1
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1.05
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1.1
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1.15
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1.2
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1.25
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1.3
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1.35
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1.4
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1.45
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1.6
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1.65
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1.7
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1.75
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35
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1.8
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1.85
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37
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1.9
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1.95
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2
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2.05
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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51
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2.6
52
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52
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2.65
53
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53
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2.7
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54
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2.75
55
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55
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2.8
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2.85
57
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57
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[ -1.281000018119812, 3.187999963760376, -0.22100000083446503, 2.3399999141693115, 14.230999946594238, 0, 25.969999313354492 ]
[ -1.281000018119812, 3.187999963760376, -0.22100000083446503, 2.3399999141693115, 14.230999946594238, 0, 25.969999313354492 ]
2.9
58
0
58
0
[ -1.281000018119812, 4.925000190734863, -0.22100000083446503, 3.7009999752044678, 13.156999588012695, 0, 25.969999313354492 ]
[ -1.281000018119812, 4.925000190734863, -0.22100000083446503, 3.7009999752044678, 13.156999588012695, 0, 25.969999313354492 ]
2.95
59
0
59
0
[ -1.1699999570846558, 6.929999828338623, -0.22100000083446503, 5.548999786376953, 11.83899974822998, 0, 25.969999313354492 ]
[ -1.1699999570846558, 6.929999828338623, -0.22100000083446503, 5.548999786376953, 11.83899974822998, 0, 25.969999313354492 ]
3
60
0
60
0
[ -0.9470000267028809, 8.862000465393066, -0.22100000083446503, 7.631999969482422, 10.498000144958496, 0, 25.969999313354492 ]
[ -0.9470000267028809, 8.862000465393066, -0.22100000083446503, 7.631999969482422, 10.498000144958496, 0, 25.969999313354492 ]
3.05
61
0
61
0
[ -0.6629999876022339, 10.737000465393066, -0.22100000083446503, 9.607999801635742, 9.208000183105469, 0, 25.969999313354492 ]
[ -0.6629999876022339, 10.737000465393066, -0.22100000083446503, 9.607999801635742, 9.208000183105469, 0, 25.969999313354492 ]
3.1
62
0
62
0
[ -0.574999988079071, 11.993000030517578, -0.22100000083446503, 11.390999794006348, 7.435999870300293, 0, 25.969999313354492 ]
[ -0.574999988079071, 11.993000030517578, -0.22100000083446503, 11.390999794006348, 7.435999870300293, 0, 25.969999313354492 ]
3.15
63
0
63
0
[ -0.5389999747276306, 12.956999778747559, -0.22100000083446503, 12.635000228881836, 5.868000030517578, 0, 25.969999313354492 ]
[ -0.5389999747276306, 12.956999778747559, -0.22100000083446503, 12.635000228881836, 5.868000030517578, 0, 25.969999313354492 ]
3.2
64
0
64
0
[ -0.43700000643730164, 13.821000099182129, -0.22100000083446503, 13.505000114440918, 4.604000091552734, 0, 25.969999313354492 ]
[ -0.43700000643730164, 13.821000099182129, -0.22100000083446503, 13.505000114440918, 4.604000091552734, 0, 25.969999313354492 ]
3.25
65
0
65
0
[ -0.4180000126361847, 14.656000137329102, -0.22100000083446503, 14.4350004196167, 3.503999948501587, 0, 25.969999313354492 ]
[ -0.4180000126361847, 14.656000137329102, -0.22100000083446503, 14.4350004196167, 3.503999948501587, 0, 25.969999313354492 ]
3.3
66
0
66
0
[ -0.17100000381469727, 15.484000205993652, -0.22100000083446503, 15.652999877929688, 2.9170000553131104, 0.4440000057220459, 25.969999313354492 ]
