Datasets:

Languages:
English
ArXiv:
License:
RogersPyke's picture
Upload dataset Airbot_MMK2_storage_tomato_potato
7d333ca verified
{
"codebase_version": "v2.1",
"robot_type": "Airbot_MMK2",
"total_episodes": 47,
"total_frames": 6005,
"total_tasks": 1,
"total_videos": 188,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:46"
},
"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": {
"observation.images.cam_head_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_left_wrist_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_right_wrist_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_front_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
36
],
"names": [
"left_arm_joint_1_rad",
"left_arm_joint_2_rad",
"left_arm_joint_3_rad",
"left_arm_joint_4_rad",
"left_arm_joint_5_rad",
"left_arm_joint_6_rad",
"right_arm_joint_1_rad",
"right_arm_joint_2_rad",
"right_arm_joint_3_rad",
"right_arm_joint_4_rad",
"right_arm_joint_5_rad",
"right_arm_joint_6_rad",
"left_hand_joint_1_rad",
"left_hand_joint_2_rad",
"left_hand_joint_3_rad",
"left_hand_joint_4_rad",
"left_hand_joint_5_rad",
"left_hand_joint_6_rad",
"left_hand_joint_7_rad",
"left_hand_joint_8_rad",
"left_hand_joint_9_rad",
"left_hand_joint_10_rad",
"left_hand_joint_11_rad",
"left_hand_joint_12_rad",
"right_hand_joint_1_rad",
"right_hand_joint_2_rad",
"right_hand_joint_3_rad",
"right_hand_joint_4_rad",
"right_hand_joint_5_rad",
"right_hand_joint_6_rad",
"right_hand_joint_7_rad",
"right_hand_joint_8_rad",
"right_hand_joint_9_rad",
"right_hand_joint_10_rad",
"right_hand_joint_11_rad",
"right_hand_joint_12_rad"
]
},
"action": {
"dtype": "float32",
"shape": [
36
],
"names": [
"left_arm_joint_1_rad",
"left_arm_joint_2_rad",
"left_arm_joint_3_rad",
"left_arm_joint_4_rad",
"left_arm_joint_5_rad",
"left_arm_joint_6_rad",
"right_arm_joint_1_rad",
"right_arm_joint_2_rad",
"right_arm_joint_3_rad",
"right_arm_joint_4_rad",
"right_arm_joint_5_rad",
"right_arm_joint_6_rad",
"left_hand_joint_1_rad",
"left_hand_joint_2_rad",
"left_hand_joint_3_rad",
"left_hand_joint_4_rad",
"left_hand_joint_5_rad",
"left_hand_joint_6_rad",
"left_hand_joint_7_rad",
"left_hand_joint_8_rad",
"left_hand_joint_9_rad",
"left_hand_joint_10_rad",
"left_hand_joint_11_rad",
"left_hand_joint_12_rad",
"right_hand_joint_1_rad",
"right_hand_joint_2_rad",
"right_hand_joint_3_rad",
"right_hand_joint_4_rad",
"right_hand_joint_5_rad",
"right_hand_joint_6_rad",
"right_hand_joint_7_rad",
"right_hand_joint_8_rad",
"right_hand_joint_9_rad",
"right_hand_joint_10_rad",
"right_hand_joint_11_rad",
"right_hand_joint_12_rad"
]
},
"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
},
"subtask_annotation": {
"names": null,
"shape": [
5
],
"dtype": "int32"
},
"scene_annotation": {
"names": null,
"shape": [
1
],
"dtype": "int32"
},
"eef_sim_pose_state": {
"names": [
"left_eef_pos_x",
"left_eef_pos_y",
"left_eef_pos_z",
"left_eef_rot_x",
"left_eef_rot_y",
"left_eef_rot_z",
"right_eef_pos_x",
"right_eef_pos_y",
"right_eef_pos_z",
"right_eef_rot_x",
"right_eef_rot_y",
"right_eef_rot_z"
],
"shape": [
12
],
"dtype": "float32"
},
"eef_sim_pose_action": {
"names": [
"left_eef_pos_x",
"left_eef_pos_y",
