Elvinky/pi05-piperx-1h-intervention-1to1-mask-8066s-seed1000-fp32
Robotics • 4B • Updated • 35
Search is not available for this dataset
action listlengths 14 14 | observation.state listlengths 14 14 | intervention bool 2
classes | timestamp float32 0 417 | frame_index int64 0 12.5k | episode_index int64 0 40 | index int64 0 276k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
Pi05 PiperX 1h Demo — Full Intervention Episodes
Full episodes of Insert the copper screw into the black sleeve., collected on a dual-PiperX setup using the 1-hour demonstration checkpoint, with RTC inference and episodic DAgger human takeover.
The 1h label refers to the demonstration-data regime of the source policy, as specified by the experiment owner. It is not the wall-clock training time or this dataset's duration. This export contains the complete retained episodes, including both policy-controlled and human-controlled frames; it is not a human-intervention-only extraction. No new policy training is performed by this export.
| Property | Value |
|---|---|
| Source checkpoint | Elvinky/pi05-piperx-1h-seed1000-fp32 (pretrained_model) |
| Collection dates | 2026-09-08 to 2026-09-10, Asia/Shanghai |
| Source datasets | 7 |
| Episodes | 41 |
| Frames | 276,444 |
| FPS | 30 |
| Full-episode duration | 02:33:34.8 (9,214.8 seconds) |
| Human intervention frames | 103,237 |
| Human intervention duration | 00:57:21.233 (3,441.233 seconds) |
| Human intervention fraction | 37.3446% |
| Robot | bi_piperx_follower |
| State / action dimensions | 14 / 14 |
| Cameras | right_environment_1, left_wrist, right_wrist |
| Format | Native LeRobot v3 |
intervention=true marks human-control frames; false marks policy-control frames. Durations are saved frame counts divided by 30 FPS. Reset/waiting periods and unsaved recordings are excluded.
Provenance and curation
Original task names include 1小时demo人工干预数据采集, 1小时demo人工干预数据采集-叶凯, and 1小时demo人工干预插螺栓. Exact source dataset names and episode mappings are in meta/source_datasets.json and meta/source_episodes.json.
Before export, the owner excluded original B0 (39.033 s, 20.3 s intervention) from the dataset ending 20260908_221947, and original C1 (3.733 s, no intervention) from 20260909_175033. The empty dataset ending 20260909_165146 was also removed. These are not included. The owner reviewed and retained original C0 and D5. Original pre-cleanup episode indices are preserved in provenance alongside current source indices.
Merged with LeRobot's native aggregation utility. All three camera video streams are retained; exported video files match the curated source files byte-for-byte. No additional video re-encoding is performed by this merge. Episode/global indices are remapped and task text is preserved. All other frame columns were checked against source data. Per-episode frame counts, timestamps, video duration metadata, and source/output video hashes were checked, and the native LeRobot reader was sampled at the start, a source boundary, and the end. These checks do not imply every episode achieved task success.
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