Hugging Face's logo

Datasets:
bluephysi01
/
so101_test18

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
Community
1
bluephysi01 commited on
Commit
dd28d72
·
verified ·
1 Parent(s): 448070f

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.top/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:e0435951a6e62d76932ed0a56c6a66ea6cee3de343895d939996440f6259581a
3
+ size 41849
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b44d72a9dae22f2280f95b63990b916eb251d69d7685dc89e64d575715e234c6
3
+ size 96438
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 750,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 5,
11
+ "splits": {
12
+ "train": "0:5"
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
+ 320,
49
+ 240,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 320,
59
+ "video.width": 240,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 5,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.top": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 240,
72
+ 320,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 240,
82
+ "video.width": 320,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 5,
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
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 749
8
+ ],
9
+ "mean": [
10
+ 374.5
11
+ ],
12
+ "std": [
13
+ 216.50615849593441
14
+ ],
15
+ "count": [
16
+ 750
17
+ ],
18
+ "q01": [
19
+ 300.99829999990135
20
+ ],
21
+ "q10": [
22
+ 314.00599999991874
23
+ ],
24
+ "q50": [
25
+ 374.0231999999994
26
+ ],
27
+ "q90": [
28
+ 434.0106000000799
29
+ ],
30
+ "q99": [
31
+ 448.00170000009865
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 4
40
+ ],
41
+ "mean": [
42
+ 2.0
43
+ ],
44
+ "std": [
45
+ 1.4142135623730951
46
+ ],
47
+ "count": [
48
+ 750
49
+ ],
50
+ "q01": [
51
+ 2.0000000000000004
52
+ ],
53
+ "q10": [
54
+ 2.0000000000000044
55
+ ],
56
+ "q50": [
57
+ 2.00000000000002
58
+ ],
59
+ "q90": [
60
+ 2.000000000000036
61
+ ],
62
+ "q99": [
63
+ 2.0000000000000395
64
+ ]
65
+ },
66
+ "observation.images.wrist": {
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
+ 0.6349451511437908
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.6312018443627451
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.6227202467320262
115
+ ]
116
+ ]
117
+ ],
118
+ "std": [
119
+ [
120
+ [
121
+ 0.0072357186880106115
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 0.011165599657480419
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.00971788123265069
132
+ ]
133
+ ]
134
+ ],
135
+ "count": [
136
+ 500
137
+ ],
138
+ "q01": [
139
+ [
140
+ [
141
+ 0.15760665857927422
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.22197857726482478
147
+ ]
148
+ ],
149
+ [
150
+ [
151
+ 0.13093822223418242
152
+ ]
153
+ ]
154
+ ],
155
+ "q10": [
156
+ [
157
+ [
158
+ 0.49096906209624935
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.44074486147738845
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.4344615142740037
169
+ ]
170
+ ]
171
+ ],
172
+ "q50": [
173
+ [
174
+ [
175
+ 0.6469784369893176
176
+ ]
177
+ ],
178
+ [
179
+ [
180
+ 0.6455183323770807
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.6361293303316983
186
+ ]
187
+ ]
188
+ ],
189
+ "q90": [
190
+ [
191
+ [
192
+ 0.7749208311140956
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.8047043168536483
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.8023274610249173
203
+ ]
204
+ ]
205
+ ],
206
+ "q99": [
207
+ [
208
+ [
209
+ 0.9161027488112038
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.9412041098247104
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.9403618646069026
220
+ ]
221
+ ]
222
+ ]
223
+ },
224
+ "observation.state": {
225
+ "min": [
226
+ -31.903881072998047,
227
+ -99.91496276855469,
228
+ -72.53839111328125,
229
+ 40.73118209838867,
230
+ -5.4669108390808105,
231
+ 0.9635237455368042
232
+ ],
233
+ "max": [
234
+ 26.65434455871582,
235
+ 48.12925338745117,
236
+ 99.45799255371094,
237
+ 98.10752868652344,
238
+ 3.2173686027526855,
239
+ 95.87061309814453
240
+ ],
241
+ "mean": [
242
+ -0.42775192856788635,
243
+ -38.26294059753418,
244
+ 27.09810848236084,
245
+ 73.3772705078125,
246
+ -1.0761525869369506,
247
+ 20.180215072631835
248
+ ],
249
+ "std": [
250
+ 13.955361021802005,
251
+ 48.166002155463275,
252
+ 50.50799971754382,
253
+ 16.631980025088563,
254
+ 2.732793206669603,
255
+ 27.489337648245076
256
+ ],
257
+ "count": [
258
+ 750
259
+ ],
260
+ "q01": [
261
+ -18.566070461273192,
262
+ -99.8665641784668,
263
+ -40.48974261283875,
264
+ 42.83010711669922,
265
+ -3.0918127298355103,
266
+ 1.0461114645004272
267
+ ],
268
+ "q10": [
269
+ -15.533688306808472,
270
+ -99.6410843962556,
271
+ -26.24403945377895,
272
+ 49.09703278975053,
273
+ -2.8403470507689885,
274
+ 1.0617618322372437
275
+ ],
276
+ "q50": [
277
+ -2.179740129732618,
278
+ -25.46796162923177,
279
+ 10.852405802408855,
280
+ 75.02130530221122,
281
+ -1.2609033910743088,
282
+ 6.734171686898107
283
+ ],
284
+ "q90": [
285
+ 20.05851279364692,
286
+ 18.411870930989583,
287
+ 98.82234629258753,
288
+ 90.74788157145183,
289
+ 1.093445925394694,
290
+ 69.07093287150064
