Hugging Face's logo

Datasets:
KeWangRobotics
/
piper_rl_4_cropped_resized

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
Dataset Viewer
Auto-converted to Parquet
Search is not available for this dataset
next.reward
int64
0
1
next.done
bool
2 classes
action
sequence
observation.state
sequence
timestamp
float32
0
19.5
frame_index
int64
0
389
episode_index
int64
0
19
index
int64
0
4.52k
task_index
int64
0
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0
0
0
0
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.05
1
0
1
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.1
2
0
2
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.15
3
0
3
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.2
4
0
4
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.25
5
0
5
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.3
6
0
6
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.35
7
0
7
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.4
8
0
8
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.45
9
0
9
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.5
10
0
10
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.55
11
0
11
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.6
12
0
12
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.65
13
0
13
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.7
14
0
14
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.75
15
0
15
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.8
16
0
16
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.85
17
0
17
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.9
18
0
18
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
0.95
19
0
19
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1
20
0
20
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.05
21
0
21
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.1
22
0
22
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.15
23
0
23
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.2
24
0
24
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.25
25
0
25
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.3
26
0
26
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.35
27
0
27
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.4
28
0
28
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.45
29
0
29
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.5
30
0
30
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.55
31
0
31
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.6
32
0
32
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.65
33
0
33
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.7
34
0
34
0
0
false
[ 0, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.75
35
0
35
0
0
false
[ 0.0034317015670239925, 0, 0 ]
[ 0.00022500027262140065, -0.00013299989223014563, 0.0002980140852741897 ]
1.8
36
0
36
0
0
false
[ 0.0041241454891860485, 0, 0 ]
[ 0.0005479978281073272, -0.00009399983537150547, -0.00009600241901353002 ]
1.85
37
0
37
0
0
false
[ 0.004375152755528688, 0, 0 ]
[ 0.0027770029846578836, -0.0001810002577258274, 0.0006720034289173782 ]
1.9
38
0
38
0
0
false
[ 0.004621734842658043, 0, 0 ]
[ 0.005598999559879303, 0.0001649991172598675, -0.000049987633246928453 ]
1.95
39
0
39
0
0
false
[ 0.0044097900390625, 0, 0 ]
[ 0.007658995687961578, 0.000004999755219614599, 0.00018899718998000026 ]
2
40
0
40
0
0
false
[ 0, 0, 0 ]
[ 0.010948993265628815, 0.000403000449296087, 0.0003070143866352737 ]
2.05
41
0
41
0
0
false
[ 0, 0, 0 ]
[ 0.012182004749774933, 0.00015799929678905755, -0.00003100355388596654 ]
2.1
42
0
42
0
0
false
[ 0, 0, 0 ]
[ 0.011984996497631073, 0.0005169999203644693, -0.00006101449253037572 ]
2.15
43
0
43
0
0
false
[ 0, 0, 0 ]
[ 0.012184999883174896, 0.0005430005840025842, -0.000022986730982665904 ]
2.2
44
0
44
0
0
false
[ 0, 0, 0 ]
[ 0.012184999883174896, 0.0005430005840025842, -0.000022986730982665904 ]
2.25
45
0
45
0
0
false
[ 0, 0, 0 ]
[ 0.012184999883174896, 0.0005430005840025842, -0.000022986730982665904 ]
2.3
46
0
46
0
0
false
[ 0, 0, 0 ]
[ 0.012184999883174896, 0.0005430005840025842, -0.000022986730982665904 ]
2.35
47
0
47
0
0
false
[ 0, 0, 0 ]
[ 0.012184999883174896, 0.0005430005840025842, -0.000022986730982665904 ]
2.4
48
0
48
0
0
false
[ 0, 0, 0 ]
[ 0.012184999883174896, 0.0005430005840025842, -0.000022986730982665904 ]
2.45
49
0
49
0
0
false
[ 0, 0, 0 ]
[ 0.012184999883174896, 0.0005430005840025842, -0.000022986730982665904 ]
2.5
50
0
50
0
0
false
[ 0, 0, 0 ]
[ 0.012184999883174896, 0.0005430005840025842, -0.000022986730982665904 ]
2.55
51
0
51
0
0
false
[ 0, 0, -0.0031250000465661287 ]
[ 0.012184999883174896, 0.0005430005840025842, -0.000022986730982665904 ]
2.6
52
0
52
0
0
false
[ 0, 0, -0.0038867187686264515 ]
[ 0.012184999883174896, 0.0005430005840025842, -0.000022986730982665904 ]
2.65
53
0
53
0
0
false
[ 0, 0, -0.004921874962747097 ]
[ 0.011814005672931671, 0.0005110003403387964, -0.002368995686993003 ]
2.7
54
0
54
0
0
false
[ 0, 0, -0.0059960936196148396 ]
[ 0.011487998068332672, 0.0004810005775652826, -0.004446009173989296 ]
2.75
55
0
55
0
0
false
[ 0, 0, -0.006640625186264515 ]
[ 0.011303998529911041, 0.00048499967670068145, -0.007851013913750648 ]
2.8
56
0
56
0
0
false