[ -0.17100000381469727, 15.484000205993652, -0.22100000083446503, 15.652999877929688, 2.9170000553131104, 0.4440000057220459, 25.969999313354492 ]
3.35
67
0
67
0
[ 0, 16.277000427246094, -0.22100000083446503, 17.104999542236328, 2.9070000648498535, 0.4860000014305115, 25.969999313354492 ]
[ 0, 16.277000427246094, -0.22100000083446503, 17.104999542236328, 2.9070000648498535, 0.4860000014305115, 25.969999313354492 ]
3.4
68
0
68
0
[ 0, 17.108999252319336, -0.22100000083446503, 18.62299919128418, 2.819999933242798, 0.6330000162124634, 25.969999313354492 ]
[ 0, 17.108999252319336, -0.22100000083446503, 18.62299919128418, 2.819999933242798, 0.6330000162124634, 25.969999313354492 ]
3.45
69
0
69
0
[ 0, 17.71500015258789, -0.22100000083446503, 20.533000946044922, 2.7679998874664307, 0.7350000143051147, 25.969999313354492 ]
[ 0, 17.71500015258789, -0.22100000083446503, 20.533000946044922, 2.7679998874664307, 0.7350000143051147, 25.969999313354492 ]
3.5
70
0
70
0
[ 0, 18.104000091552734, -0.22100000083446503, 21.985000610351562, 2.7679998874664307, 0.7799999713897705, 25.969999313354492 ]
[ 0, 18.104000091552734, -0.22100000083446503, 21.985000610351562, 2.7679998874664307, 0.7799999713897705, 25.969999313354492 ]
3.55
71
0
71
0
[ 0, 18.4950008392334, -0.22100000083446503, 23.253999710083008, 2.7679998874664307, 0.7799999713897705, 25.969999313354492 ]
[ 0, 18.4950008392334, -0.22100000083446503, 23.253999710083008, 2.7679998874664307, 0.7799999713897705, 25.969999313354492 ]
3.6
72
0
72
0
[ 0, 18.888999938964844, -0.22100000083446503, 24.04199981689453, 2.7679998874664307, 0.7799999713897705, 25.969999313354492 ]
[ 0, 18.888999938964844, -0.22100000083446503, 24.04199981689453, 2.7679998874664307, 0.7799999713897705, 25.969999313354492 ]
3.65
73
0
73
0
[ 0, 19.107999801635742, -0.22100000083446503, 24.285999298095703, 3.0769999027252197, 0.7799999713897705, 25.969999313354492 ]
[ 0, 19.107999801635742, -0.22100000083446503, 24.285999298095703, 3.0769999027252197, 0.7799999713897705, 25.969999313354492 ]
3.7
74
0
74
0
[ 0, 19.111000061035156, -0.9259999990463257, 24.368000030517578, 3.7760000228881836, 0.4189999997615814, 25.969999313354492 ]
[ 0, 19.111000061035156, -0.9259999990463257, 24.368000030517578, 3.7760000228881836, 0.4189999997615814, 25.969999313354492 ]
3.75
75
0
75
0
[ 0, 19.111000061035156, -2.0360000133514404, 24.513999938964844, 4.265999794006348, 0, 25.969999313354492 ]
[ 0, 19.111000061035156, -2.0360000133514404, 24.513999938964844, 4.265999794006348, 0, 25.969999313354492 ]
3.8
76
0
76
0
[ 0, 19.259000778198242, -3.194999933242798, 24.513999938964844, 4.710000038146973, -1.4830000400543213, 25.969999313354492 ]
[ 0, 19.259000778198242, -3.194999933242798, 24.513999938964844, 4.710000038146973, -1.4830000400543213, 25.969999313354492 ]
3.85
77
0
77
0
[ 0, 19.906999588012695, -4.392000198364258, 24.513999938964844, 5.642000198364258, -2.617000102996826, 25.969999313354492 ]
[ 0, 19.906999588012695, -4.392000198364258, 24.513999938964844, 5.642000198364258, -2.617000102996826, 25.969999313354492 ]
3.9
78
0
78
0
[ 0, 20.89299964904785, -5.341000080108643, 24.599000930786133, 7.065999984741211, -3.0299999713897705, 25.969999313354492 ]
[ 0, 20.89299964904785, -5.341000080108643, 24.599000930786133, 7.065999984741211, -3.0299999713897705, 25.969999313354492 ]
3.95
79
0
79
0
[ 0, 21.871999740600586, -6.3520002365112305, 24.726999282836914, 8.89900016784668, -3.2160000801086426, 25.969999313354492 ]
[ 0, 21.871999740600586, -6.3520002365112305, 24.726999282836914, 8.89900016784668, -3.2160000801086426, 25.969999313354492 ]
4
80
0
80
0
[ 0, 22.64699935913086, -7.433000087738037, 24.726999282836914, 10.444999694824219, -3.7200000286102295, 25.969999313354492 ]
[ 0, 22.64699935913086, -7.433000087738037, 24.726999282836914, 10.444999694824219, -3.7200000286102295, 25.969999313354492 ]
4.05
81
0
81
0
[ 0, 23.284000396728516, -8.51200008392334, 24.856000900268555, 11.470999717712402, -4.861000061035156, 25.969999313354492 ]
[ 0, 23.284000396728516, -8.51200008392334, 24.856000900268555, 11.470999717712402, -4.861000061035156, 25.969999313354492 ]
4.1
82
0
82
0
[ 0, 23.7810001373291, -9.710000038146973, 24.93400001525879, 12.093999862670898, -6.63100004196167, 25.969999313354492 ]
[ 0, 23.7810001373291, -9.710000038146973, 24.93400001525879, 12.093999862670898, -6.63100004196167, 25.969999313354492 ]
4.15
83
0
83
0
[ 0, 24.46299934387207, -11.144000053405762, 24.93400001525879, 12.74899959564209, -9.081000328063965, 25.969999313354492 ]
