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Datasets:
zylovexydd
/
piper_pick_place_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
Polars
License:
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observation.state
list
action
list
timestamp
float32
0
34
frame_index
int64
0
1.02k
episode_index
int64
0
149
index
int64
0
79.1k
task_index
int64
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1.6
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1.633333
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1.666667
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1.7
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1.733333
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1.833333
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1.9
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1.933333
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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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2.166667
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2.2
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2.233333
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2.266667
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2.3
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2.333333
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2.366667
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2.4
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2.433333
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2.466667
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2.5
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2.533333
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2.566667
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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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2.866667
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2.9
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2.933333
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2.966667
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3
90
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3.033333
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3.066667
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3.1
93
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0
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[ 0.17749997973442078, 0.978606104850769, -1.2659920454025269, 0.2572091817855835, 1.1439411640167236, -0.08885471522808075, 0.08969999849796295 ]
3.133333
94
0
94
0
[ 0.17749997973442078, 0.978606104850769, -1.2659920454025269, 0.2572091817855835, 1.1439411640167236, -0.08885471522808075, 0.08969999849796295 ]
[ 0.19689059257507324, 0.9936159253120422, -1.2659920454025269, 0.249459907412529, 1.1360173225402832, -0.08885471522808075, 0.08969999849796295 ]
3.166667
95
0
95
0
[ 0.19689059257507324, 0.9936159253120422, -1.2659920454025269, 0.249459907412529, 1.1360173225402832, -0.08885471522808075, 0.08969999849796295 ]
[ 0.2166302651166916, 1.0090097188949585, -1.2659920454025269, 0.242548406124115, 1.1268194913864136, -0.08655087649822235, 0.08969999849796295 ]
3.2
96
0
96
0
[ 0.2166302651166916, 1.0090097188949585, -1.2659920454025269, 0.242548406124115, 1.1268194913864136, -0.08655087649822235, 0.08969999849796295 ]
[ 0.23148301243782043, 1.021994948387146, -1.2659920454025269, 0.23572416603565216, 1.1183197498321533, -0.07956956326961517, 0.08969999849796295 ]
3.233333
97
0
97
0
[ 0.23148301243782043, 1.021994948387146, -1.2659920454025269, 0.23572416603565216, 1.1183197498321533, -0.07956956326961517, 0.08969999849796295 ]
[ 0.25101324915885925, 1.0380868911743164, -1.2659920454025269, 0.22862067818641663, 1.1104134321212769, -0.06443755328655243, 0.08969999849796295 ]
3.266667
98
0
98
0
[ 0.25101324915885925, 1.0380868911743164, -1.2659920454025269, 0.22862067818641663, 1.1104134321212769, -0.06443755328655243, 0.08969999849796295 ]
[ 0.27087509632110596, 1.0553656816482544, -1.2659920454025269, 0.2174505740404129, 1.1025419235229492, -0.05021312087774277, 0.08969999849796295 ]
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": 150,
    "total_frames": 79099,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:150"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "j1",
                "j2",
                "j3",
                "j4",
                "j5",
                "j6",
                "gripper"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "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
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "j1",
                "j2",
                "j3",
                "j4",
                "j5",
                "j6",
                "gripper"
            ]
        },
        "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
        }
    }
}

Citation

BibTeX:

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