yuhangSu imstevenpmwork HF Staff commited on
Commit
234fd30
·
0 Parent(s):

Duplicate from lerobot/svla_so101_pickplace

Browse files

Co-authored-by: Steven Palma <imstevenpmwork@users.noreply.huggingface.co>

.gitattributes ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ *.7z filter=lfs diff=lfs merge=lfs -text
2
+ *.arrow filter=lfs diff=lfs merge=lfs -text
3
+ *.bin filter=lfs diff=lfs merge=lfs -text
4
+ *.bz2 filter=lfs diff=lfs merge=lfs -text
5
+ *.ckpt filter=lfs diff=lfs merge=lfs -text
6
+ *.ftz filter=lfs diff=lfs merge=lfs -text
7
+ *.gz filter=lfs diff=lfs merge=lfs -text
8
+ *.h5 filter=lfs diff=lfs merge=lfs -text
9
+ *.joblib filter=lfs diff=lfs merge=lfs -text
10
+ *.lfs.* filter=lfs diff=lfs merge=lfs -text
11
+ *.lz4 filter=lfs diff=lfs merge=lfs -text
12
+ *.mds filter=lfs diff=lfs merge=lfs -text
13
+ *.mlmodel filter=lfs diff=lfs merge=lfs -text
14
+ *.model filter=lfs diff=lfs merge=lfs -text
15
+ *.msgpack filter=lfs diff=lfs merge=lfs -text
16
+ *.npy filter=lfs diff=lfs merge=lfs -text
17
+ *.npz filter=lfs diff=lfs merge=lfs -text
18
+ *.onnx filter=lfs diff=lfs merge=lfs -text
19
+ *.ot filter=lfs diff=lfs merge=lfs -text
20
+ *.parquet filter=lfs diff=lfs merge=lfs -text
21
+ *.pb filter=lfs diff=lfs merge=lfs -text
22
+ *.pickle filter=lfs diff=lfs merge=lfs -text
23
+ *.pkl filter=lfs diff=lfs merge=lfs -text
24
+ *.pt filter=lfs diff=lfs merge=lfs -text
25
+ *.pth filter=lfs diff=lfs merge=lfs -text
26
+ *.rar filter=lfs diff=lfs merge=lfs -text
27
+ *.safetensors filter=lfs diff=lfs merge=lfs -text
28
+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
29
+ *.tar.* filter=lfs diff=lfs merge=lfs -text
30
+ *.tar filter=lfs diff=lfs merge=lfs -text
31
+ *.tflite filter=lfs diff=lfs merge=lfs -text
32
+ *.tgz filter=lfs diff=lfs merge=lfs -text
33
+ *.wasm filter=lfs diff=lfs merge=lfs -text
34
+ *.xz filter=lfs diff=lfs merge=lfs -text
35
+ *.zip filter=lfs diff=lfs merge=lfs -text
36
+ *.zst filter=lfs diff=lfs merge=lfs -text
37
+ *tfevents* filter=lfs diff=lfs merge=lfs -text
38
+ # Audio files - uncompressed
39
+ *.pcm filter=lfs diff=lfs merge=lfs -text
40
+ *.sam filter=lfs diff=lfs merge=lfs -text
41
+ *.raw filter=lfs diff=lfs merge=lfs -text
42
+ # Audio files - compressed
43
+ *.aac filter=lfs diff=lfs merge=lfs -text
44
+ *.flac filter=lfs diff=lfs merge=lfs -text
45
+ *.mp3 filter=lfs diff=lfs merge=lfs -text
46
+ *.ogg filter=lfs diff=lfs merge=lfs -text
47
+ *.wav filter=lfs diff=lfs merge=lfs -text
48
+ # Image files - uncompressed
49
+ *.bmp filter=lfs diff=lfs merge=lfs -text
50
+ *.gif filter=lfs diff=lfs merge=lfs -text
51
+ *.png filter=lfs diff=lfs merge=lfs -text
52
+ *.tiff filter=lfs diff=lfs merge=lfs -text
53
+ # Image files - compressed
54
+ *.jpg filter=lfs diff=lfs merge=lfs -text
55
+ *.jpeg filter=lfs diff=lfs merge=lfs -text
56
+ *.webp filter=lfs diff=lfs merge=lfs -text
57
+ # Video files - compressed
58
+ *.mp4 filter=lfs diff=lfs merge=lfs -text
59
+ *.webm filter=lfs diff=lfs merge=lfs -text
README.md ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
