Hugging Face's logo

Datasets:
Aadhavan
/
so101_bio_test1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
Aadhavan commited on
Commit
656d1d3
·
verified ·
1 Parent(s): b6ba89f

Upload folder using huggingface_hub

Browse files
Files changed (12) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. meta/episodes.jsonl +2 -0
  4. meta/episodes_stats.jsonl +2 -0
  5. meta/info.json +150 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.robocam/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.robocam/episode_000001.mp4 +3 -0
  11. videos/chunk-000/observation.images.top/episode_000000.mp4 +3 -0
  12. videos/chunk-000/observation.images.top/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3c221447d6f7be1a25e2495d72bcae80cbf5f5851701c6fab2a64a6e8c825683
3
+ size 20465
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f33c284e8d96ddad612cd5fa75879a2c9d0d469dda99b57419a11d775efe05b0
3
+ size 20953
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a medical waste and put it in the bin."], "length": 360}
2
+ {"episode_index": 1, "tasks": ["Grasp a medical waste and put it in the bin."], "length": 395}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-37.44140625, 12.3046875, -17.578125, 26.015625, 12.568359375, -0.40617385506629944], "max": [17.2265625, 182.021484375, 168.75, 111.533203125, 115.13671875, 27.294883728027344], "mean": [0.15283203125, 107.05640411376953, 90.685791015625, 74.150390625, 53.69384765625, 3.7688565254211426], "std": [16.455564498901367, 58.747467041015625, 59.94710922241211, 21.22759246826172, 34.88063049316406, 8.528335571289062], "count": [360]}, "observation.state": {"min": [-37.705078125, 12.568359375, -2.98828125, 27.0703125, 12.392578125, -0.4787961542606354], "max": [17.05078125, 181.58203125, 168.57421875, 92.197265625, 114.78515625, 26.880985260009766], "mean": [0.284423828125, 105.66234588623047, 92.23486328125, 72.308837890625, 53.65380859375, 5.102591514587402], "std": [16.595678329467773, 59.472564697265625, 58.972381591796875, 18.17951202392578, 34.81508255004883, 8.241877555847168], "count": [360]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3677574591503268]], [[0.2836457986111111]], [[0.2722892749183007]]], "std": [[[0.18044866296558554]], [[0.19512181888658126]], [[0.21638314511063436]]], "count": [100]}, "observation.images.robocam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.15987367238562092]], [[0.1258378022875817]], [[0.10811377246732026]]], "std": [[[0.15688360889619987]], [[0.14719024690139196]], [[0.17434849469131874]]], "count": [100]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3866592626633987]], [[0.37687382761437904]], [[0.34255677083333336]]], "std": [[[0.33012162291634634]], [[0.3040409803557635]], [[0.28039489522005634]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.966666666666667], "mean": [5.983333333333333], "std": [3.4640882505224098], "count": [360]}, "frame_index": {"min": [0], "max": [359], "mean": [179.5], "std": [103.92264751567228], "count": [360]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [360]}, "index": {"min": [0], "max": [359], "mean": [179.5], "std": [103.92264751567228], "count": [360]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [360]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-26.89453125, 22.939453125, -18.896484375, 32.16796875, 5.361328125, -0.5686433911323547], "max": [28.037109375, 183.1640625, 168.22265625, 111.796875, 79.013671875, 19.983753204345703], "mean": [11.956907272338867, 94.07110595703125, 80.5741195678711, 74.20059967041016, 25.304935455322266, 6.051487922668457], "std": [16.21771240234375, 66.54830932617188, 65.24302673339844, 18.99235725402832, 23.36773681640625, 7.524540424346924], "count": [395]}, "observation.state": {"min": [-26.89453125, 22.32421875, -2.4609375, 33.57421875, 5.712890625, -0.6155951023101807], "max": [28.125, 181.58203125, 168.3984375, 91.93359375, 79.365234375, 19.15184783935547], "mean": [11.966697692871094, 93.16829681396484, 82.25538635253906, 72.3028335571289, 25.354108810424805, 6.301956653594971], "std": [16.250524520874023, 