Hugging Face's logo

Datasets:
HanDohyeon
/
pick_trash_and_place

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
HanDohyeon commited on
Commit
455847e
·
verified ·
1 Parent(s): 64396ab

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.top/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.wrist/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 sha256:6a29ed6d1442d43f8f7913b9ba2a05011bca70bed17e84ba8f3f913b2ab9bb9f
3
+ size 1217596
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:143ab0e41257ee83d42d86142ca49ddb0cddff6d11ee12242c4adf67149e925a
3
+ size 341375
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 80,
5
+ "total_frames": 30138,
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": "0:80"
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.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.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.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.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.state": {
3
+ "min": [
4
+ -81.0780258178711,
5
+ -99.82540130615234,
6
+ -60.35087585449219,
7
+ 27.34209442138672,
8
+ -7.059298038482666,
9
+ 1.458885908126831
10
+ ],
11
+ "max": [
12
+ 81.60572814941406,
13
+ 52.509822845458984,
14
+ 98.33333587646484,
15
+ 98.55870819091797,
16
+ 64.90520477294922,
17
+ 44.297080993652344
18
+ ],
19
+ "mean": [
20
+ 1.906398760978194,
21
+ -73.63090327439639,
22
+ 67.89132610877716,
23
+ 70.57115935988176,
24
+ 7.565257517943908,
25
+ 6.408181747698627
26
+ ],
27
+ "std": [
28
+ 25.57783941063569,
29
+ 37.12525171699068,
30
+ 34.34486394708837,
31
+ 11.384448538043216,
32
+ 13.267997771849553,
33
+ 9.360352620059905
34
+ ],
35
+ "count": [
36
+ 30138
37
+ ],
38
+ "q01": [
39
+ -27.15150480579382,
40
+ -99.38894998421738,
41
+ 12.566211348287286,
42
+ 53.44790917174946,
43
+ -1.926273696510004,
44
+ 1.6155657683484264
45
+ ],
46
+ "q10": [
47
+ -23.494888317799894,
48
+ -99.3846984727995,
49
+ 19.318523926377544,
50
+ 58.21020083329391,
51
+ -1.8225555319800355,
52
+ 1.6155657683484264
53
+ ],
54
+ "q50": [
55
+ -3.1441399532156105,
56
+ -97.19148596551841,
57
+ 89.47701809249432,
58
+ 69.01918245261356,
59
+ 0.5288861904367715,
60
+ 1.7556430937518148
61
+ ],
62
+ "q90": [
63
+ 43.3349564665955,
64
+ -20.76678508597257,
65
+ 92.99024623635754,
66
+ 87.1366635732501,
67
+ 26.731845267561845,
68
+ 23.995202336382754
69
+ ],
70
+ "q99": [
71
+ 61.157937927448074,
72
+ -3.3335213225931333,
73
+ 93.21705063210793,
74
+ 92.09454169984544,
75
+ 37.873110874719664,
76
+ 28.244815975147784
77
+ ]
78
+ },
79
+ "observation.images.wrist": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.5651043444648695
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.5914293127553106
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.5676633613408905
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.004371567142543487
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.004950025468267386
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.0070673958016340506
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 8000
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.08244803705182303
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.05268559053325174
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ 0.12310135849924347
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.1637257933127539
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.12221185947932045
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.3701880819892351
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.6074966745932847
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.6460517038352929
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.5716632243392742
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.7584760295023856
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.8138755489663425
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.7613060986648955
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.8736289193298441
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9093056896174495
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.8790087611564285
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "task_index": {
238
+ "min": [
239
+ 0
240
+ ],
241
+ "max": [
242
+ 0
243
+ ],
244
+ "mean": [
245
+ 0.0
246
+ ],
247
+ "std": [
248
+ 0.0
249
+ ],
250
+ "count": [
251
+ 30138
252
+ ],
253
+ "q01": [
254
+ 3.9999999999994157e-16
255
+ ],
256
+ "q10": [
257
+ 3.9999999999994166e-15
258
+ ],
259
+ "q50": [
260
+ 1.9999999999997116e-14
261
+ ],
262
+ "q90": [
263
+ 3.5999999999994766e-14
264
+ ],
265
+ "q99": [
266
+ 3.9599999999994203e-14
267
+ ]
268
+ },
269
+ "observation.images.top": {
270
+ "min": [
271
+ [
272
+ [
273
+ 0.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.0
284
+ ]
285
+ ]
286
+ ],
287
+ "max": [
288
+ [
289
+ [
290
+ 1.0
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 1.0
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 1.0
301
+ ]
302
+ ]
303
+ ],
304
+ "mean": [
305
+ [
306
+ [
307
+ 0.5635329587673613
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.5986017480851716
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.5923897593954245
318
+ ]
319
+ ]
320
+ ],
321
+ "std": [
322
