Hugging Face's logo

Datasets:
Keith-Luo
/
pick_cherry_and_place_new

Modalities:
Tabular
Video
Formats:
parquet
Size:
10K - 100K
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
Keith-Luo commited on
Commit
bb2a3b3
·
verified ·
1 Parent(s): 008ce84

Upload folder using huggingface_hub

Browse files
Files changed (8) 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 +172 -0
  4. meta/stats.json +468 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.head/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.left_arm_wrist/chunk-000/file-000.mp4 +3 -0
  8. videos/observation.images.right_arm_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 sha256:2a252d53b484ee843d63fe652132925e697108a08010d7c060dffe756029be0f
3
+ size 1015657
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1a7993ea98fa214b2956bde730ada4313ea0168251e9b7f7322a68c5278d26aa
3
+ size 89447
meta/info.json ADDED
@@ -0,0 +1,172 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "xlerobot_client",
4
+ "total_episodes": 30,
5
+ "total_frames": 16071,
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": "0:30"
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
+ "shape": [
20
+ 17
21
+ ],
22
+ "names": [
23
+ "left_arm_shoulder_pan.pos",
24
+ "left_arm_shoulder_lift.pos",
25
+ "left_arm_elbow_flex.pos",
26
+ "left_arm_wrist_flex.pos",
27
+ "left_arm_wrist_roll.pos",
28
+ "left_arm_gripper.pos",
29
+ "right_arm_shoulder_pan.pos",
30
+ "right_arm_shoulder_lift.pos",
31
+ "right_arm_elbow_flex.pos",
32
+ "right_arm_wrist_flex.pos",
33
+ "right_arm_wrist_roll.pos",
34
+ "right_arm_gripper.pos",
35
+ "head_motor_1.pos",
36
+ "head_motor_2.pos",
37
+ "x.vel",
38
+ "y.vel",
39
+ "theta.vel"
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "dtype": "float32",
44
+ "shape": [
45
+ 17
46
+ ],
47
+ "names": [
48
+ "left_arm_shoulder_pan.pos",
49
+ "left_arm_shoulder_lift.pos",
50
+ "left_arm_elbow_flex.pos",
51
+ "left_arm_wrist_flex.pos",
52
+ "left_arm_wrist_roll.pos",
53
+ "left_arm_gripper.pos",
54
+ "right_arm_shoulder_pan.pos",
55
+ "right_arm_shoulder_lift.pos",
56
+ "right_arm_elbow_flex.pos",
57
+ "right_arm_wrist_flex.pos",
58
+ "right_arm_wrist_roll.pos",
59
+ "right_arm_gripper.pos",
60
+ "head_motor_1.pos",
61
+ "head_motor_2.pos",
62
+ "x.vel",
63
+ "y.vel",
64
+ "theta.vel"
65
+ ]
66
+ },
67
+ "observation.images.left_arm_wrist": {
68
+ "dtype": "video",
69
+ "shape": [
70
+ 480,
71
+ 640,
72
+ 3
73
+ ],
74
+ "names": [
75
+ "height",
76
+ "width",
77
+ "channels"
78
+ ],
79
+ "info": {
80
+ "video.height": 480,
81
+ "video.width": 640,
82
+ "video.codec": "av1",
83
+ "video.pix_fmt": "yuv420p",
84
+ "video.is_depth_map": false,
85
+ "video.fps": 30,
86
+ "video.channels": 3,
87
+ "has_audio": false
88
+ }
89
+ },
90
+ "observation.images.right_arm_wrist": {
91
+ "dtype": "video",
92
+ "shape": [
93
+ 480,
94
+ 640,
95
+ 3
96
+ ],
97
+ "names": [
98
+ "height",
99
+ "width",
100
+ "channels"
101
