yusei926 commited on
Commit
666f301
·
verified ·
1 Parent(s): 969074e

Convert to LeRobot v3.0 format with Japanese translations

Browse files
README.md ADDED
@@ -0,0 +1,169 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "v3.0",
28
+ "robot_type": "so100",
29
+ "total_episodes": 52,
30
+ "total_frames": 35713,
31
+ "total_tasks": 1,
32
+ "chunks_size": 1000,
33
+ "fps": 30,
34
+ "splits": {
35
+ "train": "0:52"
36
+ },
37
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
38
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
39
+ "features": {
40
+ "action": {
41
+ "dtype": "float32",
42
+ "shape": [
43
+ 6
44
+ ],
45
+ "names": [
46
+ "main_shoulder_pan",
47
+ "main_shoulder_lift",
48
+ "main_elbow_flex",
49
+ "main_wrist_flex",
50
+ "main_wrist_roll",
51
+ "main_gripper"
52
+ ],
53
+ "fps": 30
54
+ },
55
+ "observation.state": {
56
+ "dtype": "float32",
57
+ "shape": [
58
+ 6
59
+ ],
60
+ "names": [
61
+ "main_shoulder_pan",
62
+ "main_shoulder_lift",
63
+ "main_elbow_flex",
64
+ "main_wrist_flex",
65
+ "main_wrist_roll",
66
+ "main_gripper"
67
+ ],
68
+ "fps": 30
69
+ },
70
+ "observation.images.top": {
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.fps": 30.0,
84
+ "video.height": 480,
85
+ "video.width": 640,
86
+ "video.channels": 3,
87
+ "video.codec": "av1",
88
+ "video.pix_fmt": "yuv420p",
89
+ "video.is_depth_map": false,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "observation.images.wrist": {
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.fps": 30.0,
107
+ "video.height": 480,
108
+ "video.width": 640,
109
+ "video.channels": 3,
110
+ "video.codec": "av1",
111
+ "video.pix_fmt": "yuv420p",
112
+ "video.is_depth_map": false,
113
+ "has_audio": false
114
+ }
115
+ },
116
+ "timestamp": {
117
+ "dtype": "float32",
118
+ "shape": [
119
+ 1
120
+ ],
121
+ "names": null,
122
+ "fps": 30
123
+ },
124
+ "frame_index": {
125
+ "dtype": "int64",
126
+ "shape": [
127
+ 1
128
+ ],
129
+ "names": null,
130
+ "fps": 30
131
+ },
132
+ "episode_index": {
133
+ "dtype": "int64",
134
+ "shape": [
135
+ 1
136
+ ],
137
+ "names": null,
138
+ "fps": 30
139
+ },
140
+ "index": {
141
+ "dtype": "int64",
142
+ "shape": [
143
+ 1
144
+ ],
145
+ "names": null,
146
+ "fps": 30
147
+ },
148
+ "task_index": {
149
+ "dtype": "int64",
150
+ "shape": [
151
+ 1
152
+ ],
153
+ "names": null,
154
+ "fps": 30
155
+ }
156
+ },
157
+ "data_files_size_in_mb": 100,
158
+ "video_files_size_in_mb": 500
159
+ }
160
+ ```
161
+
162
+
163
+ ## Citation
164
+
165
+ **BibTeX:**
166
+
167
+ ```bibtex
168
+ [More Information Needed]
169
+ ```
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a4e52cdf7e5e9613a0476be3a3dd4fb710ee7c68885657d106efae77c1403da8
3
+ size 931766
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:951a86f326ea9fe3d46ecfefc627bb4d2ba8896d09e816d458c74ce26c9c62f7
3
+ size 73916
meta/info.json ADDED
@@ -0,0 +1,138 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so100",
4
+ "total_episodes": 52,
5
+ "total_frames": 35713,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "fps": 30,
9
+ "splits": {
10
+ "train": "0:52"
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
+ "main_shoulder_pan",
22
