Hugging Face's logo

Datasets:
AffinBank
/
dataset3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
AffinBank commited on
Commit
4604d5d
·
verified ·
1 Parent(s): db4afd3

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.front/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.top/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:fb726661a8685bfe95305110214dfff184c26178b9ca6ddac6e62d4b4327258e
3
+ size 151590
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6a88d120345a7963d17b2a359086483773366d70bd6cd3fe3c1d96fd8a0c4a2b
3
+ size 57550
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 4,
5
+ "total_frames": 2985,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:4"
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": {
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
+ 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 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 3
8
+ ],
9
+ "mean": [
10
+ 1.3313232830820771
11
+ ],
12
+ "std": [
13
+ 1.232083835309145
14
+ ],
15
+ "count": [
16
+ 2985
17
+ ],
18
+ "q01": [
19
+ 1.3313232830820776
20
+ ],
21
+ "q10": [
22
+ 1.331323283082081
23
+ ],
24
+ "q50": [
25
+ 1.331323283082097
26
+ ],
27
+ "q90": [
28
+ 1.331323283082113
29
+ ],
30
+ "q99": [
31
+ 1.3313232830821167
32
+ ]
33
+ },
34
+ "task_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 0
40
+ ],
41
+ "mean": [
42
+ 0.0
43
+ ],
44
+ "std": [
45
+ 0.0
46
+ ],
47
+ "count": [
48
+ 2985
49
+ ],
50
+ "q01": [
51
+ 3.999999999999417e-16
52
+ ],
53
+ "q10": [
54
+ 3.999999999999417e-15
55
+ ],
56
+ "q50": [
57
+ 1.9999999999997084e-14
58
+ ],
59
+ "q90": [
60
+ 3.5999999999994754e-14
61
+ ],
62
+ "q99": [
63
+ 3.959999999999423e-14
64
+ ]
65
+ },
66
+ "action": {
67
+ "min": [
68
+ -55.78022003173828,
69
+ -112.92308044433594,
70
+ -58.989009857177734,
71
+ -28.21977996826172,
72
+ 62.901100158691406,
73
+ 0.15243902802467346
74
+ ],
75
+ "max": [
76
+ 44.087913513183594,
77
+ 31.868131637573242,
78
+ 97.05494689941406,
79
+ 106.54945373535156,
80
+ 119.78022003173828,
81
+ 65.32012176513672
82
+ ],
83
+ "mean": [
84
+ 1.8943730913414627,
85
+ -45.761982603089095,
86
+ 55.81464218829744,
87
+ 46.85860390271773,
88
+ 94.10191471732442,
89
+ 20.612875495284445
90
+ ],
91
+ "std": [
92
+ 20.45695814484727,
93
+ 39.84101069804062,
94
+ 37.95673116448346,
95
+ 33.95284855067844,
96
+ 9.402389397723608,
97
+ 20.275014147754668
98
+ ],
99
+ "count": [
100
+ 2985
101
+ ],
102
+ "q01": [
103
+ -42.49335353969073,
104
+ -103.40362544038257,
105
+ 1.5097090228414636,
106
+ -0.6176811137117936,
107
+ 79.78611245960299,
108
+ 0.2132614341812517
109
+ ],
110
+ "q10": [
111
+ -31.87663688212383,
112
+ -99.06679702833041,
113
+ 15.541321168496983,
114
+ 12.004187389823194,
115
+ 85.76052788934393,
116
+ 0.3367528850993917
117
+ ],
118
+ "q50": [
119
+ 5.656223421529838,
120
+ -33.61010971767099,
121
+ 50.69404083605521,
122
+ 44.09974869600826,
123
+ 93.5248192095903,
124
+ 18.620930158279347
125
+ ],
126
+ "q90": [
127
+ 23.926245683756306,
128
+ -3.8131529587873993,
129
+ 96.96064327872156,
130
+ 79.93263989897754,
131
+ 104.16079674685419,
132
+ 47.138185969737705
133
+ ],
134
+ "q99": [
135
+ 30.850796260269306,
136
+ 8.560931342489088,
137
+ 96.99881102182827,
138
+ 89.63508093353758,
139
+ 108.90026098725677,
140
+ 54.73886584298854
141
+ ]
142
+ },
143
+ "timestamp": {
144
+ "min": [
145
+ 0.0
146
+ ],
147
+ "max": [
148
+ 37.93333333333333
149
+ ],
150
+ "mean": [
151
+ 13.84390843104411
152
+ ],
153
+ "std": [
154
+ 9.474291181780377
155
+ ],
156
+ "count": [
157
+ 2985
158
+ ],
159
+ "q01": [
160
