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Faless
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piper_full_3cam_teleop_v3

Tasks:
Robotics
Modalities:
Tabular
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Size:
10K - 100K
Tags:
LeRobot
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Polars
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observation.state
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float32
0
26.5
frame_index
int64
0
663
episode_index
int64
0
50
index
int64
0
26.4k
task_index
int64
0
0
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3.72
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[ 0.36399999260902405, -13.744444847106934, 60.48470687866211, -1.2599999904632568, -62.23428726196289, -1.3244444131851196, 43.20000076293945, -0.036652036011219025 ]
3.76
94
0
94
0
[ -0.6012024283409119, -13.590603828430176, 58.46792984008789, -1.2111637592315674, -61.574668884277344, -1.338934063911438, 43.56275177001953 ]
[ -0.019333332777023315, -13.603333473205566, 59.70470428466797, -1.2599999904632568, -62.23428726196289, -1.3244444131851196, 43.29999923706055, -0.02988683432340622 ]
3.8
95
0
95
0
[ -0.6012024283409119, -13.590603828430176, 58.375633239746094, -1.2111637592315674, -61.48908996582031, -1.338934063911438, 43.56275177001953 ]
[ -0.3973333239555359, -13.603333473205566, 58.84470748901367, -1.2599999904632568, -61.83285903930664, -1.3244444131851196, 43.400001525878906, -0.02399815060198307 ]
3.84
96
0
96
0
[ -0.8016031980514526, -13.590603828430176, 58.375633239746094, -1.2111637592315674, -61.48908996582031, -1.338934063911438, 43.56275177001953 ]
[ -0.5926666855812073, -13.603333473205566, 58.39176559448242, -1.100000023841858, -61.764286041259766, -1.3244444131851196, 43.400001525878906, -0.02159833535552025 ]
3.88
97
0
97
0
[ -1.302605152130127, -13.590603828430176, 58.375633239746094, -1.2111637592315674, -61.48908996582031, -1.338934063911438, 43.56275177001953 ]
[ -0.6700000166893005, -13.603333473205566, 58.27058792114258, -1.2079999446868896, -61.764286041259766, -1.3244444131851196, 43.400001525878906, -0.018538501113653183 ]
3.92
98
0
98
0
[ -2.0040080547332764, -13.590603828430176, 58.375633239746094, -1.2111637592315674, -61.48908996582031, -1.338934063911438, 43.56275177001953 ]
[ -0.8786666393280029, -13.603333473205566, 58.27058792114258, -1.3509999513626099, -61.395713806152344, -1.3244444131851196, 43.400001525878906, -0.016184652224183083 ]
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": 51,
    "total_frames": 26426,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 25,
    "splits": {
        "train": "0:51"
    },
    "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": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "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",
                "gripper.tau"
            ],
            "shape": [
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            ]
        },
        "observation.images.camera1": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "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": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "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.camera3": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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Models trained or fine-tuned on Faless/piper_full_3cam_teleop_v3