[ 0, 24.46299934387207, -11.144000053405762, 24.93400001525879, 12.74899959564209, -9.081000328063965, 25.969999313354492 ]
4.2
84
0
84
0
[ 0, 25.28499984741211, -12.894000053405762, 25.03499984741211, 13.579000473022461, -12.505999565124512, 25.969999313354492 ]
[ 0, 25.28499984741211, -12.894000053405762, 25.03499984741211, 13.579000473022461, -12.505999565124512, 25.969999313354492 ]
4.25
85
0
85
0
[ 0, 26.297000885009766, -14.39900016784668, 24.981000900268555, 14.793000221252441, -15.78499984741211, 25.969999313354492 ]
[ 0, 26.297000885009766, -14.39900016784668, 24.981000900268555, 14.793000221252441, -15.78499984741211, 25.969999313354492 ]
4.3
86
0
86
0
[ 0, 27.474000930786133, -15.940999984741211, 24.981000900268555, 16.045000076293945, -19.632999420166016, 25.969999313354492 ]
[ 0, 27.474000930786133, -15.940999984741211, 24.981000900268555, 16.045000076293945, -19.632999420166016, 25.969999313354492 ]
4.35
87
0
87
0
[ 0, 28.854999542236328, -17.045000076293945, 25.066999435424805, 17.250999450683594, -22.965999603271484, 25.969999313354492 ]
[ 0, 28.854999542236328, -17.045000076293945, 25.066999435424805, 17.250999450683594, -22.965999603271484, 25.969999313354492 ]
4.4
88
0
88
0
[ 0, 30.38800048828125, -17.871000289916992, 25.066999435424805, 18.048999786376953, -25.548999786376953, 25.969999313354492 ]
[ 0, 30.38800048828125, -17.871000289916992, 25.066999435424805, 18.048999786376953, -25.548999786376953, 25.969999313354492 ]
4.45
89
0
89
0
[ 0, 32.09199905395508, -18.430999755859375, 25.108999252319336, 18.672000885009766, -26.969999313354492, 25.969999313354492 ]
[ 0, 32.09199905395508, -18.430999755859375, 25.108999252319336, 18.672000885009766, -26.969999313354492, 25.969999313354492 ]
4.5
90
0
90
0
[ 0, 33.42599868774414, -18.823999404907227, 25.108999252319336, 18.68000030517578, -27.700000762939453, 25.969999313354492 ]
[ 0, 33.42599868774414, -18.823999404907227, 25.108999252319336, 18.68000030517578, -27.700000762939453, 25.969999313354492 ]
4.55
91
0
91
0
[ 0, 34.513999938964844, -18.91200065612793, 25.108999252319336, 18.222999572753906, -28.10099983215332, 25.969999313354492 ]
[ 0, 34.513999938964844, -18.91200065612793, 25.108999252319336, 18.222999572753906, -28.10099983215332, 25.969999313354492 ]
4.6
92
0
92
0
[ 0, 35.237998962402344, -19.045000076293945, 25.200000762939453, 17.81999969482422, -28.19499969482422, 25.969999313354492 ]
[ 0, 35.237998962402344, -19.045000076293945, 25.200000762939453, 17.81999969482422, -28.19499969482422, 25.969999313354492 ]
4.65
93
0
93
0
[ 0, 35.854000091552734, -19.045000076293945, 25.200000762939453, 17.518999099731445, -28.19499969482422, 25.969999313354492 ]
[ 0, 35.854000091552734, -19.045000076293945, 25.200000762939453, 17.518999099731445, -28.19499969482422, 25.969999313354492 ]
4.7
94
0
94
0
[ 0, 36.12699890136719, -19.045000076293945, 25.200000762939453, 17.518999099731445, -28.332000732421875, 25.969999313354492 ]
[ 0, 36.12699890136719, -19.045000076293945, 25.200000762939453, 17.518999099731445, -28.332000732421875, 25.969999313354492 ]
4.75
95
0
95
0
[ 0, 36.224998474121094, -19.045000076293945, 25.200000762939453, 17.518999099731445, -28.332000732421875, 25.969999313354492 ]
[ 0, 36.224998474121094, -19.045000076293945, 25.200000762939453, 17.518999099731445, -28.332000732421875, 25.969999313354492 ]
4.8
96
0
96
0
[ 0, 36.362998962402344, -19.045000076293945, 25.200000762939453, 17.39299964904785, -28.332000732421875, 25.969999313354492 ]
[ 0, 36.362998962402344, -19.045000076293945, 25.200000762939453, 17.39299964904785, -28.332000732421875, 25.969999313354492 ]
4.85
97
0
97
0
[ 0, 36.67300033569336, -19.045000076293945, 25.363000869750977, 16.80299949645996, -28.332000732421875, 25.969999313354492 ]
[ 0, 36.67300033569336, -19.045000076293945, 25.363000869750977, 16.80299949645996, -28.332000732421875, 25.969999313354492 ]
4.9
98
0
98
0
[ 0, 37.31800079345703, -19.180999755859375, 25.363000869750977, 15.90999984741211, -28.332000732421875, 25.969999313354492 ]
[ 0, 37.31800079345703, -19.180999755859375, 25.363000869750977, 15.90999984741211, -28.332000732421875, 25.969999313354492 ]
4.95
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",
    "total_episodes": 50,
    "total_frames": 13148,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:50"
    },
    "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"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "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
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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