"left_eef_pos_z",
"left_eef_rot_x",
"left_eef_rot_y",
"left_eef_rot_z",
"right_eef_pos_x",
"right_eef_pos_y",
"right_eef_pos_z",
"right_eef_rot_x",
"right_eef_rot_y",
"right_eef_rot_z"
],
"shape": [
12
],
"dtype": "float32"
},
"eef_direction_state": {
"names": [
"left_eef_direction",
"right_eef_direction"
],
"shape": [
2
],
"dtype": "int32"
},
"eef_direction_action": {
"names": [
"left_eef_direction",
"right_eef_direction"
],
"shape": [
2
],
"dtype": "int32"
},
"eef_velocity_state": {
"names": [
"left_eef_velocity",
"right_eef_velocity"
],
"shape": [
2
],
"dtype": "int32"
},
"eef_velocity_action": {
"names": [
"left_eef_velocity",
"right_eef_velocity"
],
"shape": [
2
],
"dtype": "int32"
},
"eef_acc_mag_state": {
"names": [
"left_eef_acc_mag",
"right_eef_acc_mag"
],
"shape": [
2
],
"dtype": "int32"
},
"eef_acc_mag_action": {
"names": [
"left_eef_acc_mag",
"right_eef_acc_mag"
],
"shape": [
2
],
"dtype": "int32"
}
},
"stats": {
"observation.images.cam_head_rgb": {
"min": [
[
[
0.00392156862745098
]
],
[
[
0.0196078431372549
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4728142043005146
]
],
[
[
0.4719993532714505
]
],
[
[
0.47695584454526496
]
]
],
"std": [
[
[
0.19806016534431972
]
],
[
[
0.1930215111781408
]
],
[
[
0.18341976590890946
]
]
],
"count": [
4700
]
},
"observation.images.cam_front_rgb": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4932527374930469
]
],
[
[
0.5227899476341955
]
],
[
[
0.524575138106661
]
]
],
"std": [
[
[
0.2809648584172359
]
],
[
[
0.28154671398670994
]
],
[
[
0.28368645478934473
]
]
],
"count": [
4700
]
},
"subtask_annotation": {
"min": [
0,
5,
5,
5,
5
],
"max": [
4,
5,
5,
5,
5
],
"mean": [
1.9278934221482098,
5.0,
5.0,
5.0,
5.0
],
"std": [
1.484629988738657,
0.0,
0.0,
0.0,
0.0
],
"count": [
6005
]
},
"eef_acc_mag_state": {
"min": [
0,
0
],
"max": [
2,
2
],
"mean": [
1.0401332223147377,
0.8930890924229808
],
"std": [
0.82964714602932,
0.8272385366741527
],
"count": [
6005
]
},
"action": {
"min": [
0.34815603494644165,
-1.220268726348877,
0.8445391654968262,
-0.4099312424659729,
-1.6003005504608154,
0.5316115617752075,
-1.2514305114746094,
-1.2804346084594727,
1.053444743156433,
-0.8423218727111816,
0.593134880065918,
-0.7111538648605347,
0.28238940238952637,
0.7717191576957703,
-0.02742348425090313,
-0.036679185926914215,
0.015504077076911926,
-0.041380830109119415,
0.012669999152421951,
-0.00979566015303135,
0.013460852205753326,
-0.01015563402324915,
0.010242899879813194,
-0.019122261554002762,
0.44932952523231506,
0.7305948138237,
-0.0004091827431693673,
-0.016373369842767715,
0.017147859558463097,
-0.004505131393671036,
0.010717290453612804,
-0.02842704951763153,
0.013724633492529392,
-0.01575159654021263,
0.009408415295183659,
0.012989755719900131
],
"max": [
1.3125619888305664,
-0.7351510524749756,
1.435981273651123,
0.05995126813650131,
-0.40871527791023254,
1.4133549928665161,
-0.4612993001937866,
-0.791275680065155,
1.5656113624572754,
0.22455769777297974,
1.6462852954864502,
-0.13970349729061127,
1.1569461822509766,
1.278110384941101,
0.031088676303625107,
0.17116226255893707,
0.9149124622344971,
0.5628523230552673,
1.1319606304168701,