[ 0, 0, -0.007011718582361937 ]
[ 0.011171005666255951, 0.0004890006384812295, -0.011374006047844887 ]
2.85
57
0
57
0
0
false
[ 0, 0, -0.007070312276482582 ]
[ 0.010961003601551056, 0.0004870001575909555, -0.015239009633660316 ]
2.9
58
0
58
0
0
false
[ 0, 0, -0.007128906436264515 ]
[ 0.01118200272321701, 0.0005440008244477212, -0.01896599866449833 ]
2.95
59
0
59
0
0
false
[ 0, 0, -0.007128906436264515 ]
[ 0.011159993708133698, 0.0005699996254406869, -0.022800007835030556 ]
3
60
0
60
0
0
false
[ 0, 0, -0.007089843973517418 ]
[ 0.011194996535778046, 0.0004839994362555444, -0.026779988780617714 ]
3.05
61
0
61
0
0
false
[ 0, 0, -0.0069335936568677425 ]
[ 0.011146001517772675, 0.0005050007603131235, -0.030723998323082924 ]
3.1
62
0
62
0
0
false
[ 0, 0, -0.005546874832361937 ]
[ 0.010689996182918549, 0.00042999949073418975, -0.0348149910569191 ]
3.15
63
0
63
0
0
false
[ 0, 0, 0 ]
[ 0.011144004762172699, 0.0005249999812804163, -0.03791899234056473 ]
3.2
64
0
64
0
0
false
[ 0, 0, 0 ]
[ 0.01075800508260727, 0.0005009997985325754, -0.039910994470119476 ]
3.25
65
0
65
0
0
false
[ 0, 0, 0 ]
[ 0.010575003921985626, 0.00048000033712014556, -0.04028899222612381 ]
3.3
66
0
66
0
0
false
[ 0, 0, 0 ]
[ 0.010575003921985626, 0.00048000033712014556, -0.04028899222612381 ]
3.35
67
0
67
0
0
false
[ 0, 0, 0 ]
[ 0.010703004896640778, 0.0004989993176423013, -0.040265001356601715 ]
3.4
68
0
68
0
0
false
[ 0, 0, 0 ]
[ 0.010703004896640778, 0.0004989993176423013, -0.040265001356601715 ]
3.45
69
0
69
0
0
false
[ 0, 0, 0 ]
[ 0.010703004896640778, 0.0004989993176423013, -0.040265001356601715 ]
3.5
70
0
70
0
0
false
[ 0, 0, 0 ]
[ 0.010703004896640778, 0.0004989993176423013, -0.040265001356601715 ]
3.55
71
0
71
0
0
false
[ 0, 0, 0 ]
[ 0.010703004896640778, 0.0004989993176423013, -0.040265001356601715 ]
3.6
72
0
72
0
0
false
[ 0, 0, 0 ]
[ 0.010703004896640778, 0.0004989993176423013, -0.040265001356601715 ]
3.65
73
0
73
0
0
false
[ 0, 0, 0 ]
[ 0.010722003877162933, 0.00035800080513581634, -0.040258996188640594 ]
3.7
74
0
74
0
0
false
[ 0, 0, 0 ]
[ 0.010721005499362946, 0.0003630001447163522, -0.040258996188640594 ]
3.75
75
0
75
0
0
false
[ 0, 0, 0 ]
[ 0.010721005499362946, 0.0003630001447163522, -0.040258996188640594 ]
3.8
76
0
76
0
0
false
[ 0, 0, 0 ]
[ 0.010721005499362946, 0.0003630001447163522, -0.040258996188640594 ]
3.85
77
0
77
0
0
false
[ 0, 0, 0 ]
[ 0.010721005499362946, 0.0003630001447163522, -0.040258996188640594 ]
3.9
78
0
78
0
0
false
[ -0.0032716370187699795, 0, 0 ]
[ 0.010721005499362946, 0.0003630001447163522, -0.040258996188640594 ]
3.95
79
0
79
0
0
false
[ -0.003095703199505806, 0, 0 ]
[ 0.010721005499362946, 0.0003630001447163522, -0.040258996188640594 ]
4
80
0
80
0
0
false
[ 0, 0, 0 ]
[ 0.0086979940533638, 0.00011999946582363918, -0.04062499850988388 ]
4.05
81
0
81
0
0
false
[ 0, 0, 0 ]
[ 0.008142001926898956, 0.000054000360250938684, -0.04034099727869034 ]
4.1
82
0
82
0
0
false
[ 0, 0, 0 ]
[ 0.008142001926898956, 0.000054000360250938684, -0.04034099727869034 ]
4.15
83
0
83
0
0
false
[ 0, 0, 0 ]
[ 0.008142001926898956, 0.000054000360250938684, -0.04034099727869034 ]
4.2
84
0
84
0
0
false
[ 0, 0, 0 ]
[ 0.00832899659872055, 0.0000809994016890414, -0.04030599445104599 ]
4.25
85
0
85
0
0
false
[ 0, 0, 0 ]
[ 0.00832899659872055, 0.0000809994016890414, -0.04030599445104599 ]
4.3
86
0
86
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.35
87
0
87
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.4
88
0
88
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.45
89
0
89
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.5
90
0
90
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.55
91
0
91
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.6
92
0
92
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.65
93
0
93
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.7
94
0
94
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.75
95
0
95
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.8
96
0
96
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.85
97
0
97
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.9
98
0
98
0
0
false
[ 0, 0, 0 ]
[ 0.00816800445318222, 0.00005799945938633755, -0.0403360053896904 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "piper",
    "total_episodes": 20,
    "total_frames": 4518,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:20"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "next.reward": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "action": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "main_joint_1",
                "main_joint_2",
                "main_joint_3"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "main_joint_1",
                "main_joint_2",
                "main_joint_3"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                128,
                128
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                128,
                128
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "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:

[More Information Needed]
Downloads last month
10
License:
apache-2.0
Size of downloaded dataset files:
222 kB
Size of the auto-converted Parquet files:
222 kB
Number of rows:
4,518