+ "main_shoulder_lift",
23
+ "main_elbow_flex",
24
+ "main_wrist_flex",
25
+ "main_wrist_roll",
26
+ "main_gripper"
27
+ ],
28
+ "fps": 30
29
+ },
30
+ "observation.state": {
31
+ "dtype": "float32",
32
+ "shape": [
33
+ 6
34
+ ],
35
+ "names": [
36
+ "main_shoulder_pan",
37
+ "main_shoulder_lift",
38
+ "main_elbow_flex",
39
+ "main_wrist_flex",
40
+ "main_wrist_roll",
41
+ "main_gripper"
42
+ ],
43
+ "fps": 30
44
+ },
45
+ "observation.images.top": {
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.fps": 30.0,
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.channels": 3,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.wrist": {
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.fps": 30.0,
82
+ "video.height": 480,
83
+ "video.width": 640,
84
+ "video.channels": 3,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null,
97
+ "fps": 30
98
+ },
99
+ "frame_index": {
100
+ "dtype": "int64",
101
+ "shape": [
102
+ 1
103
+ ],
104
+ "names": null,
105
+ "fps": 30
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null,
113
+ "fps": 30
114
+ },
115
+ "index": {
116
+ "dtype": "int64",
117
+ "shape": [
118
+ 1
119
+ ],
120
+ "names": null,
121
+ "fps": 30
122
+ },
123
+ "task_index": {
124
+ "dtype": "int64",
125
+ "shape": [
126
+ 1
127
+ ],
128
+ "names": null,
129
+ "fps": 30
130
+ }
131
+ },
132
+ "data_files_size_in_mb": 100,
133
+ "video_files_size_in_mb": 500,
134
+ "japanese_vla": true,
135
+ "translation_source": "gpt-5-mini-2025-08-07",
136
+ "default_task_description": "Sort the objects",
137
+ "default_task_description_ja": "オブジェクトを分類する"
138
+ }
meta/stats.json ADDED
@@ -0,0 +1,307 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 32.03333333333333
8
+ ],
9
+ "mean": [
10
+ 11.81065905039248
11
+ ],
12
+ "std": [
13
+ 7.032477253723004
14
+ ],
15
+ "count": [
16
+ 35713
17
+ ]
18
+ },
19
+ "frame_index": {
20
+ "min": [
21
+ 0
22
+ ],
23
+ "max": [
24
+ 961
25
+ ],
26
+ "mean": [
27
+ 354.31977151177443
28
+ ],
29
+ "std": [
30
+ 210.9743176116901
31
+ ],
32
+ "count": [
33
+ 35713
34
+ ]
35
+ },
36
+ "observation.state": {
37
+ "min": [
38
+ -79.365234375,
39
+ 42.099609375,
40
+ 44.033203125,
41
+ 21.005859375,
42
+ 50.80078125,
43
+ -0.27624309062957764
44
+ ],
45
+ "max": [
46
+ 76.11328125,
47
+ 179.560546875,
48
+ 165.234375,
49
+ 97.91015625,
50
+ 135.87890625,
51
+ 28.936464309692383
52
+ ],
53
+ "mean": [
54
+ -3.293288550270611,
55
+ 130.15529711120382,
56
+ 132.1111414412164,
57
+ 67.1279285303691,
58
+ 88.30874437697409,
59
+ 10.057755148730951
60
+ ],
61
+ "std": [
62
+ 37.679880092412446,
63
+ 34.13738360072491,
64
+ 24.19078732223473,
65
+ 16.437249294610606,
66
+ 15.819372357176578,
67
+ 8.00808539308905
68
+ ],
69
+ "count": [
70
+ 35713
71
+ ]
72
+ },
73
+ "episode_index": {
74
+ "min": [
75
+ 0
76
+ ],
77
+ "max": [
78
+ 51
79
+ ],
80
+ "mean": [
81
+ 24.698513146473275
82
+ ],
83
+ "std": [
84
+ 15.162741891361408
85
+ ],
86
+ "count": [
87
+ 35713
88
+ ]
89
+ },
90
+ "observation.images.top": {
91
+ "min": [
92
+ [
93
+ [
94
+ 0.0
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.0
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.0
105
+ ]
106
+ ]
107
+ ],
108
+ "max": [
109
+ [
