Hugging Face's logo

Datasets:
IPEC-COMMUNITY
/
berkeley_autolab_ur5_lerobot

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
berkeley_autolab_ur5
rlds
openx
ur5
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
Tavish9 commited on
Commit
750f72e
·
verified ·
1 Parent(s): 4c0be16

Add files using upload-large-folder tool

Browse files
Files changed (7) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. meta/episodes.jsonl +1 -0
  3. meta/info.json +134 -0
  4. meta/stats.json +292 -0
  5. meta/tasks.jsonl +1 -0
  6. videos/chunk-000/observation.images.hand_image/episode_000000.mp4 +3 -0
  7. videos/chunk-000/observation.images.image/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:74589a5ad14fa01e80cb704fb973c3d92b974104af8dfbd5fe28f55f47735ecd
3
+ size 8602
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["sweep the green cloth to the left side of the table"], "length": 71}
meta/info.json ADDED
@@ -0,0 +1,134 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "ur5",
4
+ "total_episodes": 1,
5
+ "total_frames": 71,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 5,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "observation.images.hand_image": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 480,
21
+ 640,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "rgb"
28
+ ],
29
+ "info": {
30
+ "video.fps": 5.0,
31
+ "video.height": 480,
32
+ "video.width": 640,
33
+ "video.channels": 3,
34
+ "video.codec": "av1",
35
+ "video.pix_fmt": "yuv420p",
36
+ "video.is_depth_map": false,
37
+ "has_audio": false
38
+ }
39
+ },
40
+ "observation.images.image": {
41
+ "dtype": "video",
42
+ "shape": [
43
+ 480,
44
+ 640,
45
+ 3
46
+ ],
47
+ "names": [
48
+ "height",
49
+ "width",
50
+ "rgb"
51
+ ],
52
+ "info": {
53
+ "video.fps": 5.0,
54
+ "video.height": 480,
55
+ "video.width": 640,
56
+ "video.channels": 3,
57
+ "video.codec": "av1",
58
+ "video.pix_fmt": "yuv420p",
59
+ "video.is_depth_map": false,
60
+ "has_audio": false
61
+ }
62
+ },
63
+ "observation.state": {
64
+ "dtype": "float32",
65
+ "shape": [
66
+ 8
67
+ ],
68
+ "names": {
69
+ "motors": [
70
+ "x",
71
+ "y",
72
+ "z",
73
+ "rx",
74
+ "ry",
75
+ "rz",
76
+ "rw",
77
+ "gripper"
78
+ ]
79
+ }
80
+ },
81
+ "action": {
82
+ "dtype": "float32",
83
+ "shape": [
84
+ 7
85
+ ],
86
+ "names": {
87
+ "motors": [
88
+ "x",
89
+ "y",
90
+ "z",
91
+ "roll",
92
+ "pitch",
93
+ "yaw",
94
+ "gripper"
95
+ ]
96
+ }
97
+ },
98
+ "timestamp": {
99
+ "dtype": "float32",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "frame_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "episode_index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ },
126
+ "task_index": {
127
+ "dtype": "int64",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ }
133
+ }
134
+ }
meta/stats.json ADDED
@@ -0,0 +1,292 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.hand_image": {
3
+ "mean": [
4
+ [
5
+ [
6
+ 0.5581347346305847
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.6067764759063721
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.55190110206604
17
+ ]
18
+ ]
19
+ ],
20
+ "std": [
21
+ [
22
+ [
23
+ 0.18922682106494904
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 0.2046162337064743
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 0.19916434586048126
34
+ ]
35
+ ]
36
+ ],
37
+ "max": [
38
+ [
39
+ [
40
+ 0.9686274528503418
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.9529411792755127
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.9254902005195618
51
+ ]
52
+ ]
53
+ ],
54
+ "min": [
55
+ [
56
+ [
57
+ 0.0
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.0
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0
68
+ ]
69
+ ]
70
+ ]
71
+ },
72
+ "observation.images.image": {
73
+ "mean": [
74
+ [
75
+ [
76
+ 0.3647750914096832
