Hugging Face's logo

Datasets:
cijerezg
/
eval_pickup_policy_v6

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
cijerezg commited on
Commit
128c5c4
·
verified ·
1 Parent(s): 19265bb

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 +22 -22
  4. meta/stats.json +380 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.top_left/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.top_right/chunk-000/file-000.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 sha256:74be0edbdc88fc189dddb921e2f9f01b31085954f51fa85940e0f506cb2a7f38
3
+ size 568439
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:79893875fc8d9433c35ea375314567578e22fdf9962508a6a08514719be2f2f9
3
+ size 61487
meta/info.json CHANGED
@@ -1,24 +1,21 @@
1
  {
2
- "codebase_version": "v2.1",
3
  "robot_type": "so101_follower",
4
  "total_episodes": 1,
5
- "total_frames": 3359,
6
  "total_tasks": 1,
7
- "total_videos": 3,
8
- "total_chunks": 1,
9
  "chunks_size": 1000,
 
 
10
  "fps": 30,
11
  "splits": {
12
  "train": "0:1"
13
  },
14
- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
- "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
  "features": {
17
  "action": {
18
  "dtype": "float32",
19
- "shape": [
20
- 6
21
- ],
22
  "names": [
23
  "shoulder_pan.pos",
24
  "shoulder_lift.pos",
@@ -26,13 +23,13 @@
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",
@@ -40,6 +37,9 @@
40
  "wrist_flex.pos",
41
  "wrist_roll.pos",
42
  "gripper.pos"
 
 
 
43
  ]
44
  },
45
  "observation.images.wrist": {
@@ -65,11 +65,11 @@
65
  "has_audio": false
66
  }
67
  },
68
- "observation.images.bottom": {
69
  "dtype": "video",
70
  "shape": [
71
- 480,
72
- 640,
73
  3
74
  ],
75
  "names": [
@@ -78,8 +78,8 @@
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,
@@ -88,11 +88,11 @@
88
  "has_audio": false
89
  }
90
  },
91
- "observation.images.top": {
92
  "dtype": "video",
93
  "shape": [
94
- 340,
95
- 340,
96
  3
97
  ],
98
  "names": [
@@ -101,8 +101,8 @@
101
  "channels"
102
  ],
103
  "info": {
104
- "video.height": 340,
105
- "video.width": 340,
106
  "video.codec": "av1",
107
  "video.pix_fmt": "yuv420p",
108
  "video.is_depth_map": false,
 
1
  {
2
+ "codebase_version": "v3.0",
3
  "robot_type": "so101_follower",
4
  "total_episodes": 1,
5
+ "total_frames": 7113,
6
  "total_tasks": 1,
 
 
7
  "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
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",
 
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",
 
37
  "wrist_flex.pos",
38
  "wrist_roll.pos",
39
  "gripper.pos"
40
+ ],
41
+ "shape": [
42
+ 6
43
  ]
44
  },
45
  "observation.images.wrist": {
 
65
  "has_audio": false
66
  }
67
  },
68
+ "observation.images.top_left": {
69
  "dtype": "video",
70
  "shape": [
71
+ 340,
72
+ 340,
73
  3
74
  ],
75
  "names": [
 
78
  "channels"
79
  ],
80
  "info": {
81
+ "video.height": 340,
82
+ "video.width": 340,
83
  "video.codec": "av1",
84
  "video.pix_fmt": "yuv420p",
85
  "video.is_depth_map": false,
 
88
  "has_audio": false
89
  }
90
  },
91
+ "observation.images.top_right": {
92
  "dtype": "video",
93
  "shape": [
94
+ 480,
95
+ 640,
96
  3
97
  ],
98
  "names": [
 
