Hugging Face's logo

Datasets:
Dianrobot
/
act_so101_3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
yuhangSu commited on
Commit
b2ac2ec
·
verified ·
1 Parent(s): 15619de

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.side/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:f0e2a0ba2b01f2ab7945ec8b278aafffcbfd1185684c87e61448a37cf3ba3c59
3
+ size 78283
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f0fc7a24d020d478aa805bf99fc4058ba3cae2017c91371bb8fc6f783d6dced1
3
+ size 58894
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 1718,
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": "0:5"
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.side": {
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
+ "observation.images.side": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 0.9764705882352941
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.3901674338235294
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.4029299693627451
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.4105426217320261
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.006280146842721681
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.006210998032775614
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.005830503240467576
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 500
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.035243696796558095
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.05328422042657525
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.06043004362502701
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.051008583552867956
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.06747216689599791
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.08467643756627194
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.47293874858062585
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.4784396974494983
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.4784719438349265
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.602388402398228
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.6235238868913556
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.6501924405601776
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.7764947193343976
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.8298372174752734
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.8861505927477895
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "timestamp": {
161
+ "min": [
162
+ 0.0
163
+ ],
164
+ "max": [
165
+ 13.766666666666667
166
+ ],
167
+ "mean": [
168
+ 5.860671323244082
169
+ ],
170
+ "std": [
171
+ 3.551138267176513
172
+ ],
173
+ "count": [
174
+ 1718
175
+ ],
176
+ "q01": [
177
+ 0.10260903661109703
178
+ ],
179
+ "q10": [
180
+ 1.1515605726786426
181
+ ],
182
+ "q50": [
183
+ 5.845009297632632
184
+ ],
185
+ "q90": [
186
+ 10.55918021117834
187
+ ],
188
+ "q99": [
189
+ 11.618733609877069
190
+ ]
191
+ },
192
+ "frame_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 413
198
+ ],
199
+ "mean": [
200
+ 175.82013969732247
201
+ ],
202
+ "std": [
203
+ 106.53414801529534
204
+ ],
205
+ "count": [
206
+ 1718
207
+ ],
208
+ "q01": [
209
+ 3.0782711011823043
210
+ ],
211
+ "q10": [
212
+ 34.54681718269028
213
+ ],
214
+ "q50": [
215
+ 175.3502789289869
216
+ ],
217
+ "q90": [
218
+ 316.77540633302544
219
+ ],
220
+ "q99": [
221
+ 348.5620082934626
222
+ ]
223
+ },
224
+ "action": {
225
+ "min": [
226
+ -14.87330150604248,
227
+ -99.074462890625,
228
+ 3.569814682006836,
229
+ 39.05982971191406,
230
+ -0.9523809552192688,
231
+ 0.0
232
+ ],
233
+ "max": [
234
+ 0.18362100422382355,
235
+ 14.009255409240723,
236
+ 94.75824737548828,
237
+ 97.26495361328125,
238
+ 11.550671577453613,
239
+ 59.63808059692383
240
+ ],
241
+ "mean": [
242
+ -5.32171425969276,
243
+ -51.51509493471441,
244
+ 61.31728383909143,
245
+ 65.68886832169521,
246
+ 2.4407251403603065,
247
+ 9.552685848076212
248
+ ],
249
+ "std": [
250
+ 3.0210061835231214,
251
+ 39.83892570024433,
252
+ 26.537885779953214,
253
+ 11.414688311698555,
254
+ 2.4598546141838384,
255
+ 14.623566336430619
256
+ ],
257
+ "count": [
258
+ 1718
259
+ ],
260
+ "q01": [
261
+ -8.588297641985076,
262
+ -98.03300635965672,
263
+ 27.508428929471027,
264
+ 50.29922472597417,
265
+ -0.34790375132638446,
266
+ 0.6380682559898554
267
+ ],
268
+ "q10": [
269
+ -8.111488635944816,
270
+ -97.81103042320323,
271
+ 36.52156071180633,
272
+ 52.29831402465902,
273
+ 0.1183242011954927,
274
+ 0.746739324766837
275
+ ],
276
+ "q50": [
277
+ -4.85023289428765,
278
+ -44.50322257138923,
279
+ 53.01392383553235,
280
+ 67.44846870679933,
281
+ 2.4672824643947346,
282
+ 3.0774363525755506
283
+ ],
284
+ "q90": [
285
+ -3.0620370125785916,
286
+ -8.356210222133438,
287
+ 93.81413026559886,
288
+ 76.4222687331374,
289
+ 4.3476953536334495,
290
+ 39.682200967105764
291
+ ],
292
+ "q99": [
293
+ -2.7572477750134796,
294
+ -6.935308542502057,
295
+ 93.89154006383427,
296
+ 83.77915035372146,
297
+ 6.471955488216613,
298
+ 39.88057953890824
299
+ ]
300
+ },
301
+ "observation.images.front": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0196078431372549
