Datasets:
Upload folder using huggingface_hub
Browse files
data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:983ebb1c886e313de4414310998aa548903a7de4744de337e3dfd76a918066a7
|
| 3 |
+
size 540697
|
meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9604e592eb5616e0bda1f2c658d1ee7913865ea31e21e9beaab08f80e98bdfdc
|
| 3 |
+
size 79142
|
meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "so101_follower",
|
| 4 |
+
"total_episodes": 50,
|
| 5 |
+
"total_frames": 17858,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 500,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:50"
|
| 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.front_cam": {
|
| 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.hand_cam": {
|
| 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 |
+
"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 +1,307 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"min": [
|
| 4 |
+
0
|
| 5 |
+
],
|
| 6 |
+
"max": [
|
| 7 |
+
8972
|
| 8 |
+
],
|
| 9 |
+
"mean": [
|
| 10 |
+
4464.1084107962815
|
| 11 |
+
],
|
| 12 |
+
"std": [
|
| 13 |
+
2577.7680245218153
|
| 14 |
+
],
|
| 15 |
+
"count": [
|
| 16 |
+
17858
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"observation.images.hand_cam": {
|
| 20 |
+
"min": [
|
| 21 |
+
[
|
| 22 |
+
[
|
| 23 |
+
0.0
|
| 24 |
+
]
|
| 25 |
+
],
|
| 26 |
+
[
|
| 27 |
+
[
|
| 28 |
+
0.0
|
| 29 |
+
]
|
| 30 |
+
],
|
| 31 |
+
[
|
| 32 |
+
[
|
| 33 |
+
0.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
],
|
| 37 |
+
"max": [
|
| 38 |
+
[
|
| 39 |
+
[
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
],
|
| 43 |
+
[
|
| 44 |
+
[
|
| 45 |
+
1.0
|
| 46 |
+
]
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
[
|
| 50 |
+
1.0
|
| 51 |
+
]
|
| 52 |
+
]
|
| 53 |
+
],
|
| 54 |
+
"mean": [
|
| 55 |
+
[
|
| 56 |
+
[
|
| 57 |
+
0.47828960191993464
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
[
|
| 62 |
+
0.4873783609477125
|
| 63 |
+
]
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
[
|
| 67 |
+
0.4793742329248366
|
| 68 |
+
]
|
| 69 |
+
]
|
| 70 |
+
],
|
| 71 |
+
"std": [
|
| 72 |
+
[
|
| 73 |
+
[
|
| 74 |
+
0.19226538771951637
|
| 75 |
+
]
|
| 76 |
+
],
|
| 77 |
+
[
|
| 78 |
+
[
|
| 79 |
+
0.20337471156294185
|
| 80 |
+
]
|
| 81 |
+
],
|
| 82 |
+
[
|
| 83 |
+
[
|
| 84 |
+
0.2168464619369028
|
| 85 |
+
]
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"count": [
|
| 89 |
+
5000
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
"episode_index": {
|
| 93 |
+
"min": [
|
| 94 |
+
0
|
| 95 |
+
],
|
| 96 |
+
"max": [
|
| 97 |
+
24
|
| 98 |
+
],
|
| 99 |
+
"mean": [
|
| 100 |
+
12.021894949042446
|
| 101 |
+
],
|
| 102 |
+
"std": [
|
| 103 |
+
7.189686459909704
|
| 104 |
+
],
|
| 105 |
+
"count": [
|
| 106 |
+
17858
|
| 107 |
+
]
|
| 108 |
+
},
|
| 109 |
+
"action": {
|
| 110 |
+
"min": [
|
| 111 |
+
-4.775899887084961,
|
| 112 |
+
-99.83065032958984,
|
| 113 |
+
-85.0450439453125,
|
| 114 |
+
20.958084106445312,
|
| 115 |
+
-5.601659774780273,
|
| 116 |
+
0.0
|
| 117 |
+
],
|
| 118 |
+
"max": [
|
| 119 |
+
36.9581184387207,
|
| 120 |
+
85.43607330322266,
|
| 121 |
+
99.63964080810547,
|
| 122 |
+
99.23011016845703,
|
| 123 |
+
25.0,
|
| 124 |
+
55.55555725097656
|
| 125 |
+
],
|
| 126 |
+
"mean": [
|
| 127 |
+
9.48233725053624,
|
| 128 |
+
-18.28786937735732,
|
| 129 |
+
32.21522413441336,
|
| 130 |
+
66.68001914027023,
|
| 131 |
+
8.909948629879821,
|
| 132 |
+
13.281767743153699
|
| 133 |
+
],
|
| 134 |
+
"std": [
|
| 135 |
+
6.57678777637766,
|
| 136 |
+
41.3087904559008,
|
| 137 |
+
50.07576525046108,
|
| 138 |
+
19.226684775695666,
|
| 139 |
+
5.526974886069065,
|
| 140 |
+
16.98599777495629
|
| 141 |
+
],
|
| 142 |
+
"count": [
|
| 143 |
+
17858
|
| 144 |
+
]
|
| 145 |
+
},
|
| 146 |
+