+ [
323
+ [
324
+ 0.0054790798285151605
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.005638892908738362
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.005217222124426433
335
+ ]
336
+ ]
337
+ ],
338
+ "count": [
339
+ 8000
340
+ ],
341
+ "q01": [
342
+ [
343
+ [
344
+ -3.9215686274509843e-13
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.0002890111924288992
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.0511398209405892
355
+ ]
356
+ ]
357
+ ],
358
+ "q10": [
359
+ [
360
+ [
361
+ 0.1680948342774799
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.16607338461826437
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.36800359936272076
372
+ ]
373
+ ]
374
+ ],
375
+ "q50": [
376
+ [
377
+ [
378
+ 0.6659793723751173
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.7003281895163539
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.6239292464623006
389
+ ]
390
+ ]
391
+ ],
392
+ "q90": [
393
+ [
394
+ [
395
+ 0.7221315579954102
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.7764496311768251
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.7387153541585999
406
+ ]
407
+ ]
408
+ ],
409
+ "q99": [
410
+ [
411
+ [
412
+ 0.7856281574392413
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.8587881150015957
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.9075813787745486
423
+ ]
424
+ ]
425
+ ]
426
+ },
427
+ "timestamp": {
428
+ "min": [
429
+ 0.0
430
+ ],
431
+ "max": [
432
+ 12.533333333333333
433
+ ],
434
+ "mean": [
435
+ 6.262092153869975
436
+ ],
437
+ "std": [
438
+ 3.6250404968560646
439
+ ],
440
+ "count": [
441
+ 30138
442
+ ],
443
+ "q01": [
444
+ 0.10029667703567385
445
+ ],
446
+ "q10": [
447
+ 1.234750680831966
448
+ ],
449
+ "q50": [
450
+ 6.258884422323921
451
+ ],
452
+ "q90": [
453
+ 11.28943362690799
454
+ ],
455
+ "q99": [
456
+ 12.423887630704284
457
+ ]
458
+ },
459
+ "action": {
460
+ "min": [
461
+ -81.4417724609375,
462
+ -100.0,
463
+ -63.366336822509766,
464
+ 25.856164932250977,
465
+ -7.340173721313477,
466
+ 0.0
467
+ ],
468
+ "max": [
469
+ 82.4029541015625,
470
+ 52.11505889892578,
471
+ 99.54995727539062,
472
+ 99.91438293457031,
473
+ 65.32491302490234,
474
+ 44.80122375488281
475
+ ],
476
+ "mean": [
477
+ 1.9726656397191646,
478
+ -74.2362637158783,
479
+ 67.39020007034318,
480
+ 70.56751415526847,
481
+ 7.56271182315089,
482
+ 5.8433590394728006
483
+ ],
484
+ "std": [
485
+ 25.65876714965814,
486
+ 36.7809756997779,
487
+ 35.180322134638025,
488
+ 11.590019146043836,
489
+ 13.390466139458733,
490
+ 9.81827316643711
491
+ ],
492
+ "count": [
493
+ 30138
494
+ ],
495
+ "q01": [
496
+ -27.363624975567713,
497
+ -99.71543418789356,
498
+ 10.203589503327153,
499
+ 52.83198226469847,
500
+ -2.0996036131443074,
501
+ 0.9466060878211308
502
+ ],
503
+ "q10": [
504
+ -23.560883506974804,
505
+ -99.69399002290086,
506
+ 17.570617710150515,
507
+ 57.972717981431096,
508
+ -1.9018494202521083,
509
+ 1.006863908804073
510
+ ],
511
+ "q50": [
512
+ -3.06556188740866,
513
+ -97.6183361787559,
514
+ 89.57469726800333,
515
+ 69.11482614068093,
516
+ 0.4531006156502809,
517
+ 1.1874086075012078
518
+ ],
519
+ "q90": [
520
+ 43.46160435599443,
521
+ -22.095657993389743,
522
+ 93.18245597005502,
523
+ 87.3723018835353,
524
+ 26.861291621932107,
525
+ 24.47416837449357
526
+ ],
527
+ "q99": [
528
+ 61.55435985279356,
529
+ -3.5042945126702376,
530
+ 93.4585700314674,
531
+ 92.7246610174901,
532
+ 38.228342546119755,
533
+ 28.58376055989053
534
+ ]
535
+ },
536
+ "index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 30137
542
+ ],
543
+ "mean": [
544
+ 15068.5
545
+ ],
546
+ "std": [
547
+ 8700.09120162925
548
+ ],
549
+ "count": [
550
+ 30138
551
+ ],
552
+ "q01": [
553
+ 14883.646135697825
554
+ ],
555
+ "q10": [
556
+ 14917.679755811194
557
+ ],
558
+ "q50": [
559
+ 15068.403768053615
560
+ ],
561
+ "q90": [
562
+ 15219.320244188806
563
+ ],
564
+ "q99": [
565
+ 15253.353864302175
566
+ ]
567
+ },
568
+ "episode_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 79
574
+ ],
575
+ "mean": [
576
+ 39.495620147322335
577
+ ],
578
+ "std": [
579
+ 23.091841092044213
580
+ ],
581
+ "count": [
582
+ 30138
583
+ ],
584
+ "q01": [
585
+ 39.495620147322335
586
+ ],
587
+ "q10": [
588
+ 39.495620147322335
589
+ ],
590
+ "q50": [
591
+ 39.495620147322335
592
+ ],
593
+ "q90": [
594
+ 39.49562014732235
595
+ ],
596
+ "q99": [
597
+ 39.49562014732235
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 376
606
+ ],
607
+ "mean": [
608
+ 187.86276461609927
609
+ ],
610
+ "std": [
611
+ 108.75121490568195
612
+ ],
613
+ "count": [
614
+ 30138
615
+ ],
616
+ "q01": [
617
+ 3.0089003139237644
618
+ ],
619
+ "q10": [
620
+ 37.04252042728716
621
+ ],
622
+ "q50": [
623
+ 187.7665326697193
624
+ ],
625
+ "q90": [
626
+ 338.68300880491154
627
+ ],
628
+ "q99": [
629
+ 372.7166289182747
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:60137319e551fb1fe4de07fa83f56018f4fcfd4b8de6f40e85f8966632b29428
3
+ size 2196
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 sha256:26d3d5cdc636308549c24ffef678ebf04d4bfd46dd8671a7ceccf4bea358dbab
3
+ size 468491123
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:dfb41006c7291e7872509419e1dbf9cbf1bb696ba9a940bf92754fd85fb4b8c4
3
+ size 144518516