+ ---
11
+
12
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
+
14
+ ## Dataset Description
15
+
16
+
17
+
18
+ - **Homepage:** [More Information Needed]
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** apache-2.0
21
+
22
+ ## Dataset Structure
23
+
24
+ [meta/info.json](meta/info.json):
25
+ ```json
26
+ {
27
+ "codebase_version": "v2.1",
28
+ "robot_type": "so100_follower",
29
+ "total_episodes": 50,
30
+ "total_frames": 11939,
31
+ "total_tasks": 1,
32
+ "total_videos": 100,
33
+ "total_chunks": 1,
34
+ "chunks_size": 1000,
35
+ "fps": 30,
36
+ "splits": {
37
+ "train": "0:50"
38
+ },
39
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
40
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
41
+ "features": {
42
+ "action": {
43
+ "dtype": "float32",
44
+ "shape": [
45
+ 6
46
+ ],
47
+ "names": [
48
+ "shoulder_pan.pos",
49
+ "shoulder_lift.pos",
50
+ "elbow_flex.pos",
51
+ "wrist_flex.pos",
52
+ "wrist_roll.pos",
53
+ "gripper.pos"
54
+ ]
55
+ },
56
+ "observation.state": {
57
+ "dtype": "float32",
58
+ "shape": [
59
+ 6
60
+ ],
61
+ "names": [
62
+ "shoulder_pan.pos",
63
+ "shoulder_lift.pos",
64
+ "elbow_flex.pos",
65
+ "wrist_flex.pos",
66
+ "wrist_roll.pos",
67
+ "gripper.pos"
68
+ ]
69
+ },
70
+ "observation.images.up": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.height": 480,
84
+ "video.width": 640,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "video.fps": 30,
89
+ "video.channels": 3,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "observation.images.side": {
94
+ "dtype": "video",
95
+ "shape": [
96
+ 480,
97
+ 640,
98
+ 3
99
+ ],
100
+ "names": [
101
+ "height",
102
+ "width",
103
+ "channels"
104
+ ],
105
+ "info": {
106
+ "video.height": 480,
107
+ "video.width": 640,
108
+ "video.codec": "av1",
109
+ "video.pix_fmt": "yuv420p",
110
+ "video.is_depth_map": false,
111
+ "video.fps": 30,
112
+ "video.channels": 3,
113
+ "has_audio": false
114
+ }
115
+ },
116
+ "timestamp": {
117
+ "dtype": "float32",
118
+ "shape": [
119
+ 1
120
+ ],
121
+ "names": null
122
+ },
123
+ "frame_index": {
124
+ "dtype": "int64",
125
+ "shape": [
126
+ 1
127
+ ],
128
+ "names": null
129
+ },
130
+ "episode_index": {
131
+ "dtype": "int64",
132
+ "shape": [
133
+ 1
134
+ ],
135
+ "names": null
136
+ },
137
+ "index": {
138
+ "dtype": "int64",
139
+ "shape": [
140
+ 1
141
+ ],
142
+ "names": null
143
+ },
144
+ "task_index": {
145
+ "dtype": "int64",
146
+ "shape": [
147
+ 1
148
+ ],
149
+ "names": null
150
+ }
151
+ }
152
+ }
153
+ ```
154
+
155
+
156
+ ## Citation
157
+
158
+ **BibTeX:**
159
+
160
+ ```bibtex
161
+ [More Information Needed]
162
+ ```
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:579ad57e2454359fa9f2c0e83525991bd2e0305b7b2914d0b1181da3c6ad9949
3
+ size 369943
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:191998bffd2680c477a4000270cf943bc423ba5fb54ee8b8244b57db062c5209
3
+ size 72560
meta/info.json ADDED
@@ -0,0 +1,134 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so100_follower",
4
+ "total_episodes": 50,
5
