Upload folder using huggingface_hub

README.md

@@ -0,0 +1,162 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so101_follower",
+    "total_episodes": 3,
+    "total_frames": 1791,
+    "total_tasks": 1,
+    "total_videos": 6,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:3"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.images.usb": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 720,
+                "video.width": 1280,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a31a143db62ae72438ffd8f1919d4e9f8f059b8904957e19ff744bf8fd141873
+size 29900

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5019b59f4feedd842c4066550834c2cb9859e9c9d742610d11cf785ad183c31a
+size 31728

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd695b028e7cdd82be39457a2d70eff91e01fe869fdfe069a6f9bbd27d28041e
+size 27306

meta/episodes.jsonl

@@ -0,0 +1,3 @@
+{"episode_index": 0, "tasks": ["Cups and ball"], "length": 596}
+{"episode_index": 1, "tasks": ["Cups and ball"], "length": 597}
+{"episode_index": 2, "tasks": ["Cups and ball"], "length": 598}

meta/episodes_stats.jsonl

@@ -0,0 +1,3 @@
+{"episode_index": 0, "stats": {"action": {"min": [1.3425393104553223, -100.0, -4.774897575378418, 72.3292465209961, -14.944939613342285, 0.2521008551120758], "max": [20.905254364013672, 2.679710865020752, 91.90541076660156, 100.0, 6.659674644470215, 46.806724548339844], "mean": [14.931791305541992, -43.41634750366211, 33.37379455566406, 91.72651672363281, -4.31296968460083, 18.538244247436523], "std": [6.11660099029541, 40.57135772705078, 34.482521057128906, 10.161489486694336, 5.86928129196167, 16.43259048461914], "count": [596]}, "observation.state": {"min": [1.3678373098373413, -99.31682586669922, -1.7703132629394531, 73.14085388183594, -14.720545768737793, 0.27137041091918945], "max": [20.665433883666992, 2.903501272201538, 93.37267303466797, 99.82501983642578, 6.166360378265381, 46.40434265136719], "mean": [14.718809127807617, -42.90637969970703, 34.6341552734375, 91.64244079589844, -4.223910331726074, 20.49758529663086], "std": [6.217398643493652, 40.799320220947266, 34.49284744262695, 10.012266159057617, 5.805857181549072, 17.03535270690918], "count": [596]}, "observation.images.usb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4983046364379085]], [[0.490226264070443]], [[0.47141838462236746]]], "std": [[[0.30971185641408694]], [[0.29142312556986194]], [[0.2609230766623344]]], "count": [120]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43499899918300655]], [[0.4391233614742193]], [[0.4315721405228758]]], "std": [[[0.309250280911837]], [[0.30638335313166015]], [[0.317440104002258]]], "count": [120]}, "timestamp": {"min": [0.0], "max": [19.833333333333332], "mean": [9.916666666666666], "std": [5.735004601373723], "count": [596]}, "frame_index": {"min": [0], "max": [595], "mean": [297.5], "std": [172.0501380412117], "count": [596]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [596]}, "index": {"min": [0], "max": [595], "mean": [297.5], "std": [172.0501380412117], "count": [596]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [596]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-4.181051254272461, -100.0, -17.235107421875, 68.82662200927734, -24.908233642578125, 0.0], "max": [21.135404586791992, 3.190131902694702, 87.99454498291016, 100.0, 25.537492752075195, 49.579830169677734], "mean": [9.687539100646973, -54.35809326171875, 44.99222183227539, 88.38661193847656, -7.826412200927734, 15.046135902404785], "std": [7.3232526779174805, 40.70513916015625, 37.263099670410156, 11.231902122497559, 8.711482048034668, 18.00556755065918], "count": [597]}, "observation.state": {"min": [-4.029574871063232, -99.31682586669922, -13.844757080078125, 69.55380249023438, -25.059040069580078, 0.4070556163787842], "max": [20.665433883666992, 3.5866780281066895, 87.92555236816406, 100.0, 24.2718448638916, 49.25373077392578], "mean": [9.64881420135498, -53.91852951049805, 46.24919128417969, 88.40913391113281, -7.908207416534424, 16.059057235717773], "std": [7.300283432006836, 41.101341247558594, 37.01467514038086, 11.05159854888916, 8.66822624206543, 