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Datasets:
khb2439
/
piper-ps4-demo

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
lerobot
piper
ps4-teleop
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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float32
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int64
episode_index
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int64
task_index
int64
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66
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[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.133333
64
1
67
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.166667
65
1
68
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.2
66
1
69
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.233333
67
1
70
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.266667
68
1
71
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.3
69
1
72
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.333333
70
1
73
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.366667
71
1
74
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.4
72
1
75
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.433333
73
1
76
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.466667
74
1
77
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.5
75
1
78
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.533333
76
1
79
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.566667
77
1
80
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.6
78
1
81
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.633333
79
1
82
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.666667
80
1
83
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.7
81
1
84
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.733333
82
1
85
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.766667
83
1
86
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.8
84
1
87
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.833333
85
1
88
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.866667
86
1
89
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.9
87
1
90
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.933333
88
1
91
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
2.966667
89
1
92
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
3
90
1
93
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
3.033333
91
1
94
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
3.066667
92
1
95
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
3.1
93
1
96
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
3.133333
94
1
97
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
3.166667
95
1
98
0
[ 4.199333190917969, -100, 100, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
[ 4.199333190917969, -100, 100, -0.8420000076293945, 41.32285690307617, 1.7316666841506958, 31.600000381469727 ]
3.2
96
1
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": 2,
    "total_frames": 107,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "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.d405_rgb": {
            "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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.usb_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": 30,
                "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
        }
    }
}

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