+ "total_frames": 11939,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "fps": 30,
9
+ "splits": {
10
+ "train": "0:50"
11
+ },
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
+ "features": {
15
+ "action": {
16
+ "dtype": "float32",
17
+ "shape": [
18
+ 6
19
+ ],
20
+ "names": [
21
+ "shoulder_pan.pos",
22
+ "shoulder_lift.pos",
23
+ "elbow_flex.pos",
24
+ "wrist_flex.pos",
25
+ "wrist_roll.pos",
26
+ "gripper.pos"
27
+ ],
28
+ "fps": 30.0
29
+ },
30
+ "observation.state": {
31
+ "dtype": "float32",
32
+ "shape": [
33
+ 6
34
+ ],
35
+ "names": [
36
+ "shoulder_pan.pos",
37
+ "shoulder_lift.pos",
38
+ "elbow_flex.pos",
39
+ "wrist_flex.pos",
40
+ "wrist_roll.pos",
41
+ "gripper.pos"
42
+ ],
43
+ "fps": 30.0
44
+ },
45
+ "observation.images.up": {
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
+ "fps": 30.0
98
+ },
99
+ "frame_index": {
100
+ "dtype": "int64",
101
+ "shape": [
102
+ 1
103
+ ],
104
+ "names": null,
105
+ "fps": 30.0
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null,
113
+ "fps": 30.0
114
+ },
115
+ "index": {
116
+ "dtype": "int64",
117
+ "shape": [
118
+ 1
119
+ ],
120
+ "names": null,
121
+ "fps": 30.0
122
+ },
123
+ "task_index": {
124
+ "dtype": "int64",
125
+ "shape": [
126
+ 1
127
+ ],
128
+ "names": null,
129
+ "fps": 30.0
130
+ }
131
+ },
132
+ "data_files_size_in_mb": 100,
133
+ "video_files_size_in_mb": 500
134
+ }
meta/stats.json ADDED
@@ -0,0 +1,307 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 10.166666666666666
8
+ ],
9
+ "mean": [
10
+ 4.027869447469079
11
+ ],
12
+ "std": [
13
+ 2.4113058655550974
14
+ ],
15
+ "count": [
16
+ 11939
17
+ ]
18
+ },
19
+ "frame_index": {
20
+ "min": [
21
+ 0
22
+ ],
23
+ "max": [
24
+ 305
25
+ ],
26
+ "mean": [
27
+ 120.83608342407237
28
+ ],
29
+ "std": [
30
+ 72.33917596665292
31
+ ],
32
+ "count": [
33
+ 11939
34
+ ]
35
+ },
36
+ "observation.images.up": {
37
+ "min": [
38
+ [
39
+ [
40
+ 0.0
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.0
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.0
51
+ ]
52
+ ]
53
+ ],
54
+ "max": [
55
+ [
56
+ [
57
+ 1.0
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 1.0
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 1.0
68
+ ]
69
+ ]
70
+ ],
71
+ "mean": [
72
+ [
73
+ [
74
+ 0.6056198934640523
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.6136785669526145
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.6204703991421568
85
+ ]
86
+ ]
87
+ ],
88
+ "std": [
89
+ [
90
+ [
91
+ 0.14559642730105943
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.14426886873325462
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.14010256209484187
102
+ ]
103
+ ]
104
+ ],
105
+ "count": [
106
+ 5000
107
+ ]
108
+ },
109
+ "observation.images.side": {
110
+ "min": [
111
+ [
112
+ [
113
+ 0.0
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 0.00392156862745098
119
+ ]
120
+ ],
121
+ [
122
+ [
123
+ 0.0
124
+ ]
125
+ ]
126
+ ],
127
+ "max": [
128
+ [
129
+ [
130
+ 1.0
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 1.0
136
+ ]
137
+ ],
138
+ [
139
+ [
140
+ 1.0
141
+ ]
142
+ ]
143
+ ],
144
