Hugging Face's logo

Datasets:
AHegai
/
cubes

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
AHegai commited on
Commit
4a7a95b
·
verified ·
1 Parent(s): 4914568

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. meta/episodes/chunk-000/file-000.parquet +3 -0
  3. meta/info.json +127 -0
  4. meta/stats.json +632 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.wrist/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9160f37e063cb4a1866b0c20a79885f559398deed32d4a292207ca5631823edf
3
+ size 885444
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a529894032a3e602805f91ab8a07a068db5d18c6da2b1dc8fcaac8bdce3026df
3
+ size 192635
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 71,
5
+ "total_frames": 33947,
6
+ "total_tasks": 3,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 4096,
9
+ "video_files_size_in_mb": 4096,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:71"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "names": [
34
+ "shoulder_pan.pos",
35
+ "shoulder_lift.pos",
36
+ "elbow_flex.pos",
37
+ "wrist_flex.pos",
38
+ "wrist_roll.pos",
39
+ "gripper.pos"
40
+ ],
41
+ "shape": [
42
+ 6
43
+ ]
44
+ },
45
+ "observation.images.wrist": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.top": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 720,
72
+ 1280,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 720,
82
+ "video.width": 1280,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 30,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 15972
8
+ ],
9
+ "mean": [
10
+ 6142.571184493475
11
+ ],
12
+ "std": [
13
+ 4079.4148630253044
14
+ ],
15
+ "count": [
16
+ 33947
17
+ ],
18
+ "q01": [
19
+ 5896.212181876475
20
+ ],
21
+ "q10": [
22
+ 5941.479137527241
23
+ ],
24
+ "q50": [
25
+ 6142.351926833004
26
+ ],
27
+ "q90": [
28
+ 6343.6138137202925
29
+ ],
30
+ "q99": [
31
+ 6388.930187110474
32
+ ]
33
+ },
34
+ "observation.images.top": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.5437747219374549
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.5527733154038142
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.5500474545778309
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.039169723754724085
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.033794890411173936
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.03074223695935411
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 7555
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.023956038526819955
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.044280853782954537
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.029085615452117845
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.12259646198066998
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.12962096744641305
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.1254133530533131
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.5683452696585689
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.5849126019434233
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.5845772182259203
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.8688986007729115
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.8607444266874201
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.8713987250242886
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.9918252252371883
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.9999087978448075
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.9901936444242133
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "episode_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 30