77
+ ]
78
+ ],
79
+ [
80
+ [
81
+ 0.3444521427154541
82
+ ]
83
+ ],
84
+ [
85
+ [
86
+ 0.322567343711853
87
+ ]
88
+ ]
89
+ ],
90
+ "std": [
91
+ [
92
+ [
93
+ 0.35311058163642883
94
+ ]
95
+ ],
96
+ [
97
+ [
98
+ 0.2758086919784546
99
+ ]
100
+ ],
101
+ [
102
+ [
103
+ 0.23943786323070526
104
+ ]
105
+ ]
106
+ ],
107
+ "max": [
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ],
113
+ [
114
+ [
115
+ 1.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 1.0
121
+ ]
122
+ ]
123
+ ],
124
+ "min": [
125
+ [
126
+ [
127
+ 0.0
128
+ ]
129
+ ],
130
+ [
131
+ [
132
+ 0.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 0.0
138
+ ]
139
+ ]
140
+ ]
141
+ },
142
+ "observation.state": {
143
+ "mean": [
144
+ 0.4962810277938843,
145
+ 0.07567325979471207,
146
+ -0.12559369206428528,
147
+ 0.698453962802887,
148
+ 0.7121474742889404,
149
+ 0.03191955015063286,
150
+ 0.02972780168056488,
151
+ 0.0
152
+ ],
153
+ "std": [
154
+ 0.056099243462085724,
155
+ 0.11545561254024506,
156
+ 0.06722868233919144,
157
+ 0.03750063478946686,
158
+ 0.038049306720495224,
159
+ 0.009963884018361568,
160
+ 0.012334132567048073,
161
+ 0.0
162
+ ],
163
+ "max": [
164
+ 0.5531312227249146,
165
+ 0.26292183995246887,
166
+ -0.00875834096223116,
167
+ 0.7565257549285889,
168
+ 0.7733124494552612,
169
+ 0.057833924889564514,
170
+ 0.05468100309371948,
171
+ 0.0
172
+ ],
173
+ "min": [
174
+ 0.36736205220222473,
175
+ -0.11650645732879639,
176
+ -0.19219233095645905,
177
+ 0.6336503028869629,
178
+ 0.6491400003433228,
179
+ 0.015420298092067242,
180
+ 0.011769249103963375,
181
+ 0.0
182
+ ]
183
+ },
184
+ "action": {
185
+ "mean": [
186
+ 0.001011669752188027,
187
+ 0.0009698188514448702,
188
+ -0.00014325950178317726,
189
+ -0.000190476217539981,
190
+ -0.0025700870901346207,
191
+ 0.00774782057851553,
192
+ 1.0
193
+ ],
194
+ "std": [
195
+ 0.016699794679880142,
196
+ 0.008155138231813908,
197
+ 0.01159124355763197,
198
+ 0.002877548336982727,
199
+ 0.004503505304455757,
200
+ 0.0072232382372021675,
201
+ 0.0
202
+ ],
203
+ "max": [
204
+ 0.019999999552965164,
205
+ 0.01342857163399458,
206
+ 0.019999999552965164,
207
+ 0.007619047537446022,
208
+ 0.00800000037997961,
209
+ 0.030095238238573074,
210
+ 1.0
211
+ ],
212
+ "min": [
213
+ -0.019028570502996445,
214
+ -0.01931428536772728,
215
+ -0.019999999552965164,
216
+ -0.007047619204968214,
217
+ -0.014095238409936428,
218
+ 0.0,
219
+ 1.0
220
+ ]
221
+ },
222
+ "timestamp": {
223
+ "mean": [
224
+ 7.000000476837158
225
+ ],
226
+ "std": [
227
+ 4.098780155181885
228
+ ],
229
+ "max": [
230
+ 14.0
231
+ ],
232
+ "min": [
233
+ 0.0
234
+ ]
235
+ },
236
+ "frame_index": {
237
+ "mean": [
238
+ 35.0
239
+ ],
240
+ "std": [
241
+ 20.4939022064209
242
+ ],
243
+ "max": [
244
+ 70.0
245
+ ],
246
+ "min": [
247
+ 0.0
248
+ ]
249
+ },
250
+ "episode_index": {
251
+ "mean": [
252
+ 0.0
253
+ ],
254
+ "std": [
255
+ 0.0
256
+ ],
257
+ "max": [
258
+ 0.0
259
+ ],
260
+ "min": [
261
+ 0.0
262
+ ]
263
+ },
264
+ "index": {
265
+ "mean": [
266
+ 35.0
267
+ ],
268
+ "std": [
269
+ 20.4939022064209
270
+ ],
271
+ "max": [
272
+ 70.0
273
+ ],
274
+ "min": [
275
+ 0.0
276
+ ]
277
+ },
278
+ "task_index": {
279
+ "mean": [
280
+ 0.0
281
+ ],
282
+ "std": [
283
+ 0.0
284
+ ],
285
+ "max": [
286
+ 0.0
287
+ ],
288
+ "min": [
289
+ 0.0
290
+ ]
291
+ }
292
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "sweep the green cloth to the left side of the table"}
videos/chunk-000/observation.images.hand_image/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d9a36b4a56dc86c8981ef41ba713ffa83522535a6926734963998fddc5ab8d55
3
+ size 236229
videos/chunk-000/observation.images.image/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f71d7a38c538274286f5950886cff65b5b4741045ed1ccf10a01534034d01b74
3
+ size 1174880