Hugging Face's logo

Datasets:
Regium
/
act_so101_pick_and_place_tmp

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
Regium commited on
Commit
ab48e44
·
verified ·
1 Parent(s): 7f6cc00

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.front/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 sha256:4017e0dff2f8b19e1f7725b7e5d4f545a8f581889f02588a53bd5f3cf49ec7e2
3
+ size 129252
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cce8b20872ed40066573ebaaeafb24204426e525236986fa1bc04720960805e5
3
+ size 66292
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 2215,
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": "0:10"
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.front": {
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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 295
8
+ ],
9
+ "mean": [
10
+ 112.12686230248308
11
+ ],
12
+ "std": [
13
+ 67.50403834318305
14
+ ],
15
+ "count": [
16
+ 2215
17
+ ],
18
+ "q01": [
19
+ 1.8171614301499317
20
+ ],
21
+ "q10": [
22
+ 21.975972225653226
23
+ ],
24
+ "q50": [
25
+ 111.88189562076727
26
+ ],
27
+ "q90": [
28
+ 202.27775237931291
29
+ ],
30
+ "q99": [
31
+ 222.4365631748162
32
+ ]
33
+ },
34
+ "timestamp": {
35
+ "min": [
36
+ 0.0
37
+ ],
38
+ "max": [
39
+ 9.833333333333334
40
+ ],
41
+ "mean": [
42
+ 3.7375620767494353
43
+ ],
44
+ "std": [
45
+ 2.2501346114394343
46
+ ],
47
+ "count": [
48
+ 2215
49
+ ],
50
+ "q01": [
51
+ 0.06057204757656848
52
+ ],
53
+ "q10": [
54
+ 0.7325324074440451
55
+ ],
56
+ "q50": [
57
+ 3.7291562136942917
58
+ ],
59
+ "q90": [
60
+ 6.742591746054827
61
+ ],
62
+ "q99": [
63
+ 7.4145521059223025
64
+ ]
65
+ },
66
+ "observation.images.front": {
67
+ "min": [
68
+ [
69
+ [
70
+ 0.0
71
+ ]
72
+ ],
73
+ [
74
+ [
75
+ 0.0
76
+ ]
77
+ ],
78
+ [
79
+ [
80
+ 0.0
81
+ ]
82
+ ]
83
+ ],
84
+ "max": [
85
+ [
86
+ [
87
+ 1.0
88
+ ]
89
+ ],
90
+ [
91
+ [
92
+ 1.0
93
+ ]
94
+ ],
95
+ [
96
+ [
97
+ 1.0
98
+ ]
99
+ ]
100
+ ],
101
+ "mean": [
102
+ [
103
+ [
104
+ 0.48493579207516335
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.45723384334150324
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.4373040075571895
115
+ ]
116
+ ]
117
+ ],
118
+ "std": [
119
+ [
120
+ [
121
+ 0.006778853715072979
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 0.006329726387723022
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.00647683149342517
132
+ ]
133
+ ]
134
+ ],
135
+ "count": [
136
+ 1000
137
+ ],
138
+ "q01": [
139
+ [
140
+ [
141
+ 0.04588515754178903
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.0451305790253845
147
+ ]
148
+ ],
149
+ [
150
+ [
151
+ 0.03258287142594924
152
+ ]
153
+ ]
154
+ ],
155
+ "q10": [
156
+ [
157
+ [
158
+ 0.21291897160228362
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.1866975149303691
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.1396063728480173
169
+ ]
170
+ ]
171
+ ],
172
+ "q50": [
173
+ [
174
+ [
175
+ 0.5293636653554613
176
+ ]
177
+ ],
178
+ [
179
+ [
180
+ 0.5058645476644661
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.4972327752129145
186
+ ]
187
+ ]
188
+ ],
189
+ "q90": [
190
+ [
191
+ [
192
+ 0.6090016178391628
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.6007528503299088
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.5968470715364295
203
+ ]
204
+ ]
205
+ ],
206
+ "q99": [
207
+ [
208
+ [
209
+ 0.7438923523144814
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.6341483634639766