110
+ [
111
+ 1.0
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 1.0
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 1.0
122
+ ]
123
+ ]
124
+ ],
125
+ "mean": [
126
+ [
127
+ [
128
+ 0.48210320530487977
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.49225238436237945
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.5006246583849403
139
+ ]
140
+ ]
141
+ ],
142
+ "std": [
143
+ [
144
+ [
145
+ 0.24272963752375967
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.22050252707063905
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.19369029682647146
156
+ ]
157
+ ]
158
+ ],
159
+ "count": [
160
+ 6972
161
+ ]
162
+ },
163
+ "index": {
164
+ "min": [
165
+ 0
166
+ ],
167
+ "max": [
168
+ 35712
169
+ ],
170
+ "mean": [
171
+ 17856.0
172
+ ],
173
+ "std": [
174
+ 10309.455077742956
175
+ ],
176
+ "count": [
177
+ 35713
178
+ ]
179
+ },
180
+ "task_index": {
181
+ "min": [
182
+ 0
183
+ ],
184
+ "max": [
185
+ 0
186
+ ],
187
+ "mean": [
188
+ 0.0
189
+ ],
190
+ "std": [
191
+ 0.0
192
+ ],
193
+ "count": [
194
+ 35713
195
+ ]
196
+ },
197
+ "action": {
198
+ "min": [
199
+ -79.716796875,
200
+ 42.890625,
201
+ 40.78125,
202
+ 20.478515625,
203
+ 50.625,
204
+ -0.10649627447128296
205
+ ],
206
+ "max": [
207
+ 76.46484375,
208
+ 179.47265625,
209
+ 164.619140625,
210
+ 98.96484375,
211
+ 136.40625,
212
+ 28.860488891601562
213
+ ],
214
+ "mean": [
215
+ -3.2638989587160334,
216
+ 131.25246456489012,
217
+ 130.49389867515822,
218
+ 66.80036592354007,
219
+ 88.27061925959681,
220
+ 8.795904640652333
221
+ ],
222
+ "std": [
223
+ 37.742633960677445,
224
+ 33.72359735994015,
225
+ 24.68149860129283,
226
+ 16.549987597558253,
227
+ 15.852437536496444,
228
+ 7.700381476115018
229
+ ],
230
+ "count": [
231
+ 35713
232
+ ]
233
+ },
234
+ "observation.images.wrist": {
235
+ "min": [
236
+ [
237
+ [
238
+ 0.0
239
+ ]
240
+ ],
241
+ [
242
+ [
243
+ 0.0
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.0
249
+ ]
250
+ ]
251
+ ],
252
+ "max": [
253
+ [
254
+ [
255
+ 1.0
256
+ ]
257
+ ],
258
+ [
259
+ [
260
+ 1.0
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 1.0
266
+ ]
267
+ ]
268
+ ],
269
+ "mean": [
270
+ [
271
+ [
272
+ 0.5538782034651211
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 0.5324466436298415
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 0.5441952267227173
283
+ ]
284
+ ]
285
+ ],
286
+ "std": [
287
+ [
288
+ [
289
+ 0.26599934208362835
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.25658119531118845
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.2527723530684142
300
+ ]
301
+ ]
302
+ ],
303
+ "count": [
304
+ 6972
305
+ ]
306
+ }
307
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8bc105152e0d59bc3c0fa22cbd91f29f8de32b4488f512019fd1ae584eedbd9c
3
+ size 2435
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:a892ea83ad45bc055b7a18c66f9364853a4111dca75554a9fa0eb99ee336fed9
3
+ size 524012810
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ef9ae2430a4e1c3733d46695fdf073c60d9120761ae15341640f4e9d4abf2dff
3
+ size 64082916
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:765a746d8f738bcf9bb11c26485837c71f073201d968b3da70416b577fd74acd
3
+ size 242711573