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README.md

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+---
+task_categories:
+- robotics
+tags:
+- LeRobot
+- piper
+- pick-and-place
+- imitation-learning
+- real-robot
+- realsense
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+
+<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Smokepord/piper_pick_place_xy_random_50_v1">
+<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
+<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
+</a>
+
+
+## Dataset Description
+
+This dataset contains 50 successful real-robot demonstrations of an AgileX Piper arm picking up a blue 3D-printed container twist-lock part and placing it inside a black container.
+
+The dataset contains 18,884 frames at 20 Hz, synchronized wrist and fixed-view RGB observations from two Intel RealSense D435i cameras (640 x 480, AV1), and 7-dimensional robot state/action vectors ordered as six joint positions followed by gripper position. Actions are absolute position targets in the same normalized coordinate system as the state.
+
+The object was randomly translated within a small planar XY region. Object height and orientation, container pose, cameras, lighting, and the wider workspace arrangement remained effectively fixed. The dataset therefore supports an in-region imitation-learning baseline and should not be interpreted as covering changes in height, orientation, lighting, camera pose, container geometry, or larger workspace regions.
+
+An ACT policy selected at checkpoint 25,000 achieved 16 successes in 20 real-robot trials (80%; approximate 95% Wilson interval: 58.4%-91.9%). Evaluation used four in-region object start positions with five trials per position; each position produced four successes and one failure. Failure stages and trial durations were not separately recorded.
+
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** [More Information Needed]
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v3.0",
+    "fps": 20,
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "names": [
+                "joint1.pos",
+                "joint2.pos",
+                "joint3.pos",
+                "joint4.pos",
+                "joint5.pos",
+                "joint6.pos",
+                "gripper.pos"
+            ],
+            "shape": [
+                7
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "names": [
+                "joint1.pos",
+                "joint2.pos",
+                "joint3.pos",
+                "joint4.pos",
+                "joint5.pos",
+                "joint6.pos",
+                "gripper.pos"
+            ],
+            "shape": [
+                7
+            ]
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 30,
+                "video.preset": 12,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {}
+            }
+        },
+        "observation.images.fixed": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false,
+                "video.g": 2,
+                "video.crf": 30,
+                "video.preset": 12,
+                "video.fast_decode": 0,
+                "video.video_backend": "pyav",
+                "video.extra_options": {}
+            }
+        },
+        "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
+        }
+    },
+    "total_episodes": 50,
+    "total_frames": 18884,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "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",
+    "robot_type": "piper_follower",
+    "splits": {
+        "train": "0:50"
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```