101
  "channels"
102
  ],
103
  "info": {
104
+ "video.height": 480,
105
+ "video.width": 640,
106
  "video.codec": "av1",
107
  "video.pix_fmt": "yuv420p",
108
  "video.is_depth_map": false,
meta/stats.json ADDED
@@ -0,0 +1,380 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -32.79008865356445,
5
+ -90.73422241210938,
6
+ -108.8884048461914,
7
+ 24.199413299560547,
8
+ -60.87928009033203,
9
+ 0.2872467041015625
10
+ ],
11
+ "max": [
12
+ 45.860877990722656,
13
+ 77.66082000732422,
14
+ 90.79686737060547,
15
+ 106.11333465576172,
16
+ 21.70214080810547,
17
+ 35.500343322753906
18
+ ],
19
+ "mean": [
20
+ 2.137270212173462,
21
+ 42.5506477355957,
22
+ -74.61341094970703,
23
+ 71.22233581542969,
24
+ -6.12727689743042,
25
+ 16.926448822021484
26
+ ],
27
+ "std": [
28
+ 21.632320404052734,
29
+ 22.73857307434082,
30
+ 29.471206665039062,
31
+ 18.9986515045166,
32
+ 21.3059139251709,
33
+ 9.934577941894531
34
+ ],
35
+ "count": [
36
+ 7113
37
+ ]
38
+ },
39
+ "observation.state": {
40
+ "min": [
41
+ -32.50825119018555,
42
+ -96.9058837890625,
43
+ -98.45524597167969,
44
+ 26.895658493041992,
45
+ -60.20745086669922,
46
+ 1.6842105388641357
47
+ ],
48
+ "max": [
49
+ 45.709571838378906,
50
+ 78.25526428222656,
51
+ 100.0,
52
+ 98.70382690429688,
53
+ 21.07496452331543,
54
+ 34.66666793823242
55
+ ],
56
+ "mean": [
57
+ 2.0130443572998047,
58
+ 44.81405258178711,
59
+ -73.05117797851562,
60
+ 71.41260528564453,
61
+ -6.106045722961426,
62
+ 17.046466827392578
63
+ ],
64
+ "std": [
65
+ 21.624061584472656,
66
+ 23.129985809326172,
67
+ 29.489118576049805,
68
+ 18.411209106445312,
69
+ 21.228933334350586,
70
+ 9.671309471130371
71
+ ],
72
+ "count": [
73
+ 7113
74
+ ]
75
+ },
76
+ "observation.images.wrist": {
77
+ "min": [
78
+ [
79
+ [
80
+ 0.0
81
+ ]
82
+ ],
83
+ [
84
+ [
85
+ 0.0
86
+ ]
87
+ ],
88
+ [
89
+ [
90
+ 0.0
91
+ ]
92
+ ]
93
+ ],
94
+ "max": [
95
+ [
96
+ [
97
+ 1.0
98
+ ]
99
+ ],
100
+ [
101
+ [
102
+ 1.0
103
+ ]
104
+ ],
105
+ [
106
+ [
107
+ 1.0
108
+ ]
109
+ ]
110
+ ],
111
+ "mean": [
112
+ [
113
+ [
114
+ 0.5003959161937815
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.48890864978635723
120
+ ]
121
+ ],
122
+ [
123
+ [
124
+ 0.5062669425866815
125
+ ]
126
+ ]
127
+ ],
128
+ "std": [
129
+ [
130
+ [
131
+ 0.11618339870403842
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.1292866796942565
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 0.13002198341985174
142
+ ]
143
+ ]
144
+ ],
145
+ "count": [
146
+ 774
147
+ ]
148
+ },
149
+ "observation.images.top_left": {
150
+ "min": [
151
+ [
152
+ [
153
+ 0.0
154
+ ]
155
+ ],
156
+ [
157
+ [
158
+ 0.0
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.0
164
+ ]
165
+ ]
166
+ ],
167
+ "max": [
168
+ [
169
+ [
170
+ 1.0
171
+ ]
172
+ ],
173
+ [
174
+ [
175
+ 1.0
176
+ ]
177
+ ],
178
+ [
179
+ [
180
+ 0.9882352941176471
181
+ ]
182
+ ]
183
+ ],
184
+ "mean": [
185
+ [
186
+ [
187
+ 0.6710078972747687
188
+ ]
189
+ ],
190
+ [
191
+ [
192
