Hugging Face's logo

Datasets:
Sengankou
/
T1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
Community
Sengankou commited on
Commit
22011dc
·
verified ·
1 Parent(s): 0d4ea92

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 +127 -0
  4. meta/stats.json +632 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.top/chunk-000/file-001.mp4 +3 -0
  8. 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:dd9e3cd1a39709d77be519670bca09e66362373802d575f486dc366285b87853
3
+ size 1392602
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ded70abdf7a7585f5f7f9755b7d80b923df304791df499d73b1c2e9ff13c37b1
3
+ size 225722
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 100,
5
+ "total_frames": 52687,
6
+ "total_tasks": 2,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:100"
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.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.top": {
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
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 49
8
+ ],
9
+ "mean": [
10
+ 24.1908060811965
11
+ ],
12
+ "std": [
13
+ 14.573131496170587
14
+ ],
15
+ "count": [
16
+ 52687
17
+ ],
18
+ "q01": [
19
+ 24.1908060811965
20
+ ],
21
+ "q10": [
22
+ 24.190806081196506
23
+ ],
24
+ "q50": [
25
+ 24.19080608119651
26
+ ],
27
+ "q90": [
28
+ 24.190806081196524
29
+ ],
30
+ "q99": [
31
+ 24.190806081196524
32
+ ]
33
+ },
34
+ "index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 27404
40
+ ],
41
+ "mean": [
42
+ 13192.636342930893
43
+ ],
44
+ "std": [
45
+ 7641.6359300110635
46
+ ],
47
+ "count": [
48
+ 52687
49
+ ],
50
+ "q01": [
51
+ 12931.87609771243
52
+ ],
53
+ "q10": [
54
+ 12979.72851232744
55
+ ],
56
+ "q50": [
57
+ 13192.456281105393
58
+ ],
59
+ "q90": [
60
+ 13405.423629073666
61
+ ],
62
+ "q99": [
63
+ 13453.396588149357
64
+ ]
65
+ },
66
+ "task_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 0
72
+ ],
73
+ "mean": [
74
+ 0.0
75
+ ],
76
+ "std": [
77
+ 0.0
78
+ ],
79
+ "count": [
80
+ 52687
81
+ ],
82
+ "q01": [
83
+ 3.999999999999418e-16
84
+ ],
85
+ "q10": [
86
+ 3.999999999999417e-15
87
+ ],
88
+ "q50": [
89
+ 1.9999999999997088e-14
90
+ ],
91
+ "q90": [
92
+ 3.5999999999994754e-14
93
+ ],
94
+ "q99": [
95
+ 3.9599999999994235e-14
96
+ ]
97
+ },
98
+ "frame_index": {
99
+ "min": [
100
+ 0
101
+ ],
102
+ "max": [
103
+ 682
104
+ ],
105
+ "mean": [
106
+ 265.56454153776065
107
+ ],
108
+ "std": [
109
+ 156.87682018289752
110
+ ],
111
+ "count": [
112
+ 52687
113
+ ],
114
+ "q01": [
115
+ 4.8042963192974835
116
+ ],
117
+ "q10": [
118
+ 52.65671093430592
119
+ ],
120
+ "q50": [
121
+ 265.3512806005277
122
+ ],
123
+ "q90": [
124
+ 478.3518276805328
125
+ ],
126
+ "q99": [
127
+ 526.3247867562238
128
+ ]
129
+ },
130
+ "observation.state": {
131
+ "min": [
132
+ -37.40795135498047,
133
+ -100.0,
134
+ -30.297565460205078,
135
+ 28.70012855529785,
136
+ -83.36404418945312,
137
+ 0.6756756901741028
138
+ ],
139
+ "max": [
140
+ 32.40058898925781,
141
+ 27.925643920898438,
142
+ 100.0,
143
+ 99.91419982910156,
144
+ -25.559358596801758,
145
+ 52.43243408203125
146
+ ],
147
+ "mean": [
148
+ -3.0762637146280403,
149
+ -42.798393040158416,
150
+ 53.906715003393415,
151
+ 70.82394995050345,
152
+ -52.646258721324564,
153
+ 10.254516523747368
154
+ ],
155
+ "std": [
156
+ 16.045422114990558,
157
+ 45.146228344620006,
158
+ 36.08660742449689,
159
+ 12.059587977700556,
160
+ 11.691403508158723,
161
+ 9.826978577326937
162
+ ],
163
+ "count": [
164
+ 52687
165
+ ],
166
+ "q01": [
167
+ -23.07828625713446,
168
+ -97.73157750305073,
