Hugging Face's logo

Datasets:
Zasha01
/
sim2real

Tasks:
Robotics
Tags:
LeRobot
License:
Dataset card Files
xet
Community
Zasha01 commited on
Commit
14603c8
·
verified ·
1 Parent(s): 6209d4a

Upload folder using huggingface_hub

Browse files
Files changed (5) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. meta/info.json +114 -0
  3. meta/stats.json +474 -0
  4. meta/tasks.parquet +3 -0
  5. videos/observation.images.front/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 sha256:8db38d6a02b302319991741e05328a91124b8ec0273c3a27dd48961ad942ba61
3
+ size 13848
meta/info.json ADDED
@@ -0,0 +1,114 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 203,
6
+ "total_tasks": 1,
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": "0:2"
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
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.front": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 360,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "video_info": {
58
+ "video.height": 360,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30.0,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ },
67
+ "info": {
68
+ "video.height": 360,
69
+ "video.width": 640,
70
+ "video.codec": "av1",
71
+ "video.pix_fmt": "yuv420p",
72
+ "video.is_depth_map": false,
73
+ "video.fps": 30,
74
+ "video.channels": 3,
75
+ "has_audio": false
76
+ }
77
+ },
78
+ "timestamp": {
79
+ "dtype": "float32",
80
+ "shape": [
81
+ 1
82
+ ],
83
+ "names": null
84
+ },
85
+ "frame_index": {
86
+ "dtype": "int64",
87
+ "shape": [
88
+ 1
89
+ ],
90
+ "names": null
91
+ },
92
+ "episode_index": {
93
+ "dtype": "int64",
94
+ "shape": [
95
+ 1
96
+ ],
97
+ "names": null
98
+ },
99
+ "index": {
100
+ "dtype": "int64",
101
+ "shape": [
102
+ 1
103
+ ],
104
+ "names": null
105
+ },
106
+ "task_index": {
107
+ "dtype": "int64",
108
+ "shape": [
109
+ 1
110
+ ],
111
+ "names": null
112
+ }
113
+ }
114
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 4.166666666666667
8
+ ],
9
+ "mean": [
10
+ 1.7735632183908048
11
+ ],
12
+ "std": [
13
+ 1.1302994995341331
14
+ ],
15
+ "count": [
16
+ 203
17
+ ],
18
+ "q01": [
19
+ 0.020824137832034045
20
+ ],
21
+ "q10": [
22
+ 0.3371253332522554
23
+ ],
24
+ "q50": [
25
+ 1.763831724137467
26
+ ],
27
+ "q90": [
28
+ 3.210001103529354
29
+ ],
30
+ "q99": [
31
+ 3.5261543173403687
32
+ ]
33
+ },
34
+ "task_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 0
40
+ ],
41
+ "mean": [
42
+ 0.0
43
+ ],
44
+ "std": [
45
+ 0.0
46
+ ],
47
+ "count": [
48
+ 203
49
+ ],
50
+ "q01": [
51
+ 3.999999999999418e-16
52
+ ],
53
+ "q10": [
54
+ 3.9999999999994166e-15
55
+ ],
56
+ "q50": [
57
+ 1.9999999999997088e-14
58
+ ],
59
+ "q90": [
60
+ 3.599999999999476e-14
61
+ ],
62
+ "q99": [
63
+ 3.9599999999994235e-14
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ -14.666839599609375,
69
+ -97.81532287597656,
70
+ -8.06500244140625,
71
+ 60.17529296875,
72
+ -59.821693420410156,
73
+ 3.7261457443237305
74
+ ],
75
+ "max": [
76
+ 0.8538742065429688,
77
+ 26.681243896484375,
78
+ 100.001220703125,
79
+ 74.35243225097656,
80
+ -59.445674896240234,
81
+ 4.085996627807617
82
+ ],
83
+ "mean": [
84
+ -5.739870235837739,
85
+ -21.282320154124292,
86