67.23165130615234, 64.47662353515625, 15.797074317932129, 23.326189041137695, 7.184601783752441], "count": [395]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37607287581699345]], [[0.2939278472222222]], [[0.28486486111111115]]], "std": [[[0.18629134822730056]], [[0.2007834964606592]], [[0.2258758867098997]]], "count": [100]}, "observation.images.robocam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1422698161764706]], [[0.1084502308006536]], [[0.09168306576797386]]], "std": [[[0.1249435152440915]], [[0.1161501024135936]], [[0.13773214118330493]]], "count": [100]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39507322099673203]], [[0.38629100081699347]], [[0.3548547344771242]]], "std": [[[0.3366403164376318]], [[0.31090208954792853]], [[0.28937768639958633]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.133333333333333], "mean": [6.5666666666666655], "std": [3.8008770917600936], "count": [395]}, "frame_index": {"min": [0], "max": [394], "mean": [197.0], "std": [114.02631275280281], "count": [395]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [395]}, "index": {"min": [360], "max": [754], "mean": [557.0], "std": [114.02631275280281], "count": [395]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [395]}}}
meta/info.json ADDED
@@ -0,0 +1,150 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101",
4
+ "total_episodes": 2,
5
+ "total_frames": 755,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "main_shoulder_pan",
24
+ "main_shoulder_lift",
25
+ "main_elbow_flex",
26
+ "main_wrist_flex",
27
+ "main_wrist_roll",
28
+ "main_gripper"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "main_shoulder_pan",
38
+ "main_shoulder_lift",
39
+ "main_elbow_flex",
40
+ "main_wrist_flex",
41
+ "main_wrist_roll",
42
+ "main_gripper"
43
+ ]
44
+ },
45
+ "observation.images.front": {
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.robocam": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
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
+ "observation.images.top": {
92
+ "dtype": "video",
93
+ "shape": [
94
+ 480,
95
+ 640,
96
+ 3
97
+ ],
98
+ "names": [
99
+ "height",
100
+ "width",
101
+ "channels"
102
+ ],
103
+ "info": {
104
+ "video.height": 480,
105
+ "video.width": 640,
106
+ "video.codec": "av1",
107
+ "video.pix_fmt": "yuv420p",
108
+ "video.is_depth_map": false,
109
+ "video.fps": 30,
110
+ "video.channels": 3,
111
+ "has_audio": false
112
+ }
113
+ },
114
+ "timestamp": {
115
+ "dtype": "float32",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "frame_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ },
128
+ "episode_index": {
129
+ "dtype": "int64",
130
+ "shape": [
131
+ 1
132
+ ],
133
+ "names": null
134
+ },
135
+ "index": {
136
+ "dtype": "int64",
137
+ "shape": [
138
+ 1
139
+ ],
140
+ "names": null
141
+ },
142
+ "task_index": {
143
+ "dtype": "int64",
144
+ "shape": [
145
+ 1
146
+ ],
147
+ "names": null
148
+ }
149
+ }
150
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a medical waste and put it in the bin."}
videos/chunk-000/observation.images.front/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c9f8068fdac57ac36623c92d94761a770d5113568f570b37329e4396c9ef63cd
3
+ size 2866612
videos/chunk-000/observation.images.front/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:36551d322dac911c25235e275a9c5855f6e88faf566f661712ae62977cf80642
3
+ size 3480169
videos/chunk-000/observation.images.robocam/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:830474a31341671ffb5b500a2001d6241647a595c00d6ae8fd077e0e2199c43a
3
+ size 1233389
videos/chunk-000/observation.images.robocam/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b5e955b42957a31c54a634cb0c50dc3e4291ae911452b26a296deae8fe6fe99
3
+ size 1591892
videos/chunk-000/observation.images.top/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:071460616e73e702ffb88e81e89fbe0f769b1bbeda77e5194f31718d8856f032
3
+ size 7681953
videos/chunk-000/observation.images.top/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5388b5d314d1bc0a858beefef66998f9d91a91f2cb0d5986bbed612fa4b3d19f
3
+ size 8927161