+ ],
102
+ "info": {
103
+ "video.height": 480,
104
+ "video.width": 640,
105
+ "video.codec": "av1",
106
+ "video.pix_fmt": "yuv420p",
107
+ "video.is_depth_map": false,
108
+ "video.fps": 30,
109
+ "video.channels": 3,
110
+ "has_audio": false
111
+ }
112
+ },
113
+ "observation.images.head": {
114
+ "dtype": "video",
115
+ "shape": [
116
+ 480,
117
+ 640,
118
+ 3
119
+ ],
120
+ "names": [
121
+ "height",
122
+ "width",
123
+ "channels"
124
+ ],
125
+ "info": {
126
+ "video.height": 480,
127
+ "video.width": 640,
128
+ "video.codec": "av1",
129
+ "video.pix_fmt": "yuv420p",
130
+ "video.is_depth_map": false,
131
+ "video.fps": 30,
132
+ "video.channels": 3,
133
+ "has_audio": false
134
+ }
135
+ },
136
+ "timestamp": {
137
+ "dtype": "float32",
138
+ "shape": [
139
+ 1
140
+ ],
141
+ "names": null
142
+ },
143
+ "frame_index": {
144
+ "dtype": "int64",
145
+ "shape": [
146
+ 1
147
+ ],
148
+ "names": null
149
+ },
150
+ "episode_index": {
151
+ "dtype": "int64",
152
+ "shape": [
153
+ 1
154
+ ],
155
+ "names": null
156
+ },
157
+ "index": {
158
+ "dtype": "int64",
159
+ "shape": [
160
+ 1
161
+ ],
162
+ "names": null
163
+ },
164
+ "task_index": {
165
+ "dtype": "int64",
166
+ "shape": [
167
+ 1
168
+ ],
169
+ "names": null
170
+ }
171
+ }
172
+ }
meta/stats.json ADDED
@@ -0,0 +1,468 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 23.966666666666665
8
+ ],
9
+ "mean": [
10
+ 9.02040943314044
11
+ ],
12
+ "std": [
13
+ 5.348328787942699
14
+ ],
15
+ "count": [
16
+ 16071
17
+ ]
18
+ },
19
+ "task_index": {
20
+ "min": [
21
+ 0
22
+ ],
23
+ "max": [
24
+ 0
25
+ ],
26
+ "mean": [
27
+ 0.0
28
+ ],
29
+ "std": [
30
+ 0.0
31
+ ],
32
+ "count": [
33
+ 16071
34
+ ]
35
+ },
36
+ "observation.images.left_arm_wrist": {
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
+ 0.9921568627450981
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.9882352941176471
68
+ ]
69
+ ]
70
+ ],
71
+ "mean": [
72
+ [
73
+ [
74
+ 0.5622573704218925
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.5655407723287013
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.5642169989842785
85
+ ]
86
+ ]
87
+ ],
88
+ "std": [
89
+ [
90
+ [
91
+ 0.22455226316357274
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.22716374814657844
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.23565014037778356
102
+ ]
103
+ ]
104
+ ],
105
+ "count": [
106
+ 3330
107
+ ]
108
+ },
109
+ "observation.state": {
110
+ "min": [
111
+ -0.0503271259367466,
112
+ -99.22879028320312,
113
+ 78.06637573242188,
114
+ 37.31739807128906,
115
+ 0.04885197803378105,
116
+ 1.3175230026245117,
117
+ -59.35879135131836,
118
+ -55.028053283691406,
119
+ -29.055078506469727,
120
+ -57.62936782836914,
121
+ -15.192965507507324,
122
+ 1.7105263471603394,
123
+ -0.390625,
124
+ 55.05617904663086,
125
+ -0.00442822091281414,
126
+ -0.003834951901808381,
127
+ -1.171875
128
+ ],
129
+ "max": [
130
+ 0.2516356408596039,
131
+ -99.14310455322266,
