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Datasets:
Faless
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piper_full_3cam_merged_dagger_ee

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
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pandas
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observation.state
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float32
0
48.5
frame_index
int64
0
1.21k
episode_index
int64
0
222
index
int64
0
116k
task_index
int64
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2
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2.32
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2.48
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2.56
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2.6
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2.68
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2.72
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2.76
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2.8
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2.84
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2.88
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2.92
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2.96
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3
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3.04
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3.08
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3.12
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3.16
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3.2
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3.24
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3.28
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3.32
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3.36
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3.4
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3.44
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3.48
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3.52
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3.56
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3.6
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3.64
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3.68
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3.72
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3.76
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3.8
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[ 0.1888519823551178, 0.005628997925668955, 0.2880524694919586, 0.43621715903282166, 1.5186140537261963, 0.4734300374984741, 1.9036874771118164, 0 ]
3.84
96
0
96
0
[ 0.22522923350334167, 0.007130165584385395, 0.2831003963947296, 0.3485379219055176, 1.5058767795562744, 0.3915192782878876, 1.9277108907699585 ]
[ 0.1888519823551178, 0.005628997925668955, 0.2880524694919586, 0.43621715903282166, 1.5186140537261963, 0.4734300374984741, 1.9036874771118164, 0 ]
3.88
97
0
97
0
[ 0.2278522253036499, 0.007145273499190807, 0.28066229820251465, 0.43983185291290283, 1.5164014101028442, 0.4821542799472809, 1.9277108907699585 ]
[ 0.1947585940361023, 0.005853002425283194, 0.2870698869228363, 0.44983330368995667, 1.519693374633789, 0.4877912998199463, 1.9141156673431396, 0 ]
3.92
98
0
98
0
[ 0.2278522253036499, 0.007145273499190807, 0.28066229820251465, 0.43983185291290283, 1.5164014101028442, 0.4821542799472809, 1.9277108907699585 ]
[ 0.1947585940361023, 0.005853002425283194, 0.2870698869228363, 0.44983330368995667, 1.519693374633789, 0.4877912998199463, 1.9141156673431396, 0 ]
3.96
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_full",
    "total_episodes": 223,
    "total_frames": 116325,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 25,
    "splits": {
        "train": "0:223"
    },
    "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": [
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.roll",
                "ee.pitch",
                "ee.yaw",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
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            "names": [
                "ee.x",
                "ee.y",
                "ee.z",
                "ee.roll",
                "ee.pitch",
                "ee.yaw",
                "gripper.pos",
                "gripper.tau"
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            "shape": [
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        },
        "observation.images.camera1": {
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            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera2": {
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            "names": [
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            "info": {
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.camera3": {
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            ],
            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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