+ "mean": [
145
+ [
146
+ [
147
+ 0.49313346058006535
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.4909604651552287
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.48052104285130726
158
+ ]
159
+ ]
160
+ ],
161
+ "std": [
162
+ [
163
+ [
164
+ 0.1639154283846956
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 0.16801982118871928
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 0.17635921001094265
175
+ ]
176
+ ]
177
+ ],
178
+ "count": [
179
+ 5000
180
+ ]
181
+ },
182
+ "observation.state": {
183
+ "min": [
184
+ -92.65469360351562,
185
+ -98.91122436523438,
186
+ 16.808605194091797,
187
+ 34.03984832763672,
188
+ -92.28327178955078,
189
+ 1.208053708076477
190
+ ],
191
+ "max": [
192
+ 88.10379028320312,
193
+ 8.793970108032227,
194
+ 99.37248229980469,
195
+ 98.64349365234375,
196
+ -20.19536018371582,
197
+ 32.68456268310547
198
+ ],
199
+ "mean": [
200
+ 7.987028920168213,
201
+ -55.18078937174258,
202
+ 66.77626927288965,
203
+ 69.25251005162984,
204
+ -53.438878098447994,
205
+ 8.11227075633656
206
+ ],
207
+ "std": [
208
+ 44.49175712848846,
209
+ 36.826997024255135,
210
+ 27.708361257092236,
211
+ 13.013156436455924,
212
+ 17.702962275628042,
213
+ 8.404754152412938
214
+ ],
215
+ "count": [
216
+ 11939
217
+ ]
218
+ },
219
+ "action": {
220
+ "min": [
221
+ -93.45587921142578,
222
+ -100.0,
223
+ 12.972234725952148,
224
+ 33.53166198730469,
225
+ -92.77167510986328,
226
+ 0.0
227
+ ],
228
+ "max": [
229
+ 88.01470947265625,
230
+ 8.12631607055664,
231
+ 100.0,
232
+ 99.4900131225586,
233
+ -20.0,
234
+ 32.99845504760742
235
+ ],
236
+ "mean": [
237
+ 8.021068880122474,
238
+ -55.962356364170866,
239
+ 65.255668370146,
240
+ 69.18185073593092,
241
+ -53.41991514120782,
242
+ 6.848938814508764
243
+ ],
244
+ "std": [
245
+ 44.56300727198868,
246
+ 36.4850863170831,
247
+ 29.011993080170146,
248
+ 13.238104064665087,
249
+ 17.7644208642342,
250
+ 8.999043111627136
251
+ ],
252
+ "count": [
253
+ 11939
254
+ ]
255
+ },
256
+ "episode_index": {
257
+ "min": [
258
+ 0
259
+ ],
260
+ "max": [
261
+ 49
262
+ ],
263
+ "mean": [
264
+ 25.471647541670155
265
+ ],
266
+ "std": [
267
+ 14.710391125333633
268
+ ],
269
+ "count": [
270
+ 11939
271
+ ]
272
+ },
273
+ "task_index": {
274
+ "min": [
275
+ 0
276
+ ],
277
+ "max": [
278
+ 0
279
+ ],
280
+ "mean": [
281
+ 0.0
282
+ ],
283
+ "std": [
284
+ 0.0
285
+ ],
286
+ "count": [
287
+ 11939
288
+ ]
289
+ },
290
+ "index": {
291
+ "min": [
292
+ 0
293
+ ],
294
+ "max": [
295
+ 11938
296
+ ],
297
+ "mean": [
298
+ 5969.0
299
+ ],
300
+ "std": [
301
+ 3446.492419837885
302
+ ],
303
+ "count": [
304
+ 11939
305
+ ]
306
+ }
307
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1040cdef3328ec4376587152647df8e725e80a04210c426f891719e691c88533
3
+ size 2246
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 sha256:3b0f30282b21764fad29d46f4133e66e303dfcb95803510c790ca53dfd2bfe50
3
+ size 45541633
videos/observation.images.up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:73d93dae2091cb1b11995d17c34f67c1ec18db005e70acdf896d2307b47406d1
3
+ size 40124489