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 0.9686274509803922
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.5526319852941177
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.539611094362745
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.5269283406862745
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.010117432258007713
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.010880443810680193
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.011868407435987235
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 500
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.038425106455583016
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.07843886341200053
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.07298196363299647
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.38271082521506083
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.30196211343499985
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.23291247392446637
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.5944980287789501
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.5897814894171247
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.5811819103840088
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.6800627038369301
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.6847361388081356
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.6847051892179722
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.7842451612644906
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.7694221869377161
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.7992671564519197
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 1717
465
+ ],
466
+ "mean": [
467
+ 858.5
468
+ ],
469
+ "std": [
470
+ 495.9437972189994
471
+ ],
472
+ "count": [
473
+ 1718
474
+ ],
475
+ "q01": [
476
+ 685.7581314038598
477
+ ],
478
+ "q10": [
479
+ 717.2266774853679
480
+ ],
481
+ "q50": [
482
+ 858.0301392316644
483
+ ],
484
+ "q90": [
485
+ 999.455266635703
486
+ ],
487
+ "q99": [
488
+ 1031.2418685961402
489
+ ]
490
+ },
491
+ "task_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 0
497
+ ],
498
+ "mean": [
499
+ 0.0
500
+ ],
501
+ "std": [
502
+ 0.0
503
+ ],
504
+ "count": [
505
+ 1718
506
+ ],
507
+ "q01": [
508
+ 3.9999999999994167e-16
509
+ ],
510
+ "q10": [
511
+ 3.999999999999417e-15
512
+ ],
513
+ "q50": [
514
+ 1.9999999999997088e-14
515
+ ],
516
+ "q90": [
517
+ 3.5999999999994754e-14
518
+ ],
519
+ "q99": [
520
+ 3.959999999999424e-14
521
+ ]
522
+ },
523
+ "episode_index": {
524
+ "min": [
525
+ 0
526
+ ],
527
+ "max": [
528
+ 4
529
+ ],
530
+ "mean": [
531
+ 1.8975552968568103
532
+ ],
533
+ "std": [
534
+ 1.3938935786644218
535
+ ],
536
+ "count": [
537
+ 1718
538
+ ],
539
+ "q01": [
540
+ 1.8975552968568108
541
+ ],
542
+ "q10": [
543
+ 1.8975552968568141
544
+ ],
545
+ "q50": [
546
+ 1.89755529685683
547
+ ],
548
+ "q90": [
549
+ 1.8975552968568463
550
+ ],
551
+ "q99": [
552
+ 1.8975552968568499
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -16.1384334564209,
558
+ -98.249267578125,
559
+ 6.840683937072754,
560
+ 39.84771728515625,
561
+ -0.6593406796455383,
562
+ 1.047120451927185
563
+ ],
564
+ "max": [
565
+ -0.18214936554431915,
566
+ 14.04751968383789,
567
+ 97.47975158691406,
568
+ 96.27749633789062,
569
+ 10.183150291442871,
570
+ 59.358638763427734
571
+ ],
572
+ "mean": [
573
+ -5.474233220425695,
574
+ -51.2037546515326,
575
+ 62.18230358741059,
576
+ 65.77070447590908,
577
+ 2.4963025731729545,
578
+ 13.181020113863962
579
+ ],
580
+ "std": [
581
+ 3.031736106368137,
582
+ 39.99481763008372,
583
+ 26.301539318044878,
584
+ 11.164352527059915,
585
+ 2.4271889536555613,
586
+ 13.05779869828338
587
+ ],
588
+ "count": [
589
+ 1718
590
+ ],
591
+ "q01": [
592
+ -8.533082331585677,
593
+ -97.98588592471566,
594
+ 30.17984011564599,
595
+ 50.82389296958158,
596
+ -0.13687836462946237,
597
+ 1.5932321440215993
598
+ ],
599
+ "q10": [
600
+ -8.185563149115803,
601
+ -97.87674885394426,
602
+ 38.085722094392615,
603
+ 52.60765246633376,
604
+ 0.18203358718555104,
605
+ 1.5932321440215993
606
+ ],
607
+ "q50": [
608
+ -4.922971670730329,
609
+ -43.49670883342761,
610
+ 53.06839585958912,
611
+ 67.89002887694744,
612
+ 2.4446052683911894,
613
+ 11.256974235254505
614
+ ],
615
+ "q90": [
616
+ -3.1305460950108093,
617
+ -7.60553683002934,
618
+ 94.30772185184136,
619
+ 75.98634959832614,
620
+ 4.18197053754585,
621
+ 38.28371076489107
622
+ ],
623
+ "q99": [
624
+ -3.086577583045584,
625
+ -7.123305273495957,
626
+ 94.57879634348252,
627
+ 83.20055550492094,
628
+ 6.023375264643513,
629
+ 39.61063237989805
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c1fa912bd86a184a13e8fe3320b63e933cf188fb1e6b8689f515b99bc0e46ae6
3
+ size 2196
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:b4819aa4f5614d2a35323680be737437adbe55b1c54f2789c504f2b66e99aa7d
3
+ size 4203884
videos/observation.images.side/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0266b3282b8c7d38c6da2ab3eaffb3552e98c504cb2fad5d6c945ba23e052711
3
+ size 26058656