1.3359295129776,
1.113847255706787,
1.687558889389038,
0.8069802522659302,
1.8374607563018799,
1.3024029731750488,
1.3802446126937866,
0.05853397771716118,
0.1693296730518341,
0.7263842225074768,
0.42034074664115906,
0.8419249653816223,
0.5580363273620605,
1.0694559812545776,
1.6904985904693604,
0.899040937423706,
1.8087828159332275
],
"mean": [
0.9216178485694079,
-0.9028357590664237,
1.003706862626723,
-0.1967655186227319,
-1.0880801095355064,
0.9576427010274946,
-1.0030669017199374,
-1.039227150213113,
1.2113423159676329,
-0.1549077016750442,
1.0712359592876863,
-0.43484135375828864,
0.7720374543303554,
0.8723058548199942,
-0.01663394439655304,
0.114514072161233,
0.2797792434543495,
0.050438591954511565,
0.28935728634177993,
0.10376351904946005,
0.2909809863140541,
0.1608049111612929,
0.11372699133809858,
0.5764282233957247,
0.8658729662208334,
1.077521306668392,
0.013021197026559803,
0.05927923435684942,
0.3852705682842658,
0.021066903890413755,
0.3986911143192542,
0.03991002122300454,
0.4404755374325205,
0.14185442810166288,
0.16427294411056742,
0.935899590651856
],
"std": [
0.1953298350208078,
0.08839643225162108,
0.12055592116591271,
0.06318593056007009,
0.22850352248338676,
0.11795339004222162,
0.18303828064363314,
0.09922187762363939,
0.11336771050662175,
0.24062562084924824,
0.20595450752569358,
0.08759285800912561,
0.1178750470698703,
0.04476147721862757,
0.01034640576486431,
0.053471106262124576,
0.2625897527391655,
0.0942045586282604,
0.30784032601756933,
0.22351988992743535,
0.3118059283484042,
0.3167243100221235,
0.17486648420759715,
0.508807266198212,
0.15477003594504307,
0.1662208133319404,
0.008204111687252736,
0.048936067372407015,
0.15609731275483457,
0.03133692943419427,
0.15288242375663474,
0.08409117106610763,
0.1647804255420776,
0.2927290871567207,
0.16721337372579073,
0.30303918042731265
],
"count": [
6005
]
},
"observation.state": {
"min": [
0.34815603494644165,
-1.220268726348877,
0.8445391654968262,
-0.4099312424659729,
-1.6003005504608154,
0.5316115617752075,
-1.2514305114746094,
-1.2804346084594727,
1.053444743156433,
-0.8423218727111816,
0.593134880065918,
-0.7111538648605347,
0.28238940238952637,
0.7717191576957703,
-0.02742348425090313,
-0.036679185926914215,
0.015504077076911926,
-0.041380830109119415,
0.012669999152421951,
-0.00979566015303135,
0.013460852205753326,
-0.01015563402324915,
0.010242899879813194,
-0.019122261554002762,
0.44932952523231506,
0.7305948138237,
-0.0004091827431693673,
-0.016373369842767715,
0.017147859558463097,
-0.004505131393671036,
0.010717290453612804,
-0.02842704951763153,
0.013724633492529392,
-0.01575159654021263,
0.009408415295183659,
0.012989755719900131
],
"max": [
1.3125619888305664,
-0.7351510524749756,
1.435981273651123,
0.05995126813650131,
-0.40871527791023254,
1.4133549928665161,
-0.4612993001937866,
-0.791275680065155,
1.5656113624572754,
0.22455769777297974,
1.6462852954864502,
-0.13970349729061127,
1.1569461822509766,
1.278110384941101,
0.031088676303625107,
0.17116226255893707,
0.9149124622344971,
0.5628523230552673,
1.1319606304168701,
1.3359295129776,
1.113847255706787,
1.687558889389038,
0.8069802522659302,
1.8374607563018799,