198
+ ],
199
+ "mean": [
200
+ 11.741037499631778
201
+ ],
202
+ "std": [
203
+ 8.050530574245304
204
+ ],
205
+ "count": [
206
+ 33947
207
+ ],
208
+ "q01": [
209
+ 11.741037499631778
210
+ ],
211
+ "q10": [
212
+ 11.74103749963178
213
+ ],
214
+ "q50": [
215
+ 11.741037499631798
216
+ ],
217
+ "q90": [
218
+ 11.741037499631815
219
+ ],
220
+ "q99": [
221
+ 11.74103749963182
222
+ ]
223
+ },
224
+ "observation.images.wrist": {
225
+ "min": [
226
+ [
227
+ [
228
+ 0.0
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 0.0
234
+ ]
235
+ ],
236
+ [
237
+ [
238
+ 0.0
239
+ ]
240
+ ]
241
+ ],
242
+ "max": [
243
+ [
244
+ [
245
+ 1.0
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 1.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 1.0
256
+ ]
257
+ ]
258
+ ],
259
+ "mean": [
260
+ [
261
+ [
262
+ 0.6666776652316563
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 0.6537788678503609
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.6506374160837951
273
+ ]
274
+ ]
275
+ ],
276
+ "std": [
277
+ [
278
+ [
279
+ 0.0313225988976519
280
+ ]
281
+ ],
282
+ [
283
+ [
284
+ 0.03180650459514549
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.03091188899056834
290
+ ]
291
+ ]
292
+ ],
293
+ "count": [
294
+ 7555
295
+ ],
296
+ "q01": [
297
+ [
298
+ [
299
+ 0.027387227123268312
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.002027220657463516
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ -3.9215686274509797e-13
310
+ ]
311
+ ]
312
+ ],
313
+ "q10": [
314
+ [
315
+ [
316
+ 0.19626105322725912
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.1494699077751542
322
+ ]
323
+ ],
324
+ [
325
+ [
326
+ 0.1142972780204418
327
+ ]
328
+ ]
329
+ ],
330
+ "q50": [
331
+ [
332
+ [
333
+ 0.7327070290227723
334
+ ]
335
+ ],
336
+ [
337
+ [
338
+ 0.72421601343238
339
+ ]
340
+ ],
341
+ [
342
+ [
343
+ 0.7245481143043374
344
+ ]
345
+ ]
346
+ ],
347
+ "q90": [
348
+ [
349
+ [
350
+ 0.9995049129461685
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.998673967512922
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.9991374298751391
361
+ ]
362
+ ]
363
+ ],
364
+ "q99": [
365
+ [
366
+ [
367
+ 0.9999864958703322
368
+ ]
369
+ ],
370
+ [
371
+ [
372
+ 0.9999854491321951
373
+ ]
374
+ ],
375
+ [
376
+ [
377
+ 0.999986731681599
378
+ ]
379
+ ]
380
+ ]
381
+ },
382
+ "frame_index": {
383
+ "min": [
384
+ 0
385
+ ],
386
+ "max": [
387
+ 916
388
+ ],
389
+ "mean": [
390
+ 250.89990278964262
391
+ ],
392
+ "std": [
393
+ 162.69689380871938
394
+ ],
395
+ "count": [
396
+ 33947
397
+ ],
398
+ "q01": [
399
+ 4.540900172641659
400
+ ],
401
+ "q10": [
402
+ 49.807855823409405
403
+ ],
404
+ "q50": [
405
+ 250.66786774089016
406
+ ],
407
+ "q90": [
408
+ 451.9425320164586
409
+ ],
410
+ "q99": [
411
+ 497.25890540664375
412
+ ]
413
+ },
414
+ "timestamp": {
415
+ "min": [
416
+ 0.0
417
+ ],
418
+ "max": [
419
+ 30.533333333333335
420
+ ],
421
+ "mean": [
422
+ 8.36333009298809
423
+ ],
424
+ "std": [
425
+ 5.423229793623981
426
+ ],
427
+ "count": [
428
+ 33947
429
+ ],
430
+ "q01": [
431
+ 0.1513633389931283
432
+ ],
433
+ "q10": [
434
+ 1.6602618607028288
435
+ ],
436
+ "q50": [
437
+ 8.356153458233818
438
+ ],
439
+ "q90": [
440
+ 15.06475106729275
441
+ ],
442
+ "q99": [
443
+ 16.57529684698305
444
+ ]
445
+ },
446
+ "action": {
447
+ "min": [
448
+ -116.65933990478516,
449
+ -104.30769348144531,
450
+ -96.35164642333984,
451
+ -21.9780216217041,
452
+ -23.78022003173828,
453
+ 0.0
454
+ ],
455
+ "max": [
456
+ 82.54945373535156,
457
+ 86.989013671875,
458
+ 93.27472686767578,
459
