Hugging Face's logo

Datasets:
chen4803
/
stacktoy0428

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
chen4803 commited on
Commit
96b01b2
·
verified ·
1 Parent(s): e2691c7

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.front/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 sha256:2a7cf7088925a14733b48cfba519509518a63586bd21b0805c7eeeba2afef134
3
+ size 110852
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6bf073788e3b680276c45beed491555db2ab38b80eebf8c22b3e2be135876b0f
3
+ size 52664
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 3501,
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": "0:1"
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.front": {
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.wrist": {
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
+ "action": {
3
+ "min": [
4
+ -8.967033386230469,
5
+ -111.34066009521484,
6
+ -15.560439109802246,
7
+ -61.31867980957031,
8
+ -90.15384674072266,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 36.57143020629883,
13
+ 22.10988998413086,
14
+ 97.4065933227539,
15
+ 80.13186645507812,
16
+ 10.065934181213379,
17
+ 85.06097412109375
18
+ ],
19
+ "mean": [
20
+ 9.242347717285156,
21
+ -52.6070442199707,
22
+ 67.46684265136719,
23
+ 38.521244049072266,
24
+ -21.581859588623047,
25
+ 13.773896217346191
26
+ ],
27
+ "std": [
28
+ 12.015851974487305,
29
+ 47.035213470458984,
30
+ 29.012306213378906,
31
+ 47.2432975769043,
32
+ 29.164997100830078,
33
+ 25.56345558166504
34
+ ],
35
+ "count": [
36
+ 3501
37
+ ],
38
+ "q01": [
39
+ -7.384548783302307,
40
+ -108.98719527039347,
41
+ -10.905970668792724,
42
+ -61.31867980957031,
43
+ -90.15384674072266,
44
+ -1.000000013351432e-10
45
+ ],
46
+ "q10": [
47
+ -4.479904738339511,
48
+ -104.32002100581616,
49
+ 31.9105655670166,
50
+ -49.63345031738281,
51
+ -89.80661473200871,
52
+ -1.000000013351432e-10
53
+ ],
54
+ "q50": [
55
+ 7.6509287016732355,
56
+ -45.856475830078125,
57
+ 61.71748638153076,
58
+ 51.36553955078125,
59
+ -12.433530041428863,
60
+ -1.000000013351432e-10
61
+ ],
62
+ "q90": [
63
+ 22.415837494102686,
64
+ 11.297722625732424,
65
+ 97.2311282429474,
66
+ 79.52821156240442,
67
+ 2.2483935546875005,
68
+ 68.29002944772894
69
+ ],
70
+ "q99": [
71
+ 36.56687606430054,
72
+ 19.97910373687744,
73
+ 97.24684675911405,
74
+ 80.1207380761993,
75
+ 9.971499079386394,
76
+ 85.04830651952865
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -8.835165023803711,
82
+ -108.30769348144531,
83
+ -10.681318283081055,
84
+ -61.36263656616211,
85
+ -89.97801971435547,
86
+ 0.9708737730979919
87
+ ],
88
+ "max": [
89
+ 36.43955993652344,
90
+ 21.9780216217041,
91
+ 91.9120864868164,
92
+ 79.64835357666016,
93
+ 10.241758346557617,
94
+ 84.66019439697266
95
+ ],
96
+ "mean": [
97
+ 8.996014595031738,
98
+ -51.88817596435547,
99
+ 67.00187683105469,
100
+ 38.51701354980469,
101
+ -21.34977912902832,
102
+ 16.423566818237305
103
+ ],
104
+ "std": [
105
+ 12.092259407043457,
106
+ 47.35148620605469,
107
+ 25.34070587158203,
108
+ 46.73592758178711,
109
+ 29.19402503967285,
110
+ 24.07619857788086
111
+ ],
112
+ "count": [
113
+ 3501
114
+ ],
115
+ "q01": [
116
+ -7.341076148748398,
117
+ -108.30769348144531,
118
+ -6.998112607002258,
119
+ -61.25764657550388,
120
+ -89.89730548488656,
121
+ 0.9708737730979919
122
+ ],
123
+ "q10": [
124
+ -4.526671083768209,
125
+ -103.56397320859067,
126
+ 34.318199157714844,
127
+ -49.23287086486816,
128
+ -89.80716461513353,
129
+ 0.9708737730979919
130
+ ],
131
+ "q50": [
132
+ 7.083240707715352,
133
+ -45.106088638305664,
134
+ 63.60361058784254,
135
+ 51.347442626953125,
136
+ -12.09229349151371,
137
+ 4.655008722807615
138
+ ],
139
+ "q90": [
140
+ 22.01871056276209,
141
+ 12.989549713134766,
142
+ 91.73320681041254,
143
+ 78.06138631184896,
144
+ 2.5116625785827638,
145
+ 66.28118362426758
146
+ ],
147
+ "q99": [
148
+ 36.093879223138515,
149
+ 21.181217330129524,
150
+ 91.74673026352248,
151
+ 79.63552906284085,
152
+ 9.973037416934966,
153
+ 83.57206771850585
154
+ ]
155
+ },
156
+ "observation.images.front": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 0.803921568627451
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.807843137254902
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.8392156862745098
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.5104443331178625
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.504389621938519
