Hugging Face's logo

Datasets:
RickRain
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
RickRain commited on
Commit
fba05b0
·
verified ·
1 Parent(s): fa711cd

Upload folder using huggingface_hub

Browse files
Files changed (10) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. meta/episodes.jsonl +2 -0
  4. meta/episodes_stats.jsonl +2 -0
  5. meta/info.json +127 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.webcam/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.webcam/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.wrist/episode_000001.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 sha256:6d3d2212f0388965fcfe295052906a1b93d132c0c35aaf18ed7f5e17955103c2
3
+ size 44225
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ecc925232a32ac52a7e1db46dc91dced12d06b0b9ce782f21f5a3c5b7d96919
3
+ size 44253
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 893}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 893}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-66.796875, 52.734375, 55.01953125, 38.232421875, 36.826171875, -0.9128631353378296], "max": [58.447265625, 167.51953125, 142.119140625, 89.560546875, 109.86328125, 27.966806411743164], "mean": [14.037993431091309, 105.41630554199219, 115.66387939453125, 57.908267974853516, 79.9101333618164, 10.912044525146484], "std": [37.011436462402344, 22.338680267333984, 25.50480842590332, 11.525164604187012, 22.077220916748047, 9.728753089904785], "count": [893]}, "observation.state": {"min": [-66.26953125, 52.03125, 57.744140625, 39.111328125, 38.232421875, 0.0], "max": [58.623046875, 177.5390625, 142.470703125, 88.59375, 109.3359375, 27.557601928710938], "mean": [14.162004470825195, 104.56605529785156, 117.28441619873047, 58.029972076416016, 79.88526916503906, 12.828291893005371], "std": [37.03681945800781, 23.086896896362305, 25.05384635925293, 11.424548149108887, 22.025827407836914, 8.142627716064453], "count": [893]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.23987210418420946]], [[0.22476666441116325]], [[0.238423126177874]]], "std": [[[0.2586198971190305]], [[0.23934113374380311]], [[0.2591201826388753]]], "count": [163]}, "observation.images.webcam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45341457030153576]], [[0.4144166428585749]], [[0.39671230803159707]]], "std": [[[0.26560998230806193]], [[0.2624975503850894]], [[0.2656956531961744]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.733333333333334], "mean": [14.866666666666664], "std": [8.592891118696766], "count": [893]}, "frame_index": {"min": [0], "max": [892], "mean": [446.0], "std": [257.78673356090303], "count": [893]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [893]}, "index": {"min": [0], "max": [892], "mean": [446.0], "std": [257.78673356090303], "count": [893]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [893]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-35.15625, 51.15234375, 50.2734375, 37.001953125, 17.40234375, -0.6639004349708557], "max": [58.53515625, 153.896484375, 157.060546875, 98.96484375, 96.240234375, 35.18672180175781], "mean": [17.75164222717285, 104.03170776367188, 112.84712982177734, 61.81659698486328, 63.410667419433594, 15.0330228805542], "std": [31.599374771118164, 28.724946975708008, 33.70301055908203, 13.390433311462402, 22.50873374938965, 11.689009666442871], "count": [893]}, "observation.state": {"min": [-35.068359375, 49.921875, 53.26171875, 37.96875, 17.75390625, 5.253456115722656], "max": [58.095703125, 153.193359375, 157.1484375, 98.701171875, 93.955078125, 32.62672805786133], "mean": [17.62940216064453, 102.68977355957031, 114.30481719970703, 62.139808654785156, 63.45273208618164, 16.80034065246582], "std": [31.633604049682617, 29.35968017578125, 33.48320388793945, 13.17754077911377, 22.444978713989258, 8.948880195617676], "count": [893]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2485427016921288]], [[0.21943523196599704]], [[0.2130980918440996]]], "std": [[[0.24327646663203728]], [[0.2278888538314041]], [[0.2458181796279658]]], "count": [163]}, "observation.images.webcam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45717464613657327]], [[0.41781356635189865]], [[0.3977268685592847]]], "std": [[[0.2671104945545199]], [[0.26459557078163126]], [[0.2654852531202838]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.733333333333334], "mean": [14.866666666666664], "std": [8.592891118696766], "count": [893]}, "frame_index": {"min": [0], "max": [892], "mean": [446.0], "std": [257.78673356090303], "count": [893]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [893]}, "index": {"min": [893], "max": [1785], "mean": [1339.0], "std": [257.78673356090303], "count": [893]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [893]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101",
4
+ "total_episodes": 2,
5
+ "total_frames": 1786,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
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
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "main_shoulder_pan",
24
+ "main_shoulder_lift",
25
+ "main_elbow_flex",
26
+ "main_wrist_flex",
27
+ "main_wrist_roll",
28
+ "main_gripper"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "main_shoulder_pan",
38
+ "main_shoulder_lift",
39
+ "main_elbow_flex",
40
+ "main_wrist_flex",
41
+ "main_wrist_roll",
42
+ "main_gripper"
43
+ ]
44
+ },
45
+ "observation.images.wrist": {
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.webcam": {
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/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
videos/chunk-000/observation.images.webcam/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b12f464d965c0ba0b2bb81cb3f1db4e01e4c91a0515726017ea427344abb0b51
3
+ size 19347830
videos/chunk-000/observation.images.webcam/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:260124ef82ba8bf555ab84c67d98510281ca7f8e49439c6851d18cd49dc39e51
3
+ size 19128085
videos/chunk-000/observation.images.wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e55b3cb26b610296b6f5f39b5a284189d7435ffe062112879270e60d75b04de0
3
+ size 7256307
videos/chunk-000/observation.images.wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4496dc470485fb7ccf898b765da846210e69c352d7e82fa7e0584b87d4d66431
3
+ size 6341782