132
+ 78.6435775756836,
133
+ 41.655601501464844,
134
+ 0.1954079121351242,
135
+ 1.3175230026245117,
136
+ 0.33003300428390503,
137
+ 62.88303756713867,
138
+ 80.89944458007812,
139
+ 8.09376335144043,
140
+ 10.991695404052734,
141
+ 43.8815803527832,
142
+ -0.29296875,
143
+ 55.05617904663086,
144
+ 0.00442822091281414,
145
+ 0.005113269202411175,
146
+ 1.7578125
147
+ ],
148
+ "mean": [
149
+ 0.017095168012400467,
150
+ -99.14914330610719,
151
+ 78.21269832589958,
152
+ 37.3710851006469,
153
+ 0.06546164266419732,
154
+ 1.3175218495336973,
155
+ -12.050911051299368,
156
+ 17.309807372518975,
157
+ 26.878013761804155,
158
+ -27.2604193982662,
159
+ 0.30012462278591007,
160
+ 12.306436095772694,
161
+ -0.2929748266251069,
162
+ 55.05648600004062,
163
+ 8.128465795339546e-06,
164
+ 1.2328989937362546e-05,
165
+ 0.0019323432693722344
166
+ ],
167
+ "std": [
168
+ 0.053499174751318476,
169
+ 0.02119992084066919,
170
+ 0.10676304892761367,
171
+ 0.33636344532255785,
172
+ 0.0418076381533964,
173
+ 2.8485699802430304e-06,
174
+ 20.555196441057912,
175
+ 36.66557416344943,
176
+ 29.205421959000983,
177
+ 13.842606294252224,
178
+ 2.4761355778472973,
179
+ 13.292152694899839,
180
+ 0.0007703029742671774,
181
+ 0.0003197066430471974,
182
+ 0.0014415846204593509,
183
+ 0.0009057054205187057,
184
+ 0.3908479356975354
185
+ ],
186
+ "count": [
187
+ 16071
188
+ ]
189
+ },
190
+ "index": {
191
+ "min": [
192
+ 0
193
+ ],
194
+ "max": [
195
+ 2935
196
+ ],
197
+ "mean": [
198
+ 1347.0720552548069
199
+ ],
200
+ "std": [
201
+ 786.8902546253466
202
+ ],
203
+ "count": [
204
+ 16071
205
+ ]
206
+ },
207
+ "episode_index": {
208
+ "min": [
209
+ 0
210
+ ],
211
+ "max": [
212
+ 4
213
+ ],
214
+ "mean": [
215
+ 1.9591189098375956
216
+ ],
217
+ "std": [
218
+ 1.4208449575830215
219
+ ],
220
+ "count": [
221
+ 16071
222
+ ]
223
+ },
224
+ "frame_index": {
225
+ "min": [
226
+ 0
227
+ ],
228
+ "max": [
229
+ 719
230
+ ],
231
+ "mean": [
232
+ 270.61228299421316
233
+ ],
234
+ "std": [
235
+ 160.449863638281
236
+ ],
237
+ "count": [
238
+ 16071
239
+ ]
240
+ },
241
+ "observation.images.head": {
242
+ "min": [
243
+ [
244
+ [
245
+ 0.0
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 0.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.0
256
+ ]
257
+ ]
258
+ ],
259
+ "max": [
260
+ [
261
+ [
262
+ 1.0
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 1.0
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 1.0
273
+ ]
274
+ ]
275
+ ],
276
+ "mean": [
277
+ [
278
+ [
279
+ 0.5434065888192113
280
+ ]
281
+ ],
282
+ [
283
+ [
284
+ 0.5442697856557537
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.5346918210489902
290
+ ]
291
+ ]
292
+ ],
293
+ "std": [
294
+ [
295
+ [
296
+ 0.31420999580445175
297
+ ]
298
+ ],
299
+ [
300
+ [
301
+ 0.3175067323880868
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.32764335829202257
307
+ ]
308
+ ]
309
+ ],
310
+ "count": [
311
+ 3330
312
+ ]
313
