Hugging Face's logo

H2Ozone
/
new_full_data-groot

Robotics
LeRobot
Safetensors
groot
Model card Files
xet
 Community
new_full_data-groot
File size: 5,584 Bytes
48c7132
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
{
  "version": 1,
  "dataset_repo_id": "H2Ozone/new_full_data",
  "dataset_revision": "a375585fae9969bdd231f1dfde6ae8a09ae7a4a3",
  "model_repo_id": "H2Ozone/new_full_data-groot",
  "policy_type": "groot",
  "target_profile": "alex_v2_ability_hands",
  "fps": 30,
  "robot_type": "alex_ability_hands",
  "features": {
    "observation.images.cam_zed_left": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "video_info": {
        "video.fps": 30.0,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      },
      "fps": 30.0,
      "info": {
        "video.extra_options": null,
        "video.crf": null,
        "video.preset": null,
        "video.g": null,
        "video.fast_decode": null,
        "video.video_backend": "pyav"
      }
    },
    "observation.images.cam_zed_right": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "video_info": {
        "video.fps": 30.0,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      },
      "fps": 30.0,
      "info": {
        "video.extra_options": null,
        "video.crf": null,
        "video.preset": null,
        "video.g": null,
        "video.fast_decode": null,
        "video.video_backend": "pyav"
      }
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        48
      ],
      "names": [
        "left_wrist_pos_x",
        "left_wrist_pos_y",
        "left_wrist_pos_z",
        "left_wrist_quat_x",
        "left_wrist_quat_y",
        "left_wrist_quat_z",
        "left_wrist_quat_w",
        "right_wrist_pos_x",
        "right_wrist_pos_y",
        "right_wrist_pos_z",
        "right_wrist_quat_x",
        "right_wrist_quat_y",
        "right_wrist_quat_z",
        "right_wrist_quat_w",
        "left_forearm_quat_x",
        "left_forearm_quat_y",
        "left_forearm_quat_z",
        "left_forearm_quat_w",
        "right_forearm_quat_x",
        "right_forearm_quat_y",
        "right_forearm_quat_z",
        "right_forearm_quat_w",
        "neck_quat_x",
        "neck_quat_y",
        "neck_quat_z",
        "neck_quat_w",
        "left_ability_hand_index_q1",
        "left_ability_hand_index_q2",
        "left_ability_hand_middle_q1",
        "left_ability_hand_middle_q2",
        "left_ability_hand_ring_q1",
        "left_ability_hand_ring_q2",
        "left_ability_hand_pinky_q1",
        "left_ability_hand_pinky_q2",
        "left_ability_hand_thumb_q1",
        "left_ability_hand_thumb_q2",
        "right_ability_hand_index_q1",
        "right_ability_hand_index_q2",
        "right_ability_hand_middle_q1",
        "right_ability_hand_middle_q2",
        "right_ability_hand_ring_q1",
        "right_ability_hand_ring_q2",
        "right_ability_hand_pinky_q1",
        "right_ability_hand_pinky_q2",
        "right_ability_hand_thumb_q1",
        "right_ability_hand_thumb_q2",
        "spine_z",
        "spine_y"
      ],
      "fps": 30.0
    },
    "action": {
      "dtype": "float32",
      "shape": [
        46
      ],
      "names": [
        "left_wrist_pos_x",
        "left_wrist_pos_y",
        "left_wrist_pos_z",
        "left_wrist_quat_x",
        "left_wrist_quat_y",
        "left_wrist_quat_z",
        "left_wrist_quat_w",
        "right_wrist_pos_x",
        "right_wrist_pos_y",
        "right_wrist_pos_z",
        "right_wrist_quat_x",
        "right_wrist_quat_y",
        "right_wrist_quat_z",
        "right_wrist_quat_w",
        "left_forearm_quat_x",
        "left_forearm_quat_y",
        "left_forearm_quat_z",
        "left_forearm_quat_w",
        "right_forearm_quat_x",
        "right_forearm_quat_y",
        "right_forearm_quat_z",
        "right_forearm_quat_w",
        "neck_quat_x",
        "neck_quat_y",
        "neck_quat_z",
        "neck_quat_w",
        "left_ability_hand_index_q1",
        "left_ability_hand_index_q2",
        "left_ability_hand_middle_q1",
        "left_ability_hand_middle_q2",
        "left_ability_hand_ring_q1",
        "left_ability_hand_ring_q2",
        "left_ability_hand_pinky_q1",
        "left_ability_hand_pinky_q2",
        "left_ability_hand_thumb_q1",
        "left_ability_hand_thumb_q2",
        "right_ability_hand_index_q1",
        "right_ability_hand_index_q2",
        "right_ability_hand_middle_q1",
        "right_ability_hand_middle_q2",
        "right_ability_hand_ring_q1",
        "right_ability_hand_ring_q2",
        "right_ability_hand_pinky_q1",
        "right_ability_hand_pinky_q2",
        "right_ability_hand_thumb_q1",
        "right_ability_hand_thumb_q2"
      ],
      "fps": 30.0
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "next.done": {
      "dtype": "bool",
      "shape": [
        1
      ],
      "fps": 30.0
    }
  }
}