169
+ -1.1492476187522498,
170
+ 47.63758658791714,
171
+ -68.18803909591757,
172
+ 1.1588483977782689
173
+ ],
174
+ "q10": [
175
+ -21.688900383183263,
176
+ -97.45621742509995,
177
+ 15.631057032901237,
178
+ 54.81247545956513,
179
+ -66.28551299297729,
180
+ 1.1658664275950668
181
+ ],
182
+ "q50": [
183
+ -2.8704125906813864,
184
+ -30.341721437313513,
185
+ 43.307362658871945,
186
+ 73.61892142861751,
187
+ -52.16975201933836,
188
+ 9.807116225626359
189
+ ],
190
+ "q90": [
191
+ 15.377152522337907,
192
+ 12.257143201108775,
193
+ 99.02623035477619,
194
+ 85.33091733991428,
195
+ -39.69514497763552,
196
+ 24.908237237250162
197
+ ],
198
+ "q99": [
199
+ 16.953390536660308,
200
+ 13.812744838928314,
201
+ 99.06052550170605,
202
+ 95.40719058347264,
203
+ -37.67966221461063,
204
+ 27.70763414401358
205
+ ]
206
+ },
207
+ "timestamp": {
208
+ "min": [
209
+ 0.0
210
+ ],
211
+ "max": [
212
+ 22.733333333333334
213
+ ],
214
+ "mean": [
215
+ 8.85215138459203
216
+ ],
217
+ "std": [
218
+ 5.229227339429918
219
+ ],
220
+ "count": [
221
+ 52687
222
+ ],
223
+ "q01": [
224
+ 0.1601432105483296
225
+ ],
226
+ "q10": [
227
+ 1.7552236977326954
228
+ ],
229
+ "q50": [
230
+ 8.846149323742031
231
+ ],
232
+ "q90": [
233
+ 15.945060922761883
234
+ ],
235
+ "q99": [
236
+ 17.54415955863572
237
+ ]
238
+ },
239
+ "observation.images.wrist": {
240
+ "min": [
241
+ [
242
+ [
243
+ 0.0
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.0
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.0
254
+ ]
255
+ ]
256
+ ],
257
+ "max": [
258
+ [
259
+ [
260
+ 1.0
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 1.0
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 1.0
271
+ ]
272
+ ]
273
+ ],
274
+ "mean": [
275
+ [
276
+ [
277
+ 0.608265675745283
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 0.5925407133895987
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.5991329703452243
288
+ ]
289
+ ]
290
+ ],
291
+ "std": [
292
+ [
293
+ [
294
+ 0.005872376814290937
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.004483104203930645
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.0047229890064096275
305
+ ]
306
+ ]
307
+ ],
308
+ "count": [
309
+ 10960
310
+ ],
311
+ "q01": [
312
+ [
313
+ [
314
+ 0.32901550842814076
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.1085641791090036
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.15091523090201794
325
+ ]
326
+ ]
327
+ ],
328
+ "q10": [
329
+ [
330
+ [
331
+ 0.5030053774673237
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.48230659943433174
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.4854322088779133
342
+ ]
343
+ ]
344
+ ],
345
+ "q50": [
346
+ [
347
+ [
348
+ 0.6144208128599185
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.6091131084628278
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ 0.61341966141071
359
+ ]
360
+ ]
361
+ ],
362
+ "q90": [
363
+ [
364
+ [
365
+ 0.7203483379403406
366
+ ]
367
+ ],
368
+ [
369
+ [
370
+ 0.7207264309130433
371
+ ]
372
+ ],
373
+ [
374
+ [
375
+ 0.7275971018617741
376
+ ]
377
+ ]
378
+ ],
379
+ "q99": [
380
+ [
381
+ [
382
+ 0.7777855894240269
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.7800259631695092
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.7847376314616668
393
+ ]
394
+ ]
395
+ ]
396
+ },
397
+ "action": {
398
+ "min": [
399
+ -37.73862075805664,
400
+ -99.08409881591797,
401
+ -32.73219299316406,
402
+ 27.57588768005371,
403
+ -83.48575592041016,
404
+ 0.0
405
+ ],
406
+ "max": [
407
+ 32.81938171386719,
408
+ 27.560365676879883,