+ },
314
+ "action": {
315
+ "min": [
316
+ 0.0,
317
+ -107.67044067382812,
318
+ 75.75067138671875,
319
+ 35.87922286987305,
320
+ -0.08907361328601837,
321
+ 0.0,
322
+ -59.51625061035156,
323
+ -56.47968673706055,
324
+ -29.121070861816406,
325
+ -59.071014404296875,
326
+ -19.97537612915039,
327
+ 0.0,
328
+ 0.0,
329
+ 55.0,
330
+ 0.0,
331
+ 0.0,
332
+ 0.0
333
+ ],
334
+ "max": [
335
+ 0.0,
336
+ -107.67044067382812,
337
+ 75.75067138671875,
338
+ 36.38890838623047,
339
+ 0.22348374128341675,
340
+ 0.0,
341
+ 0.4163999855518341,
342
+ 63.0460319519043,
343
+ 80.49199676513672,
344
+ 8.358263969421387,
345
+ 11.46640396118164,
346
+ 44.400001525878906,
347
+ 0.0,
348
+ 55.0,
349
+ 0.0,
350
+ 0.0,
351
+ 0.0
352
+ ],
353
+ "mean": [
354
+ 0.0,
355
+ -107.67097086998709,
356
+ 75.75032021192169,
357
+ 36.19267083080739,
358
+ 0.05115189777148716,
359
+ 0.0,
360
+ -12.334865942316446,
361
+ 15.51915336920666,
362
+ 26.163531275574684,
363
+ -27.275919552678957,
364
+ 0.3178346714094234,
365
+ 11.313838685829515,
366
+ 0.0,
367
+ 55.0,
368
+ 0.0,
369
+ 0.0,
370
+ 0.0
371
+ ],
372
+ "std": [
373
+ 0.0,
374
+ 0.0005480914195927646,
375
+ 0.0003546446839709944,
376
+ 0.08492774838676381,
377
+ 0.04265835836126147,
378
+ 0.0,
379
+ 21.094504416935866,
380
+ 37.532677282304434,
381
+ 29.444690703488078,
382
+ 13.731909256999277,
383
+ 2.5539721961807396,
384
+ 14.53685744091024,
385
+ 0.0,
386
+ 0.0,
387
+ 0.0,
388
+ 0.0,
389
+ 0.0
390
+ ],
391
+ "count": [
392
+ 16071
393
+ ]
394
+ },
395
+ "observation.images.right_arm_wrist": {
396
+ "min": [
397
+ [
398
+ [
399
+ 0.0
400
+ ]
401
+ ],
402
+ [
403
+ [
404
+ 0.0
405
+ ]
406
+ ],
407
+ [
408
+ [
409
+ 0.0
410
+ ]
411
+ ]
412
+ ],
413
+ "max": [
414
+ [
415
+ [
416
+ 1.0
417
+ ]
418
+ ],
419
+ [
420
+ [
421
+ 1.0
422
+ ]
423
+ ],
424
+ [
425
+ [
426
+ 1.0
427
+ ]
428
+ ]
429
+ ],
430
+ "mean": [
431
+ [
432
+ [
433
+ 0.5494684101994151
434
+ ]
435
+ ],
436
+ [
437
+ [
438
+ 0.5351224990922294
439
+ ]
440
+ ],
441
+ [
442
+ [
443
+ 0.5292618017527331
444
+ ]
445
+ ]
446
+ ],
447
+ "std": [
448
+ [
449
+ [
450
+ 0.20500514282557605
451
+ ]
452
+ ],
453
+ [
454
+ [
455
+ 0.21302760917686347
456
+ ]
457
+ ],
458
+ [
459
+ [
460
+ 0.22357600274057468
461
+ ]
462
+ ]
463
+ ],
464
+ "count": [
465
+ 3330
466
+ ]
467
+ }
468
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b685aa2a79a55d7836225c04d7ef95979cd3248da16ddc8b7572eb2588b5bf5c
3
+ size 2261
videos/observation.images.head/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9550b0b4df2a1492c512a85b6923662066276f7c5c2da5826776fa44f778a521
3
+ size 94253607
videos/observation.images.left_arm_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:90ac35465969eb8651e6c47ca9abcde316d84a0dd1c9e4923700ae28cab73eb3
3
+ size 96539805
videos/observation.images.right_arm_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f2faf73a979ef7759c58d8465af59d2c0aacb8629b172c29e6cd69db7d5e1f0b
3
+ size 70066251