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Datasets:
sssecs
/
piper_test

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
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image
imagewidth (px)
256
256
head_image
imagewidth (px)
256
256
state
listlengths
7
7
actions
listlengths
7
7
timestamp
float32
0
22.1
frame_index
int64
0
662
episode_index
int64
0
59
index
int64
0
27.5k
task_index
int64
0
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1.533333
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1.6
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1.633333
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1.833333
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1.866667
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1.9
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2
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2.033333
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2.1
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2.133333
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2.2
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2.233333
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2.3
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2.333333
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2.366667
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2.433333
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2.5
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2.533333
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2.6
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2.633333
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2.666667
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2.7
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2.8
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2.833333
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2.9
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2.933333
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[ -0.07648032903671265, 0.7258650064468384, -0.2992541491985321, -0.022252947092056274, -0.04616395756602287, 0.08644615858793259, 1.8221237659454346 ]
3
90
0
90
0
[ -0.07888888567686081, 0.6890036463737488, -0.2710670828819275, -0.018901916220784187, -0.02666863054037094, 0.09285151958465576, 1.7278759479522705 ]
[ -0.07648032903671265, 0.7675085663795471, -0.31581732630729675, -0.022252947092056274, -0.04731587693095207, 0.08400269597768784, 1.8221237659454346 ]
3.033333
91
0
91
0
[ -0.07888888567686081, 0.7150264978408813, -0.2889218032360077, -0.01975712738931179, -0.027628561481833458, 0.09285151958465576, 1.7278759479522705 ]
[ -0.07648032903671265, 0.7957653999328613, -0.33292156457901, -0.022252947092056274, -0.04731587693095207, 0.08400269597768784, 1.8221237659454346 ]
3.066667
92
0
92
0
[ -0.07888888567686081, 0.7555006742477417, -0.3052755296230316, -0.01975712738931179, -0.02869321219623089, 0.09155996888875961, 1.7278759479522705 ]
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3.1
93
0
93
0
[ -0.07888888567686081, 0.7834433913230896, -0.3205297291278839, -0.01975712738931179, -0.02975786291062832, 0.09154251962900162, 1.7278759479522705 ]
[ -0.07648032903671265, 0.8653342723846436, -0.35929349064826965, -0.022252947092056274, -0.04651302471756935, 0.08400269597768784, 1.8186330795288086 ]
3.133333
94
0
94
0
[ -0.07888888567686081, 0.8248949646949768, -0.33487632870674133, -0.01975712738931179, -0.030717795714735985, 0.09154251962900162, 1.7278759479522705 ]
[ -0.07648032903671265, 0.9039060473442078, -0.3704286813735962, -0.022252947092056274, -0.04372049868106842, 0.08400269597768784, 1.8046704530715942 ]
3.166667
95
0
95
0
[ -0.07888888567686081, 0.8514065146446228, -0.34780922532081604, -0.01975712738931179, -0.030717795714735985, 0.09154251962900162, 1.7278759479522705 ]
[ -0.07648032903671265, 0.9279391765594482, -0.380830854177475, -0.022252947092056274, -0.04159119725227356, 0.08400269597768784, 1.7994344234466553 ]
3.2
96
0
96
0
[ -0.07888888567686081, 0.883764922618866, -0.35754814743995667, -0.01975712738931179, -0.030717795714735985, 0.09154251962900162, 1.7296212911605835 ]
[ -0.07648032903671265, 0.9530195593833923, -0.3885626494884491, -0.03064798191189766, -0.03436553478240967, 0.08400269597768784, 1.7994344234466553 ]
3.233333
97
0
97
0
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[ -0.07443829625844955, 0.9880134463310242, -0.4011639356613159, -0.03190461918711662, -0.02439970336854458, 0.08400269597768784, 1.7994344234466553 ]
3.266667
98
0
98
0
[ -0.07888888567686081, 0.9485515356063843, -0.37861427664756775, -0.02174680307507515, -0.023719023913145065, 0.09154251962900162, 1.7296212911605835 ]
[ -0.06859143823385239, 1.0109994411468506, -0.409541517496109, -0.03190461918711662, -0.01401499379426241, 0.08400269597768784, 1.7941985130310059 ]
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": "v3.0",
    "robot_type": "piper",
    "total_episodes": 60,
    "total_frames": 27499,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:60"
    },
    "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": {
        "image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30
        },
        "head_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30
        },
        "state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "state"
            ],
            "fps": 30
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "actions"
            ],
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        },
        "timestamp": {
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            "shape": [
                1
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        },
        "frame_index": {
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                1
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            "names": null,
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        },
        "episode_index": {
            "dtype": "int64",
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            "names": null,
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        },
        "index": {
            "dtype": "int64",
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            ],
            "names": null,
            "fps": 30
        },
        "task_index": {
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            "shape": [
                1
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            "names": null,
            "fps": 30
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}

Citation

BibTeX:

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