409
+ 99.63931274414062,
410
+ 100.0,
411
+ -25.111053466796875,
412
+ 52.731788635253906
413
+ ],
414
+ "mean": [
415
+ -3.0936467301143673,
416
+ -43.26166481432067,
417
+ 52.878295820025045,
418
+ 70.7592851553829,
419
+ -52.58019556108559,
420
+ 8.939828413908055
421
+ ],
422
+ "std": [
423
+ 16.018992739372965,
424
+ 44.80270538098145,
425
+ 36.86034976441968,
426
+ 12.312357394777347,
427
+ 11.688537237484978,
428
+ 10.16889423761064
429
+ ],
430
+ "count": [
431
+ 52687
432
+ ],
433
+ "q01": [
434
+ -23.32126895609304,
435
+ -97.8442320739829,
436
+ -3.502987428437541,
437
+ 46.804040724241894,
438
+ -68.32633982083547,
439
+ 0.6093517745374313
440
+ ],
441
+ "q10": [
442
+ -21.67783181938623,
443
+ -97.52270653743504,
444
+ 13.534936621722428,
445
+ 54.35771147908715,
446
+ -66.23650104144993,
447
+ 0.6383215681330121
448
+ ],
449
+ "q50": [
450
+ -2.9268084142052047,
451
+ -31.24321573364566,
452
+ 42.19552224203867,
453
+ 73.65068751185498,
454
+ -52.11207066594006,
455
+ 5.765702506915184
456
+ ],
457
+ "q90": [
458
+ 15.271628473949143,
459
+ 11.403537443084685,
460
+ 99.34615902446627,
461
+ 85.40015988457206,
462
+ -39.68610379843027,
463
+ 25.021951597932333
464
+ ],
465
+ "q99": [
466
+ 17.137886396686625,
467
+ 13.544145175778482,
468
+ 99.37441749312889,
469
+ 95.6612358303896,
470
+ -37.42448375960394,
471
+ 28.072198162134203
472
+ ]
473
+ },
474
+ "observation.images.top": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.5898696125393591
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.5539784333106721
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.5908356047018868
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.02856653226154847
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.02769548369649903
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.028992851812538967
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 10960
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ -3.9215686274509807e-13
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ -3.9215686274509807e-13
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ -3.9215686274509807e-13
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.40740085455827946
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.33054472951479236
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.3407590280661202
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.6511923231298771
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.6157958773226841
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.6616494433950956
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.7146453377970866
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.6798233357198865
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.7250635417378638
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.7617344356395146
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.7236361410895111
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.7635383846084834
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eea483b16f4accdb5f4adabcbddc04ed5a36954f7cb792a746aa556113c7430c
3
+ size 2363
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:12d18b981f6bf38365be6cb50b601eeedc71d55e430e3c35569eb9c187fd145d
3
+ size 175558775
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:96c208233c4e56474525b0c5cb6d3a0261e614c1046b7a7550a8f27e062a9ee3
3
+ size 112983213
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 sha256:206f21cf5e2c9180a4e422152bd376bed53e78445943c30e058ca1f951d73f38
3
+ size 123508478