+ 41.65035734505489,
87
+ 62.9457515848094,
88
+ -59.77498100543844,
89
+ 4.073986201450743
90
+ ],
91
+ "std": [
92
+ 4.207046125033548,
93
+ 41.70541769742686,
94
+ 35.34719020684826,
95
+ 4.744854792994002,
96
+ 0.060695890110402405,
97
+ 0.04382592976161228
98
+ ],
99
+ "count": [
100
+ 203
101
+ ],
102
+ "q01": [
103
+ -11.928108478414602,
104
+ -92.4901843893117,
105
+ -2.862363458830734,
106
+ 60.20108926707301,
107
+ -59.81048925991716,
108
+ 3.812318571682634
109
+ ],
110
+ "q10": [
111
+ -11.629604039795097,
112
+ -91.2514931777428,
113
+ -0.5549820308027598,
114
+ 60.23390610135834,
115
+ -59.80298883635423,
116
+ 4.075759323712053
117
+ ],
118
+ "q50": [
119
+ -4.509843308350136,
120
+ -2.3404746220029633,
121
+ 29.079391084868334,
122
+ 60.93208181446996,
123
+ -59.77034253087537,
124
+ 4.083121477089492
125
+ ],
126
+ "q90": [
127
+ -2.314831492818635,
128
+ 22.068174085945916,
129
+ 93.44962376561658,
130
+ 69.3239267941179,
131
+ -59.76556209695751,
132
+ 4.083982834322699
133
+ ],
134
+ "q99": [
135
+ -0.3375240057912366,
136
+ 23.145898174417432,
137
+ 97.13637801913558,
138
+ 69.49646512919459,
139
+ -59.53672657802187,
140
+ 4.085646333858885
141
+ ]
142
+ },
143
+ "observation.images.front": {
144
+ "min": [
145
+ [
146
+ [
147
+ 0.0
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ]
160
+ ],
161
+ "max": [
162
+ [
163
+ [
164
+ 0.8588235294117647
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 0.9333333333333333
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 0.8941176470588236
175
+ ]
176
+ ]
177
+ ],
178
+ "mean": [
179
+ [
180
+ [
181
+ 0.3768780279531775
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.3948769355513705
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.3385858120084192
192
+ ]
193
+ ]
194
+ ],
195
+ "std": [
196
+ [
197
+ [
198
+ 0.003632486746834098
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.004170146260427809
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.004583279528217158
209
+ ]
210
+ ]
211
+ ],
212
+ "count": [
213
+ 177
214
+ ],
215
+ "q01": [
216
+ [
217
+ [
218
+ 0.0038941693240030907
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.004045436981510179
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.003838551733003462
229
+ ]
230
+ ]
231
+ ],
232
+ "q10": [
233
+ [
234
+ [
235
+ 0.11750611354037775
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.0941892010831695
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.043184341278347
246
+ ]
247
+ ]
248
+ ],
249
+ "q50": [
250
+ [
251
+ [
252
+ 0.2958907240981653
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.2879233721135934
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.1938796787546076
263
+ ]
264
+ ]
265
+ ],
266
+ "q90": [
267
+ [
268
+ [
269
+ 0.7759133608250508
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.8386159372849121
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.8034379379936116
280
+ ]
281
+ ]
282
+ ],
283
+ "q99": [
284
+ [
285
+ [
286
+ 0.8234612354395726
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.9176466510854567
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.8745887387841947
297
+ ]
298
+ ]
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 202