+ 100.57142639160156,
460
+ 87.6043930053711,
461
+ 46.58333206176758
462
+ ],
463
+ "mean": [
464
+ -7.202474250196428,
465
+ -29.90576666149506,
466
+ 22.72516387142861,
467
+ 56.5531922116014,
468
+ 26.531769699238044,
469
+ 9.50489282092525
470
+ ],
471
+ "std": [
472
+ 32.933689905215076,
473
+ 59.64505519172473,
474
+ 49.8971553433162,
475
+ 17.92088490456698,
476
+ 13.046328631874388,
477
+ 8.636370324743469
478
+ ],
479
+ "count": [
480
+ 33947
481
+ ],
482
+ "q01": [
483
+ -45.78680334223406,
484
+ -101.63441884697454,
485
+ -42.82888129402437,
486
+ 32.46367805887508,
487
+ 14.74313777149695,
488
+ 1.6044703453828488
489
+ ],
490
+ "q10": [
491
+ -43.12063868788397,
492
+ -100.06684797284207,
493
+ -36.560021282047906,
494
+ 37.88071114404124,
495
+ 16.555464623305493,
496
+ 1.7879986067227194
497
+ ],
498
+ "q50": [
499
+ -3.888147559738672,
500
+ -19.30287790304835,
501
+ 17.672772376868423,
502
+ 56.85975273356859,
503
+ 26.825780435833977,
504
+ 6.6924672335278395
505
+ ],
506
+ "q90": [
507
+ 24.523607894648485,
508
+ 40.93388215074971,
509
+ 76.91582792362603,
510
+ 73.7397086881973,
511
+ 36.736591666844355,
512
+ 23.032031501030932
513
+ ],
514
+ "q99": [
515
+ 28.007943014569243,
516
+ 44.40120327145517,
517
+ 78.7774197168287,
518
+ 83.64385155364815,
519
+ 38.702801471364616,
520
+ 23.868313785446418
521
+ ]
522
+ },
523
+ "observation.state": {
524
+ "min": [
525
+ -116.0,
526
+ -103.12088012695312,
527
+ -93.5824203491211,
528
+ -19.824174880981445,
529
+ -23.516483306884766,
530
+ 1.174168348312378
531
+ ],
532
+ "max": [
533
+ 81.53845977783203,
534
+ 88.43955993652344,
535
+ 95.07691955566406,
536
+ 100.0879135131836,
537
+ 90.5054931640625,
538
+ 44.22700500488281
539
+ ],
540
+ "mean": [
541
+ -7.206030118492463,
542
+ -28.635848258483968,
543
+ 24.269832004384895,
544
+ 56.91678275301252,
545
+ 26.527694462795765,
546
+ 9.910033472318881
547
+ ],
548
+ "std": [
549
+ 32.79610211524337,
550
+ 60.4513094863557,
551
+ 49.27817989594884,
552
+ 17.796769643196466,
553
+ 13.115341886176012,
554
+ 8.193856165631704
555
+ ],
556
+ "count": [
557
+ 33947
558
+ ],
559
+ "q01": [
560
+ -45.01748972578901,
561
+ -101.1729061383488,
562
+ -39.959196764751184,
563
+ 33.308876618163836,
564
+ 15.016089643351279,
565
+ 2.1564403792319284
566
+ ],
567
+ "q10": [
568
+ -43.10930781546435,
569
+ -99.46367813286888,
570
+ -34.14806027083202,
571
+ 38.321211661979326,
572
+ 16.600316662603817,
573
+ 2.2522922112594927
574
+ ],
575
+ "q50": [
576
+ -3.9145032128138992,
577
+ -17.303565029336195,
578
+ 19.39217787407065,
579
+ 57.23947630152016,
580
+ 26.78789581944157,
581
+ 7.689472840803341
582
+ ],
583
+ "q90": [
584
+ 24.494988043224737,
585
+ 42.83443542100467,
586
+ 77.21917911322218,
587
+ 73.8548380296124,
588
+ 36.61799633567127,
589
+ 22.817959208100227
590
+ ],
591
+ "q99": [
592
+ 27.384358915216897,
593
+ 45.61797858068221,
594
+ 79.52177492750313,
595
+ 83.37863752144388,
596
+ 38.59379699351569,
597
+ 23.462615755909418
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 33947
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994186e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.999999999999709e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4ee20258bd0bab1a1ea01451f3bbf064a8f5541eb08d110e0de5acdebf4ffae5
3
+ size 2280
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:987f8c0ab248363e11244f8630e662dc3e935695fbb5716ba36443b206bdd11a
3
+ size 750825348
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cf0f650cd624718d87d48b7832af3f92e76a73768fb52990a8299fdc2baa46b2
3
+ size 526195435