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.4981900349242261
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 455
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ 0.039076365449087214
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.05491834785790474
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.05088067262133989
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.3882223311636061
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.3215783944909295
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.2705707953410544
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.5451290243184331
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.5490995058425244
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.5491053545638379
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.5804296434849713
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.572532530292949
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.5686425635491464
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.5961858037851312
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.5881787262770555
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.5882280100452074
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.wrist": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.5311127724807871
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.5041063465129642
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.5148435735832795
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 455
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ -3.9215686274509807e-13
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.011710670658107925
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ -3.9215686274509807e-13
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.011719456383626575
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.043116195200070664
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.07054670023820014
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.6234683985015336
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.6116081206979638
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.6156822492368684
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.7920150117991035
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.7883603434070253
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.8116221688515022
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.9332596524536108
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.9569083830458841
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.9998244143632006
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 116.66666666666667
478
+ ],
479
+ "mean": [
480
+ 58.333333333333336
481
+ ],
482
+ "std": [
483
+ 33.68838683296378
484
+ ],
485
+ "count": [
486
+ 3501
487
+ ],
488
+ "q01": [
489
+ 1.1668999999020004
490
+ ],
491
+ "q10": [
492
+ 11.668999999920004
493
+ ],
494
+ "q50": [
495
+ 58.34500000000002
496
+ ],
497
+ "q90": [
498
+ 104.99766666674665
499
+ ],
500
+ "q99": [
501
+ 115.49976666676466
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 3500
510
+ ],
511
+ "mean": [
512
+ 1750.0
513
+ ],
514
+ "std": [
515
+ 1010.6516049889133
516
+ ],
517
+ "count": [
518
+ 3501
519
+ ],
520
+ "q01": [
521
+ 35.006999999902
522
+ ],
523
+ "q10": [
524
+ 350.06999999992
525
+ ],
526
+ "q50": [
527
+ 1750.35
528
+ ],
529
+ "q90": [
530
+ 3149.9300000000803
531
+ ],
532
+ "q99": [
533
+ 3464.993000000098
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 3501
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 3500
574
+ ],
575
+ "mean": [
576
+ 1750.0
577
+ ],
578
+ "std": [
579
+ 1010.6516049889133
580
+ ],
581
+ "count": [
582
+ 3501
583
+ ],
584
+ "q01": [
585
+ 35.006999999902
586
+ ],
587
+ "q10": [
588
+ 350.06999999992
589
+ ],
590
+ "q50": [
591
+ 1750.35
592
+ ],
593
+ "q90": [
594
+ 3149.9300000000803
595
+ ],
596
+ "q99": [
597
+ 3464.993000000098
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
+ 3501
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 sha256:67f1f08d6ed0d6c2387c1519f510214f6ddb0fbff356aaacb7d07b840e86b8ac
3
+ size 2163
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 sha256:17f795055b5b0e04fc14f8e35fffcdfa3a997711c270b6ab927395007cca0906
3
+ size 12170325
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:c87b5d0d60f8cf9a4fb82d4a988dcb90ee3e4abb24fd7a6171df758865567479
3
+ size 11471814