"observation.state": {
|
| 147 |
+
"min": [
|
| 148 |
+
-4.647785186767578,
|
| 149 |
+
-97.77594757080078,
|
| 150 |
+
-86.04444122314453,
|
| 151 |
+
21.44638442993164,
|
| 152 |
+
-5.406796932220459,
|
| 153 |
+
2.007528305053711
|
| 154 |
+
],
|
| 155 |
+
"max": [
|
| 156 |
+
36.5286865234375,
|
| 157 |
+
76.44151306152344,
|
| 158 |
+
98.4000015258789,
|
| 159 |
+
97.58936309814453,
|
| 160 |
+
24.562307357788086,
|
| 161 |
+
53.57590866088867
|
| 162 |
+
],
|
| 163 |
+
"mean": [
|
| 164 |
+
9.388693761900326,
|
| 165 |
+
-17.40244596721958,
|
| 166 |
+
32.841764936042345,
|
| 167 |
+
66.53253243401812,
|
| 168 |
+
8.912507684944538,
|
| 169 |
+
13.965619045564743
|
| 170 |
+
],
|
| 171 |
+
"std": [
|
| 172 |
+
6.565910722897483,
|
| 173 |
+
41.011999782603155,
|
| 174 |
+
49.59094116620066,
|
| 175 |
+
18.830748865204015,
|
| 176 |
+
5.4765750442260694,
|
| 177 |
+
15.365234202037033
|
| 178 |
+
],
|
| 179 |
+
"count": [
|
| 180 |
+
17858
|
| 181 |
+
]
|
| 182 |
+
},
|
| 183 |
+
"task_index": {
|
| 184 |
+
"min": [
|
| 185 |
+
0
|
| 186 |
+
],
|
| 187 |
+
"max": [
|
| 188 |
+
0
|
| 189 |
+
],
|
| 190 |
+
"mean": [
|
| 191 |
+
0.0
|
| 192 |
+
],
|
| 193 |
+
"std": [
|
| 194 |
+
0.0
|
| 195 |
+
],
|
| 196 |
+
"count": [
|
| 197 |
+
17858
|
| 198 |
+
]
|
| 199 |
+
},
|
| 200 |
+
"frame_index": {
|
| 201 |
+
"min": [
|
| 202 |
+
0
|
| 203 |
+
],
|
| 204 |
+
"max": [
|
| 205 |
+
359
|
| 206 |
+
],
|
| 207 |
+
"mean": [
|
| 208 |
+
178.17219173479674
|
| 209 |
+
],
|
| 210 |
+
"std": [
|
| 211 |
+
103.24845494678222
|
| 212 |
+
],
|
| 213 |
+
"count": [
|
| 214 |
+
17858
|
| 215 |
+
]
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_cam": {
|
| 218 |
+
"min": [
|
| 219 |
+
[
|
| 220 |
+
[
|
| 221 |
+
0.0
|
| 222 |
+
]
|
| 223 |
+
],
|
| 224 |
+
[
|
| 225 |
+
[
|
| 226 |
+
0.0
|
| 227 |
+
]
|
| 228 |
+
],
|
| 229 |
+
[
|
| 230 |
+
[
|
| 231 |
+
0.0
|
| 232 |
+
]
|
| 233 |
+
]
|
| 234 |
+
],
|
| 235 |
+
"max": [
|
| 236 |
+
[
|
| 237 |
+
[
|
| 238 |
+
1.0
|
| 239 |
+
]
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
[
|
| 243 |
+
1.0
|
| 244 |
+
]
|
| 245 |
+
],
|
| 246 |
+
[
|
| 247 |
+
[
|
| 248 |
+
1.0
|
| 249 |
+
]
|
| 250 |
+
]
|
| 251 |
+
],
|
| 252 |
+
"mean": [
|
| 253 |
+
[
|
| 254 |
+
[
|
| 255 |
+
0.48506556507352944
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
[
|
| 259 |
+
[
|
| 260 |
+
0.4953216949754902
|
| 261 |
+
]
|
| 262 |
+
],
|
| 263 |
+
[
|
| 264 |
+
[
|
| 265 |
+
0.4905043258169935
|
| 266 |
+
]
|
| 267 |
+
]
|
| 268 |
+
],
|
| 269 |
+
"std": [
|
| 270 |
+
[
|
| 271 |
+
[
|
| 272 |
+
0.19045350388923582
|
| 273 |
+
]
|
| 274 |
+
],
|
| 275 |
+
[
|
| 276 |
+
[
|
| 277 |
+
0.19967469104515076
|
| 278 |
+
]
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
[
|
| 282 |
+
0.2096063975816777
|
| 283 |
+
]
|
| 284 |
+
]
|
| 285 |
+
],
|
| 286 |
+
"count": [
|
| 287 |
+
5000
|
| 288 |
+
]
|
| 289 |
+
},
|
| 290 |
+
"timestamp": {
|
| 291 |
+
"min": [
|
| 292 |
+
0.0
|
| 293 |
+
],
|
| 294 |
+
"max": [
|
| 295 |
+
11.966666666666667
|
| 296 |
+
],
|
| 297 |
+
"mean": [
|
| 298 |
+
5.9390730578265565
|
| 299 |
+
],
|
| 300 |
+
"std": [
|
| 301 |
+
3.441615164892741
|
| 302 |
+
],
|
| 303 |
+
"count": [
|
| 304 |
+
17858
|
| 305 |
+
]
|
| 306 |
+
}
|
| 307 |
+
}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e5fcfb0ef140277c99927cfb1940596f1bafea770d6d3af1844a2885ce02109e
|
| 3 |
+
size 2151
|
videos/observation.images.front_cam/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:76b6b0adb2f07d56a806e024720f90bbd603bf54d1fd68f285a9bd1d62f7a447
|
| 3 |
+
size 325494065
|
videos/observation.images.hand_cam/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a3be3dc8f8e219cf39fecca2084f674f7ce908fc5686d61f7009f48ee9ce4d5b
|
| 3 |
+
size 260963050
|