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.6415500862691622
220
+ ]
221
+ ]
222
+ ]
223
+ },
224
+ "observation.images.wrist": {
225
+ "min": [
226
+ [
227
+ [
228
+ 0.0
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 0.0
234
+ ]
235
+ ],
236
+ [
237
+ [
238
+ 0.0
239
+ ]
240
+ ]
241
+ ],
242
+ "max": [
243
+ [
244
+ [
245
+ 1.0
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 1.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 1.0
256
+ ]
257
+ ]
258
+ ],
259
+ "mean": [
260
+ [
261
+ [
262
+ 0.516798631740196
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 0.5085369319852939
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.49346290625
273
+ ]
274
+ ]
275
+ ],
276
+ "std": [
277
+ [
278
+ [
279
+ 0.004872272084281597
280
+ ]
281
+ ],
282
+ [
283
+ [
284
+ 0.00908521852094956
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.011176424533471492
290
+ ]
291
+ ]
292
+ ],
293
+ "count": [
294
+ 1000
295
+ ],
296
+ "q01": [
297
+ [
298
+ [
299
+ 0.004686465748009012
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.034912432910924066
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.0066486225851400075
310
+ ]
311
+ ]
312
+ ],
313
+ "q10": [
314
+ [
315
+ [
316
+ 0.2203747452212653
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.2890171577736332
322
+ ]
323
+ ],
324
+ [
325
+ [
326
+ 0.21295873908259985
327
+ ]
328
+ ]
329
+ ],
330
+ "q50": [
331
+ [
332
+ [
333
+ 0.5497660625602775
334
+ ]
335
+ ],
336
+ [
337
+ [
338
+ 0.5231577937401133
339
+ ]
340
+ ],
341
+ [
342
+ [
343
+ 0.5231563021371577
344
+ ]
345
+ ]
346
+ ],
347
+ "q90": [
348
+ [
349
+ [
350
+ 0.7219795983427721
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.6976569562840813
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.7353214741802161
361
+ ]
362
+ ]
363
+ ],
364
+ "q99": [
365
+ [
366
+ [
367
+ 0.9951685938452478
368
+ ]
369
+ ],
370
+ [
371
+ [
372
+ 0.9900766571708387
373
+ ]
374
+ ],
375
+ [
376
+ [
377
+ 0.9999097618993668
378
+ ]
379
+ ]
380
+ ]
381
+ },
382
+ "observation.state": {
383
+ "min": [
384
+ -45.65055847167969,
385
+ -99.15325927734375,
386
+ -79.82735443115234,
387
+ 26.052631378173828,
388
+ -23.461336135864258,
389
+ 1.238816261291504
390
+ ],
391
+ "max": [
392
+ 28.104089736938477,
393
+ 59.01778030395508,
394
+ 99.45479583740234,
395
+ 99.64912414550781,
396
+ 17.04366111755371,
397
+ 49.07088851928711
398
+ ],
399
+ "mean": [
400
+ 1.4246541337557894,
401
+ -18.68191970325754,
402
+ 24.517923351981032,
403
+ 63.84262645712825,
404
+ 2.4851363662134176,
405
+ 21.212743842682503
406
+ ],
407
+ "std": [
408
+ 19.74544249300484,
409
+ 48.01612193566772,
410
+ 49.20896577026395,
411
+ 16.055791698250758,
412
+ 7.020100119489576,
413
+ 14.03562523886681
414
+ ],
415
+ "count": [
416
+ 2215
417
+ ],
418
+ "q01": [
419
+ -18.72219197507751,
420
+ -98.65579505909282,
421
+ -25.80632857564448,
422
+ 44.56600919636539,
423
+ -5.2391792543601765,
424
+ 1.6190368205645282
425
+ ],
426
+ "q10": [
427
+ -17.45389448255879,
428
+ -98.22690156485281,
429
+ -21.650150959780284,
430
+ 45.61259425747811,
431
+ -4.439821751839069,
432
+ 1.6493935389907544
433
+ ],
434
+ "q50": [
435
+ 1.4765772133858412,
436
+ 6.645748511372964,
437
+ 16.340334546881444,
438
+ 64.90806764646541,
439
+ 2.5356229441904463,
440
+ 19.906176165081952
441
+ ],
442
+ "q90": [
443
+ 24.939521038290813,
444
+ 19.58120963894162,
445
+ 95.09449027044158,
446
+ 80.22737422044199,
447
+ 9.683274560746202,
448
+ 39.18723989946507