18.2576904296875], "count": [597]}, "observation.images.usb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5034946033042847]], [[0.4931580564633261]], [[0.4745310570987654]]], "std": [[[0.3065233390760113]], [[0.2881316364670495]], [[0.2540118768954245]]], "count": [120]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40592211328976036]], [[0.41173132262164125]], [[0.40442112381989836]]], "std": [[[0.3058914254836486]], [[0.2991177156515404]], [[0.309406338962804]]], "count": [120]}, "timestamp": {"min": [0.0], "max": [19.866666666666667], "mean": [9.933333333333334], "std": [5.744627119382139], "count": [597]}, "frame_index": {"min": [0], "max": [596], "mean": [298.0], "std": [172.3388135814642], "count": [597]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [597]}, "index": {"min": [596], "max": [1192], "mean": [894.0], "std": [172.3388135814642], "count": [597]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [597]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-7.7867279052734375, -100.0, -9.595270156860352, 75.48161315917969, -14.525432586669922, 0.0], "max": [20.981971740722656, -3.190131902694702, 87.90359497070312, 100.0, 22.33875274658203, 51.93277359008789], "mean": [5.663688659667969, -65.64734649658203, 55.141319274902344, 84.82304382324219, -2.0040555000305176, 11.487116813659668], "std": [9.664457321166992, 38.49971008300781, 34.75811004638672, 9.970683097839355, 6.644547939300537, 16.559051513671875], "count": [598]}, "observation.state": {"min": [-7.13493537902832, -98.97523498535156, -6.763504505157471, 76.29046630859375, -14.300708770751953, 0.13568520545959473], "max": [20.813308715820312, -2.988898277282715, 88.01634216308594, 99.82501983642578, 21.85778045654297, 51.35685348510742], "mean": [5.495733737945557, -65.2942886352539, 56.11744689941406, 85.06499481201172, -2.138674736022949, 12.716864585876465], "std": [9.680360794067383, 38.82801055908203, 34.35783767700195, 9.659574508666992, 6.646688461303711, 17.257415771484375], "count": [598]}, "observation.images.usb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5114859386347131]], [[0.5001872390159767]], [[0.4857847539941903]]], "std": [[[0.30122390752650147]], [[0.2832930336659658]], [[0.24482403533877814]]], "count": [120]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4476056486020334]], [[0.45482758033769066]], [[0.4521277414669571]]], "std": [[[0.300731640025689]], [[0.2924639142285517]], [[0.3041083318490674]]], "count": [120]}, "timestamp": {"min": [0.0], "max": [19.9], "mean": [9.95], "std": [5.754249637345333], "count": [598]}, "frame_index": {"min": [0], "max": [597], "mean": [298.5], "std": [172.62748912035997], "count": [598]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [598]}, "index": {"min": [1193], "max": [1790], "mean": [1491.5], "std": [172.62748912035997], "count": [598]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [598]}}}

meta/info.json

@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so101_follower",
+    "total_episodes": 3,
+    "total_frames": 1791,
+    "total_tasks": 1,
+    "total_videos": 6,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:3"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.images.usb": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 720,
+                "video.width": 1280,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Cups and ball"}

videos/chunk-000/observation.images.usb/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c924ec25b575d5f16a7d4e0da8467a5cd941b49cfe4421f77c3ebb8bc13b477
+size 9615150

videos/chunk-000/observation.images.usb/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a92eb7f5071b2141e4fcfa1178cd1e7b2841394aa7e6a6791abb4dbc1871e2b2
+size 9782325

videos/chunk-000/observation.images.usb/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b322b35097f2e498c94f37810d041053dd9a21e027b20f3c5fc2383b0ec3ec67
+size 10077758

videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5946c294f438946dd2aff10ed5713290b4583b39ad1a26df2e53dab1e09e7b9e
+size 14942943

videos/chunk-000/observation.images.wrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3884be16299e4ccbc5fefc321075686c987c888fedc41a3180a0fc8549b27cb3
+size 13720882

videos/chunk-000/observation.images.wrist/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:984ecd71e13ad8bc544d3338528aacf7be2f3051fc3b32d20f10ba6e412db978
+size 15453700