+ 0.2616676252731836
161
+ ],
162
+ "q10": [
163
+ 2.7506531112543167
164
+ ],
165
+ "q50": [
166
+ 13.833303586822906
167
+ ],
168
+ "q90": [
169
+ 24.937163750833903
170
+ ],
171
+ "q99": [
172
+ 27.426149236815032
173
+ ]
174
+ },
175
+ "observation.state": {
176
+ "min": [
177
+ -54.81318664550781,
178
+ -92.21977996826172,
179
+ -52.35165023803711,
180
+ -26.0219783782959,
181
+ 63.25274658203125,
182
+ 0.9608784914016724
183
+ ],
184
+ "max": [
185
+ 42.68132019042969,
186
+ 34.28571319580078,
187
+ 96.3956069946289,
188
+ 106.10989379882812,
189
+ 119.42857360839844,
190
+ 64.72203063964844
191
+ ],
192
+ "mean": [
193
+ 1.8347667366615692,
194
+ -41.79390049843333,
195
+ 57.96817756537816,
196
+ 47.0481332884362,
197
+ 94.05124417405632,
198
+ 22.6521164764711
199
+ ],
200
+ "std": [
201
+ 20.34053857767309,
202
+ 38.21110670502671,
203
+ 36.43039315274666,
204
+ 33.30104236027753,
205
+ 9.358876948502063,
206
+ 18.575958440188465
207
+ ],
208
+ "count": [
209
+ 2985
210
+ ],
211
+ "q01": [
212
+ -42.25782043716849,
213
+ -92.09767295799064,
214
+ 5.813697248305508,
215
+ 0.902344133306787,
216
+ 79.72224578959658,
217
+ 1.1123565537645987
218
+ ],
219
+ "q10": [
220
+ -31.68879613940879,
221
+ -92.03166360642382,
222
+ 19.71850190586817,
223
+ 12.749894071799426,
224
+ 86.14595561160753,
225
+ 1.7206874031876802
226
+ ],
227
+ "q50": [
228
+ 5.628163289004165,
229
+ -31.406781323565845,
230
+ 53.07201493421392,
231
+ 44.74885453738559,
232
+ 93.33742289943197,
233
+ 20.607526340903554
234
+ ],
235
+ "q90": [
236
+ 23.763195768623245,
237
+ -0.8237837543467852,
238
+ 96.03288857048172,
239
+ 79.27537431640448,
240
+ 103.78934955155012,
241
+ 46.93971612986031
242
+ ],
243
+ "q99": [
244
+ 30.097634555923086,
245
+ 9.887240884337212,
246
+ 96.38982244283903,
247
+ 88.69935495067814,
248
+ 108.77552541256578,
249
+ 54.51989406912924
250
+ ]
251
+ },
252
+ "frame_index": {
253
+ "min": [
254
+ 0
255
+ ],
256
+ "max": [
257
+ 1138
258
+ ],
259
+ "mean": [
260
+ 415.3172529313233
261
+ ],
262
+ "std": [
263
+ 284.2287354534112
264
+ ],
265
+ "count": [
266
+ 2985
267
+ ],
268
+ "q01": [
269
+ 7.850028761040913
270
+ ],
271
+ "q10": [
272
+ 82.51959333995337
273
+ ],
274
+ "q50": [
275
+ 415.08595396984924
276
+ ],
277
+ "q90": [
278
+ 748.1149125226934
279
+ ],
280
+ "q99": [
281
+ 822.7844771016057
282
+ ]
283
+ },
284
+ "observation.images.front": {
285
+ "min": [
286
+ [
287
+ [
288
+ 0.0
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.0
294
+ ]
295
+ ],
296
+ [
297
+ [
298
+ 0.0
299
+ ]
300
+ ]
301
+ ],
302
+ "max": [
303
+ [
304
+ [
305
+ 1.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 1.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 1.0
316
+ ]
317
+ ]
318
+ ],
319
+ "mean": [
320
+ [
321
+ [
322
+ 0.6236824289810654
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 0.6012834706114536
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.5925574006837785
333
+ ]
334
+ ]
335
+ ],
336
+ "std": [
337
+ [
338
+ [
339
+ 0.004703198599312401
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.004392221272939363
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.004413165365130513
350
+ ]
351
+ ]
352
+ ],
353
+ "count": [
354
+ 563
355
+ ],
356
+ "q01": [
357
+ [
358
+ [
359
+ 0.26433184020939526
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.0298864168724791
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ 0.030372800597575633
370
+ ]
371
+ ]
372
+ ],
373
+ "q10": [
374
+ [
375
+ [
376
+ 0.539490446528841
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.4736155715659148