449
+ ],
450
+ "q99": [
451
+ 25.503085433694192,
452
+ 20.5011758859173,
453
+ 97.21852428941999,
454
+ 84.28884811556915,
455
+ 9.73083701152298,
456
+ 40.553215225113355
457
+ ]
458
+ },
459
+ "action": {
460
+ "min": [
461
+ -45.66987228393555,
462
+ -99.57464599609375,
463
+ -82.62846374511719,
464
+ 24.88017463684082,
465
+ -23.63445472717285,
466
+ 0.8928571343421936
467
+ ],
468
+ "max": [
469
+ 28.49740982055664,
470
+ 58.57081985473633,
471
+ 97.63529205322266,
472
+ 100.0,
473
+ 17.226890563964844,
474
+ 49.675323486328125
475
+ ],
476
+ "mean": [
477
+ 2.15274307768178,
478
+ -17.82554562581581,
479
+ 20.63053228925098,
480
+ 63.51080669807796,
481
+ 2.6458493431050405,
482
+ 21.400432576336655
483
+ ],
484
+ "std": [
485
+ 20.035373355958765,
486
+ 46.69093890307349,
487
+ 48.82343116725306,
488
+ 16.610203909878198,
489
+ 7.145187145932221,
490
+ 14.458366473089484
491
+ ],
492
+ "count": [
493
+ 2215
494
+ ],
495
+ "q01": [
496
+ -18.717806058089593,
497
+ -99.14165370415888,
498
+ -29.17697584263089,
499
+ 43.59031095858675,
500
+ -5.416993068116109,
501
+ 1.3857699955290113
502
+ ],
503
+ "q10": [
504
+ -17.106974098000954,
505
+ -97.42933183873764,
506
+ -24.39086012927292,
507
+ 44.98000490988089,
508
+ -4.474696049168359,
509
+ 1.5515464160039536
510
+ ],
511
+ "q50": [
512
+ 1.8411454677965011,
513
+ 5.147486904135676,
514
+ 13.200035010898269,
515
+ 64.58667696289879,
516
+ 2.778226772333674,
517
+ 19.683170629142936
518
+ ],
519
+ "q90": [
520
+ 25.398943349819223,
521
+ 18.473126699581105,
522
+ 91.53483628906181,
523
+ 79.99587447997102,
524
+ 9.739379714384079,
525
+ 39.78109660377111
526
+ ],
527
+ "q99": [
528
+ 25.86954352686674,
529
+ 20.19627990532654,
530
+ 95.19487883744931,
531
+ 84.68915097469667,
532
+ 9.934850113602357,
533
+ 41.27339119973714
534
+ ]
535
+ },
536
+ "task_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 2215
551
+ ],
552
+ "q01": [
553
+ 3.999999999999418e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999418e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.5999999999994754e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "episode_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 9
574
+ ],
575
+ "mean": [
576
+ 4.4609480812641085
577
+ ],
578
+ "std": [
579
+ 2.8759430298728446
580
+ ],
581
+ "count": [
582
+ 2215
583
+ ],
584
+ "q01": [
585
+ 4.4609480812641085
586
+ ],
587
+ "q10": [
588
+ 4.460948081264112
589
+ ],
590
+ "q50": [
591
+ 4.460948081264129
592
+ ],
593
+ "q90": [
594
+ 4.460948081264145
595
+ ],
596
+ "q99": [
597
+ 4.4609480812641475
598
+ ]
599
+ },
600
+ "index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 2214
606
+ ],
607
+ "mean": [
608
+ 1107.0
609
+ ],
610
+ "std": [
611
+ 639.4153579638199
612
+ ],
613
+ "count": [
614
+ 2215
615
+ ],
616
+ "q01": [
617
+ 996.6902991276668
618
+ ],
619
+ "q10": [
620
+ 1016.8491099231702
621
+ ],
622
+ "q50": [
623
+ 1106.7550333182842
624
+ ],
625
+ "q90": [
626
+ 1197.15089007683
627
+ ],
628
+ "q99": [
629
+ 1217.3097008723332
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8a9fbcfed0c86442ad1ed8df1951e043f898371dd05af8828e61e7be33169b69
3
+ size 2261
videos/observation.images.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:de20f53368f14796265f7bd1cc8da9be17e4e20c56b67bb3fd3841d374f7b1d3
3
+ size 16843080
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 sha256:1a0a89a2202ce3f6961baca1e34ff06d653a59741d470fd7c5bc4ebc3dbf564e
3
+ size 13805291