+ 0.6076026721982303
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.5326365972048002
198
+ ]
199
+ ]
200
+ ],
201
+ "std": [
202
+ [
203
+ [
204
+ 0.15664834119276833
205
+ ]
206
+ ],
207
+ [
208
+ [
209
+ 0.16079947217277588
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.18987721903373284
215
+ ]
216
+ ]
217
+ ],
218
+ "count": [
219
+ 774
220
+ ]
221
+ },
222
+ "observation.images.top_right": {
223
+ "min": [
224
+ [
225
+ [
226
+ 0.0
227
+ ]
228
+ ],
229
+ [
230
+ [
231
+ 0.0
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.0
237
+ ]
238
+ ]
239
+ ],
240
+ "max": [
241
+ [
242
+ [
243
+ 1.0
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 1.0
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 1.0
254
+ ]
255
+ ]
256
+ ],
257
+ "mean": [
258
+ [
259
+ [
260
+ 0.5677262034820388
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 0.5280451597359443
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.4376325843698806
271
+ ]
272
+ ]
273
+ ],
274
+ "std": [
275
+ [
276
+ [
277
+ 0.18959139247934792
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 0.1889552176240201
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.2437698036989043
288
+ ]
289
+ ]
290
+ ],
291
+ "count": [
292
+ 774
293
+ ]
294
+ },
295
+ "timestamp": {
296
+ "min": [
297
+ 0.0
298
+ ],
299
+ "max": [
300
+ 237.06666666666666
301
+ ],
302
+ "mean": [
303
+ 118.53333333333332
304
+ ],
305
+ "std": [
306
+ 68.44487373602746
307
+ ],
308
+ "count": [
309
+ 7113
310
+ ]
311
+ },
312
+ "frame_index": {
313
+ "min": [
314
+ 0
315
+ ],
316
+ "max": [
317
+ 7112
318
+ ],
319
+ "mean": [
320
+ 3556.0
321
+ ],
322
+ "std": [
323
+ 2053.3462120808235
324
+ ],
325
+ "count": [
326
+ 7113
327
+ ]
328
+ },
329
+ "episode_index": {
330
+ "min": [
331
+ 0
332
+ ],
333
+ "max": [
334
+ 0
335
+ ],
336
+ "mean": [
337
+ 0.0
338
+ ],
339
+ "std": [
340
+ 0.0
341
+ ],
342
+ "count": [
343
+ 7113
344
+ ]
345
+ },
346
+ "index": {
347
+ "min": [
348
+ 0
349
+ ],
350
+ "max": [
351
+ 7112
352
+ ],
353
+ "mean": [
354
+ 3556.0
355
+ ],
356
+ "std": [
357
+ 2053.3462120808235
358
+ ],
359
+ "count": [
360
+ 7113
361
+ ]
362
+ },
363
+ "task_index": {
364
+ "min": [
365
+ 0
366
+ ],
367
+ "max": [
368
+ 0
369
+ ],
370
+ "mean": [
371
+ 0.0
372
+ ],
373
+ "std": [
374
+ 0.0
375
+ ],
376
+ "count": [
377
+ 7113
378
+ ]
379
+ }
380
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3031b31ee64e25dec0d053a126591c13d3aad61bb334874cadfd1e06a52df5e9
3
+ size 2291
videos/observation.images.top_left/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a21c90d0e23c35b547a15b7bb2aeabcb461212677e8225e705a945a0093ee27b
3
+ size 39506909
videos/observation.images.top_right/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:14fa678e4a07b1dfc13e2e903bcb79c600d7725250a7299c1890b4434f2c57c1
3
+ size 171906818
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 sha256:467d5e8a779a519412b769f297db27de0216333011c4c0357a5ced7e70a234c6
3
+ size 66942567