Datasets:
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action list | observation.state list | timestamp float32 0 40.7 | frame_index int64 0 1.22k | episode_index int64 0 81 | index int64 0 82.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
sy_01
82 recorded Piper barcode checkout demonstrations in LeRobot v2.1 format: the original 32 episodes from piper_checkout_v3, followed by 50 episodes from piper_checkout_v9.
Task: Pick up a milk carton or a snack from the box, turn the item so that its barcode side faces the separate checkout camera, hold it briefly with the barcode fully visible for scanning, and then put it down in the designated area.
| Property | Value |
|---|---|
| Episodes | 82, indexed 0–81 |
| Frames | 82,398 |
| Recording rate | 30 FPS |
| Robot type | piper_follower |
| Actions and robot state | Six joint positions and gripper position |
| Camera observations | observation.images.front, observation.images.global |
| Videos | 164 H.264 MP4 files, 640 × 480 |
| Split | All episodes in train |
| Format | LeRobot v2.1 |
data/ contains one Parquet file per episode; videos/ contains the two camera recordings; meta/ contains tasks, lengths, statistics, and source episode mappings.
Actions, observations, and videos are preserved. Appended episodes have new episode numbers and continuous global frame indices. Gripper values remain continuous; no binarization is applied.
Excluded source episode indices in piper_checkout_v9: [11]. The validation findings and complete source mapping are recorded in meta/merge_provenance.json. Source recordings remain unchanged locally.
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