1.3024029731750488,
1.3802446126937866,
0.05853397771716118,
0.1693296730518341,
0.7263842225074768,
0.42034074664115906,
0.8419249653816223,
0.5580363273620605,
1.0694559812545776,
1.6904985904693604,
0.899040937423706,
1.8087828159332275
],
"mean": [
0.9216178485694079,
-0.9028357590664237,
1.003706862626723,
-0.1967655186227319,
-1.0880801095355064,
0.9576427010274946,
-1.0030669017199374,
-1.039227150213113,
1.2113423159676329,
-0.1549077016750442,
1.0712359592876863,
-0.43484135375828864,
0.7720374543303554,
0.8723058548199942,
-0.01663394439655304,
0.114514072161233,
0.2797792434543495,
0.050438591954511565,
0.28935728634177993,
0.10376351904946005,
0.2909809863140541,
0.1608049111612929,
0.11372699133809858,
0.5764282233957247,
0.8658729662208334,
1.077521306668392,
0.013021197026559803,
0.05927923435684942,
0.3852705682842658,
0.021066903890413755,
0.3986911143192542,
0.03991002122300454,
0.4404755374325205,
0.14185442810166288,
0.16427294411056742,
0.935899590651856
],
"std": [
0.1953298350208078,
0.08839643225162108,
0.12055592116591271,
0.06318593056007009,
0.22850352248338676,
0.11795339004222162,
0.18303828064363314,
0.09922187762363939,
0.11336771050662175,
0.24062562084924824,
0.20595450752569358,
0.08759285800912561,
0.1178750470698703,
0.04476147721862757,
0.01034640576486431,
0.053471106262124576,
0.2625897527391655,
0.0942045586282604,
0.30784032601756933,
0.22351988992743535,
0.3118059283484042,
0.3167243100221235,
0.17486648420759715,
0.508807266198212,
0.15477003594504307,
0.1662208133319404,
0.008204111687252736,
0.048936067372407015,
0.15609731275483457,
0.03133692943419427,
0.15288242375663474,
0.08409117106610763,
0.1647804255420776,
0.2927290871567207,
0.16721337372579073,
0.30303918042731265
],
"count": [
6005
]
},
"scene_annotation": {
"min": [
0
],
"max": [
46
],
"mean": [
22.60915903413822
],
"std": [
13.824182652891393
],
"count": [
6005
]
},
"eef_velocity_action": {
"min": [
0,
0
],
"max": [
2,
2
],
"mean": [
1.2344712739383847,
1.1658617818484596
],
"std": [
0.7821770304477066,
0.8853325737115744
],
"count": [
6005
]
},
"eef_direction_state": {
"min": [
0,
0
],
"max": [
6,
6
],
"mean": [
3.0541215653621983,
3.449292256452956
],
"std": [
2.0814157455014914,
2.2904722284914114
],
"count": [
6005
]
},
"observation.images.cam_left_wrist_rgb": {
"min": [
[
[
0.0
]
],
[
[
0.09411764705882353
]
],
[
[
0.03529411764705882
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4856940045716867
]
],
[
[
0.4979551656584621
]
],
[
[
0.4829724219945071
]
]
],
"std": [
[
[
0.3073372176744255
]
],
[
[
0.31127354694396975
]
],
[
[
0.3163398570613079
]
]
],
"count": [
4700
]
},
"index": {
"min": [
0
],
"max": [
6004
],
"mean": [
3002.0
],
"std": [
1733.4941592056202
],
"count": [
6005
]
},
"eef_direction_action": {
"min": [
0,
0
],
"max": [
6,
6
],
"mean": [
3.0541215653621983,
3.449292256452956
],
"std": [
2.0814157455014914,
2.2904722284914114
],
"count": [
6005
]
},
"task_index": {
"min": [
0
],
"max": [
0
],
"mean": [
0.0
],
"std": [
0.0
],
"count": [
6005
]
},
"eef_sim_pose_action": {
"min": [
0.5734904361665558,
0.11405221459618403,
1.0803516078283544,
-1.885364650702468,