307
+ ],
308
+ "mean": [
309
+ 101.0
310
+ ],
311
+ "std": [
312
+ 58.60034129593445
313
+ ],
314
+ "count": [
315
+ 203
316
+ ],
317
+ "q01": [
318
+ 48.4178275861079
319
+ ],
320
+ "q10": [
321
+ 57.906863448194784
322
+ ],
323
+ "q50": [
324
+ 100.70805517241332
325
+ ],
326
+ "q90": [
327
+ 144.0931365518052
328
+ ],
329
+ "q99": [
330
+ 153.57773296561624
331
+ ]
332
+ },
333
+ "action": {
334
+ "min": [
335
+ -14.740737915039062,
336
+ -97.92359161376953,
337
+ -9.782615661621094,
338
+ 60.119049072265625,
339
+ -59.85382080078125,
340
+ 4.0816330909729
341
+ ],
342
+ "max": [
343
+ 0.888885498046875,
344
+ 24.58472442626953,
345
+ 99.18476867675781,
346
+ 74.149658203125,
347
+ -59.749412536621094,
348
+ 4.0816330909729
349
+ ],
350
+ "mean": [
351
+ -5.847104796047868,
352
+ -19.997375356739965,
353
+ 38.23893145857186,
354
+ 62.66923351945548,
355
+ -59.782629999621165,
356
+ 4.081634044647217
357
+ ],
358
+ "std": [
359
+ 4.165852426798573,
360
+ 39.779283616172236,
361
+ 34.640594871315834,
362
+ 4.6225271959003384,
363
+ 0.03541816750498547,
364
+ 0.0
365
+ ],
366
+ "count": [
367
+ 203
368
+ ],
369
+ "q01": [
370
+ -11.970627064258593,
371
+ -92.12681842672414,
372
+ -4.536957048876532,
373
+ 60.15129878603179,
374
+ -59.82142060378502,
375
+ 4.0816330909729
376
+ ],
377
+ "q10": [
378
+ -11.626615221637417,
379
+ -90.93229293823242,
380
+ -2.12507611965311,
381
+ 60.15129878603179,
382
+ -59.801624441579555,
383
+ 4.0816330909729
384
+ ],
385
+ "q50": [
386
+ -5.068686215630892,
387
+ -1.2373015305091595,
388
+ 25.74710029451718,
389
+ 60.816138300402415,
390
+ -59.76922371661814,
391
+ 4.0816330909729
392
+ ],
393
+ "q90": [
394
+ -2.3427863578960815,
395
+ 20.04906831938645,
396
+ 91.60578520544644,
397
+ 69.2455115242662,
398
+ -59.769217184056394,
399
+ 4.0816330909729
400
+ ],
401
+ "q99": [
402
+ -0.36420257572470033,
403
+ 21.201645586737268,
404
+ 95.68633118991194,
405
+ 69.24686281687637,
406
+ -59.76921571422999,
407
+ 4.0816330909729
408
+ ]
409
+ },
410
+ "episode_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 1
416
+ ],
417
+ "mean": [
418
+ 0.3793103448275862
419
+ ],
420
+ "std": [
421
+ 0.48521542343000995
422
+ ],
423
+ "count": [
424
+ 203
425
+ ],
426
+ "q01": [
427
+ 0.37931034482758663
428
+ ],
429
+ "q10": [
430
+ 0.3793103448275902
431
+ ],
432
+ "q50": [
433
+ 0.37931034482760617
434
+ ],
435
+ "q90": [
436
+ 0.3793103448276222
437
+ ],
438
+ "q99": [
439
+ 0.37931034482762577
440
+ ]
441
+ },
442
+ "frame_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 125
448
+ ],
449
+ "mean": [
450
+ 53.206896551724135
451
+ ],
452
+ "std": [
453
+ 33.90898498602402
454
+ ],
455
+ "count": [
456
+ 203
457
+ ],
458
+ "q01": [
459
+ 0.6247241378320341
460
+ ],
461
+ "q10": [
462
+ 10.113759999918921
463
+ ],
464
+ "q50": [
465
+ 52.91495172413747
466
+ ],
467
+ "q90": [
468
+ 96.30003310352934
469
+ ],
470
+ "q99": [
471
+ 105.78462951734038
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bfa3c1b4c7241dcdc5a1d407ee22e64e7eb8acd51210c710b5533c55ec85db98
3
+ size 2263
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 sha256:3d722dab2d48bacbcfadc7872693ff27c7470a3aca23fc026cd26a575d7d4c79
3
+ size 1199867