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.44938878612423144
387
+ ]
388
+ ]
389
+ ],
390
+ "q50": [
391
+ [
392
+ [
393
+ 0.6343768295217793
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.6397872941466897
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.634164822281799
404
+ ]
405
+ ]
406
+ ],
407
+ "q90": [
408
+ [
409
+ [
410
+ 0.7024708000485547
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.7014448562495096
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.6922605753415442
421
+ ]
422
+ ]
423
+ ],
424
+ "q99": [
425
+ [
426
+ [
427
+ 0.7822153980080723
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.7824539227058699
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.7725499892019766
438
+ ]
439
+ ]
440
+ ]
441
+ },
442
+ "observation.images.top": {
443
+ "min": [
444
+ [
445
+ [
446
+ 0.00784313725490196
447
+ ]
448
+ ],
449
+ [
450
+ [
451
+ 0.0
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.0
457
+ ]
458
+ ]
459
+ ],
460
+ "max": [
461
+ [
462
+ [
463
+ 1.0
464
+ ]
465
+ ],
466
+ [
467
+ [
468
+ 0.984313725490196
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 0.9803921568627451
474
+ ]
475
+ ]
476
+ ],
477
+ "mean": [
478
+ [
479
+ [
480
+ 0.5359982735027109
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.5323790196658889
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.5219799129169134
491
+ ]
492
+ ]
493
+ ],
494
+ "std": [
495
+ [
496
+ [
497
+ 0.007047870791919802
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.00832264192756515
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.009675151988284225
508
+ ]
509
+ ]
510
+ ],
511
+ "count": [
512
+ 563
513
+ ],
514
+ "q01": [
515
+ [
516
+ [
517
+ 0.08767436329677546
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.06050340703405919
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.04656800394039534
528
+ ]
529
+ ]
530
+ ],
531
+ "q10": [
532
+ [
533
+ [
534
+ 0.4578276810524487
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.4443219555820337
540
+ ]
541
+ ],
542
+ [
543
+ [
544
+ 0.42344189445598196
545
+ ]
546
+ ]
547
+ ],
548
+ "q50": [
549
+ [
550
+ [
551
+ 0.5575148798101731
552
+ ]
553
+ ],
554
+ [
555
+ [
556
+ 0.5645136060585964
557
+ ]
558
+ ],
559
+ [
560
+ [
561
+ 0.5609889929659488
562
+ ]
563
+ ]
564
+ ],
565
+ "q90": [
566
+ [
567
+ [
568
+ 0.6057013369657008
569
+ ]
570
+ ],
571
+ [
572
+ [
573
+ 0.6113913101095255
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.6002523523108836
579
+ ]
580
+ ]
581
+ ],
582
+ "q99": [
583
+ [
584
+ [
585
+ 0.6806288956260451
586
+ ]
587
+ ],
588
+ [
589
+ [
590
+ 0.6751372055601353
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.6354983564097649
596
+ ]
597
+ ]
598
+ ]
599
+ },
600
+ "index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 2984
606
+ ],
607
+ "mean": [
608
+ 1492.0
609
+ ],
610
+ "std": [
611
+ 861.6952284112211
612
+ ],
613
+ "count": [
614
+ 2985
615
+ ],
616
+ "q01": [
617
+ 1084.5327758297178
618
+ ],
619
+ "q10": [
620
+ 1159.20234040863
621
+ ],
622
+ "q50": [
623
+ 1491.7687010385262
624
+ ],
625
+ "q90": [
626
+ 1824.7976595913701
627
+ ],
628
+ "q99": [
629
+ 1899.4672241702826
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:650ba62ad57bca4d6eba0262a3cf1cbb8111875dc8027037b50f33c7a2cd2b00
3
+ size 2208
videos/observation.images.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:908670301753d75cdbd899b2f5b5588bacd29dcead645745580c91c19c37f2fb
3
+ size 8464757
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 sha256:6d826ea0057b699708f78bf677ba0c7b7e60e2e08f79685965bbeb7f16c62d27
3
+ size 15793164