0.3812171939824187,
-2.521733184470889,
0.5501847001493017,
-0.2259165840893508,
1.035468406021326,
0.8630283631214035,
0.3447157257812383,
1.8608634876923893
],
"max": [
0.7843424624447415,
0.24670253626170946,
1.2510775096309468,
-0.9190691530658488,
1.2376583761393203,
-1.6452493709510079,
0.7752448547100665,
-0.04280213264143301,
1.2423914176434883,
1.9971613905880203,
0.9314222171493265,
3.0955601942809947
],
"mean": [
0.6296669436027188,
0.17388221354732306,
1.1866401954166992,
-1.2992650381751758,
0.8849394253638179,
-1.9204948475946726,
0.6159735255178943,
-0.14605286157129255,
1.1190959133420846,
1.5214486740176636,
0.6633403629858672,
2.3597826130973787
],
"std": [
0.046405121864805075,
0.023882851566913797,
0.039461619471600234,
0.19996098734508452,
0.1041373041954947,
0.19376522355664372,
0.04705119388970095,
0.04612027512594203,
0.03764773490687631,
0.18178786735198793,
0.09785469681527047,
0.26963440161033553
],
"count": [
6005
]
},
"observation.images.cam_right_wrist_rgb": {
"min": [
[
[
0.0
]
],
[
[
0.07058823529411765
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.5687983222952302
]
],
[
[
0.5770838542535809
]
],
[
[
0.5629533824398553
]
]
],
"std": [
[
[
0.2949876912323677
]
],
[
[
0.3035615009376433
]
],
[
[
0.3113609509375086
]
]
],
"count": [
4700
]
},
"eef_acc_mag_action": {
"min": [
0,
0
],
"max": [
2,
2
],
"mean": [
1.0401332223147377,
0.8930890924229808
],
"std": [
0.82964714602932,
0.8272385366741527
],
"count": [
6005
]
},
"eef_sim_pose_state": {
"min": [
0.5734904361665558,
0.11405221459618403,
1.0803516078283544,
-1.885364650702468,
0.3812171939824187,
-2.521733184470889,
0.5501847001493017,
-0.2259165840893508,
1.035468406021326,
0.8630283631214035,
0.3447157257812383,
1.8608634876923893
],
"max": [
0.7843424624447415,
0.24670253626170946,
1.2510775096309468,
-0.9190691530658488,
1.2376583761393203,
-1.6452493709510079,
0.7752448547100665,
-0.04280213264143301,
1.2423914176434883,
1.9971613905880203,
0.9314222171493265,
3.0955601942809947
],
"mean": [
0.6296669436027188,
0.17388221354732306,
1.1866401954166992,
-1.2992650381751758,
0.8849394253638179,
-1.9204948475946726,
0.6159735255178943,
-0.14605286157129255,
1.1190959133420846,
1.5214486740176636,
0.6633403629858672,
2.3597826130973787
],
"std": [
0.046405121864805075,
0.023882851566913797,
0.039461619471600234,
0.19996098734508452,
0.1041373041954947,
0.19376522355664372,
0.04705119388970095,
0.04612027512594203,
0.03764773490687631,
0.18178786735198793,
0.09785469681527047,
0.26963440161033553
],
"count": [
6005
]
},
"timestamp": {
"min": [
0.0
],
"max": [
5.266666666666667
],
"mean": [
2.1365806272550656
],
"std": [
1.2706318591511112
],
"count": [
6005
]
},
"eef_velocity_state": {
"min": [
0,
0
],
"max": [
2,
2
],
"mean": [
1.2344712739383847,
1.1658617818484596
],
"std": [
0.7821770304477066,
0.8853325737115744
],
"count": [
6005
]
},
"frame_index": {
"min": [
0
],
"max": [
158
],
"mean": [
64.09741881765196
],
"std": [
38.11895577453334
],
"count": [
6005
]
},
"episode_index": {
"min": [
0
],
"max": [
46
],
"mean": [
22.60915903413822
],
"std": [
13.824182652891393
],
"count": [
6005
]
}
}
}