291
+ ],
292
+ "q99": [
293
+ 22.83525996208191,
294
+ 27.085916588523173,
295
+ 98.94999485817276,
296
+ 94.5469143295288,
297
+ 1.1982134033271243,
298
+ 85.71821558816093
299
+ ]
300
+ },
301
+ "observation.images.top": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.00784313725490196
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 0.9803921568627451
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 0.9058823529411765
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.9058823529411765
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.5325944640522874
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.52920585498366
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.5189743508986928
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.0053023391053961064
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.0043697996218235655
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.003998892456276148
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 500
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.04154991688254817
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.039243042992210334
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.03921450845933596
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.4406932181186364
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.4227513747240757
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.40549216648523945
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.5513825067590443
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.5505991138814422
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.5411782514478296
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.6251239540959534
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.6266764699588604
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.6226710012385334
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.7059446826032174
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.709820922604928
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.7067165856921829
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "frame_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 149
465
+ ],
466
+ "mean": [
467
+ 74.5
468
+ ],
469
+ "std": [
470
+ 43.30030792808138
471
+ ],
472
+ "count": [
473
+ 750
474
+ ],
475
+ "q01": [
476
+ 0.99829999990134
477
+ ],
478
+ "q10": [
479
+ 14.005999999918798
480
+ ],
481
+ "q50": [
482
+ 74.02319999999935
483
+ ],
484
+ "q90": [
485
+ 134.01060000007988
486
+ ],
487
+ "q99": [
488
+ 148.00170000009862
489
+ ]
490
+ },
491
+ "action": {
492
+ "min": [
493
+ -32.423458099365234,
494
+ -100.0,
495
+ -74.875732421875,
496
+ 39.932029724121094,
497
+ -5.3819899559021,
498
+ 0.15948963165283203
499
+ ],
500
+ "max": [
501
+ 27.037992477416992,
502
+ 47.7865104675293,
503
+ 99.81925201416016,
504
+ 98.13084411621094,
505
+ 3.1241796016693115,
506
+ 96.57097625732422
507
+ ],
508
+ "mean": [
509
+ -0.35794930458068847,
510
+ -39.02049255371094,
511
+ 26.094767761230468,
512
+ 73.33758392333985,
513
+ -1.048673892021179,
514
+ 18.825620460510255
515
+ ],
516
+ "std": [
517
+ 13.92391583029846,
518
+ 47.48806263496626,
519
+ 51.01070022701368,
520
+ 16.686597778269466,
521
+ 2.723113823347531,
522
+ 28.467387264190503
523
+ ],
524
+ "count": [
525
+ 750
526
+ ],
527
+ "q01": [
528
+ -18.55513079961141,
529
+ -99.52324894146668,
530
+ -42.61461114883423,
531
+ 42.15802917480469,
532
+ -3.008949922323227,
533
+ 0.7164122748374939
534
+ ],
535
+ "q10": [
536
+ -15.409628582000732,
537
+ -99.44451229603406,
538
+ -28.357456398010253,
539
+ 48.65474624633789,
540
+ -2.8094278270177533,
541
+ 0.9534349311328582
542
+ ],
543
+ "q50": [
544
+ -2.2346370697021483,
545
+ -26.162467193603515,
546
+ 8.88061154683431,
547
+ 75.37953359023992,
548
+ -1.233680375485249,
549
+ 3.085031460580372
550
+ ],
551
+ "q90": [
552
+ 20.177743911743164,
553
+ 16.975763448079427,
554
+ 99.19401996028002,
555
+ 90.62012920748803,
556
+ 1.181873558313028,
557
+ 69.20927810668945
558
+ ],
559
+ "q99": [
560
+ 23.08202543258667,
561
+ 26.393470573425294,
562
+ 99.3282147352221,
563
+ 94.57652621115406,
564
+ 1.2440071347355843,
565
+ 85.94428205490112
566
+ ]
567
+ },
568
+ "timestamp": {
569
+ "min": [
570
+ 0.0
571
+ ],
572
+ "max": [
573
+ 29.8
574
+ ],
575
+ "mean": [
576
+ 14.9
577
+ ],
578
+ "std": [
579
+ 8.660061585616274
580
+ ],
581
+ "count": [
582
+ 750
583
+ ],
584
+ "q01": [
585
+ 0.19965999990133998
586
+ ],
587
+ "q10": [
588
+ 2.8011999999187998
589
+ ],
590
+ "q50": [
591
+ 14.804639999999356
592
+ ],
593
+ "q90": [
594
+ 26.80212000007988
595
+ ],
596
+ "q99": [
597
+ 29.600340000098658
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 750
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:11ba98a6c923d9e65eb1a6cee0554cda02b29fe9c531109afa47546968f60d76
3
+ size 2116
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 sha256:8b68e76d48cf050ff4a278ead1ed3ce78256d7db0d8317fe6521ddca7b52f98c
3
+ size 1640680
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 sha256:30e961f643119e7e3e7ea4dbafea66cf2660cf2cf70b4961c9825ff7e18479e7
3
+ size 1750707