Datasets:
Upload folder using huggingface_hub
Browse files
data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8bfa50a853ab23c6e85a00764781afb344e89def5163712501b6787d780a68a6
|
| 3 |
+
size 484549
|
meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9cc8be59e818298345c5dc7da14f500b5db763a578e7743e644eb12f717ffc38
|
| 3 |
+
size 73496
|
meta/info.json
CHANGED
|
@@ -1,18 +1,16 @@
|
|
| 1 |
{
|
| 2 |
-
"codebase_version": "
|
| 3 |
"robot_type": "so101_follower",
|
| 4 |
"total_episodes": 50,
|
| 5 |
"total_frames": 18200,
|
| 6 |
"total_tasks": 1,
|
| 7 |
-
"total_videos": 100,
|
| 8 |
-
"total_chunks": 1,
|
| 9 |
"chunks_size": 1000,
|
| 10 |
"fps": 30,
|
| 11 |
"splits": {
|
| 12 |
"train": "0:50"
|
| 13 |
},
|
| 14 |
-
"data_path": "data/chunk-{
|
| 15 |
-
"video_path": "videos/chunk-{
|
| 16 |
"features": {
|
| 17 |
"action": {
|
| 18 |
"dtype": "float32",
|
|
@@ -26,7 +24,8 @@
|
|
| 26 |
"wrist_flex.pos",
|
| 27 |
"wrist_roll.pos",
|
| 28 |
"gripper.pos"
|
| 29 |
-
]
|
|
|
|
| 30 |
},
|
| 31 |
"observation.state": {
|
| 32 |
"dtype": "float32",
|
|
@@ -40,7 +39,8 @@
|
|
| 40 |
"wrist_flex.pos",
|
| 41 |
"wrist_roll.pos",
|
| 42 |
"gripper.pos"
|
| 43 |
-
]
|
|
|
|
| 44 |
},
|
| 45 |
"observation.images.up": {
|
| 46 |
"dtype": "video",
|
|
@@ -93,35 +93,42 @@
|
|
| 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 |
}
|
|
|
|
| 1 |
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
"robot_type": "so101_follower",
|
| 4 |
"total_episodes": 50,
|
| 5 |
"total_frames": 18200,
|
| 6 |
"total_tasks": 1,
|
|
|
|
|
|
|
| 7 |
"chunks_size": 1000,
|
| 8 |
"fps": 30,
|
| 9 |
"splits": {
|
| 10 |
"train": "0:50"
|
| 11 |
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
"features": {
|
| 15 |
"action": {
|
| 16 |
"dtype": "float32",
|
|
|
|
| 24 |
"wrist_flex.pos",
|
| 25 |
"wrist_roll.pos",
|
| 26 |
"gripper.pos"
|
| 27 |
+
],
|
| 28 |
+
"fps": 30
|
| 29 |
},
|
| 30 |
"observation.state": {
|
| 31 |
"dtype": "float32",
|
|
|
|
| 39 |
"wrist_flex.pos",
|
| 40 |
"wrist_roll.pos",
|
| 41 |
"gripper.pos"
|
| 42 |
+
],
|
| 43 |
+
"fps": 30
|
| 44 |
},
|
| 45 |
"observation.images.up": {
|
| 46 |
"dtype": "video",
|
|
|
|
| 93 |
"shape": [
|
| 94 |
1
|
| 95 |
],
|
| 96 |
+
"names": null,
|
| 97 |
+
"fps": 30
|
| 98 |
},
|
| 99 |
"frame_index": {
|
| 100 |
"dtype": "int64",
|
| 101 |
"shape": [
|
| 102 |
1
|
| 103 |
],
|
| 104 |
+
"names": null,
|
| 105 |
+
"fps": 30
|
| 106 |
},
|
| 107 |
"episode_index": {
|
| 108 |
"dtype": "int64",
|
| 109 |
"shape": [
|
| 110 |
1
|
| 111 |
],
|
| 112 |
+
"names": null,
|
| 113 |
+
"fps": 30
|
| 114 |
},
|
| 115 |
"index": {
|
| 116 |
"dtype": "int64",
|
| 117 |
"shape": [
|
| 118 |
1
|
| 119 |
],
|
| 120 |
+
"names": null,
|
| 121 |
+
"fps": 30
|
| 122 |
},
|
| 123 |
"task_index": {
|
| 124 |
"dtype": "int64",
|
| 125 |
"shape": [
|
| 126 |
1
|
| 127 |
],
|
| 128 |
+
"names": null,
|
| 129 |
+
"fps": 30
|
| 130 |
}
|
| 131 |
+
},
|
| 132 |
+
"data_files_size_in_mb": 100,
|
| 133 |
+
"video_files_size_in_mb": 500
|
| 134 |
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,307 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"min": [
|
| 4 |
+
-5.930138111114502,
|
| 5 |
+
-100.0,
|
| 6 |
+
-13.518434524536133,
|
| 7 |
+
-23.36206817626953,
|
| 8 |
+
-62.11131286621094,
|
| 9 |
+
0.7251631617546082
|
| 10 |
+
],
|
| 11 |
+
"max": [
|
| 12 |
+
25.832656860351562,
|
| 13 |
+
27.492698669433594,
|
| 14 |
+
100.0,
|
| 15 |
+
67.67241668701172,
|
| 16 |
+
-18.683040618896484,
|
| 17 |
+
34.73531723022461
|
| 18 |
+
],
|
| 19 |
+
"mean": [
|
| 20 |
+
4.6269489580949585,
|
| 21 |
+
-55.791974075023944,
|
| 22 |
+
64.08850500274491,
|
| 23 |
+
17.506475110921887,
|
| 24 |
+
-51.802886893723034,
|
| 25 |
+
17.754536318726593
|
| 26 |
+
],
|
| 27 |
+
"std": [
|
| 28 |
+
6.243534913788695,
|
| 29 |
+
44.41016571264426,
|
| 30 |
+
37.84597666609691,
|
| 31 |
+
19.634559705218525,
|
| 32 |
+
6.967308758908343,
|
| 33 |
+
5.901695331215153
|
| 34 |
+
],
|
| 35 |
+
"count": [
|
| 36 |
+
18200
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"task_index": {
|
| 40 |
+
"min": [
|
| 41 |
+
0
|
| 42 |
+
],
|
| 43 |
+
"max": [
|
| 44 |
+
0
|
| 45 |
+
],
|
| 46 |
+
"mean": [
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"std": [
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"count": [
|
| 53 |
+
18200
|
| 54 |
+
]
|
| 55 |
+
},
|
| 56 |
+
"episode_index": {
|
| 57 |
+
"min": [
|
| 58 |
+
0
|
| 59 |
+
],
|
| 60 |
+
"max": [
|
| 61 |
+
49
|
| 62 |
+
],
|
| 63 |
+
"mean": [
|
| 64 |
+
24.356758241758243
|
| 65 |
+
],
|
| 66 |
+
"std": [
|
| 67 |
+
14.517728019688235
|
| 68 |
+
],
|
| 69 |
+
"count": [
|
| 70 |
+
18200
|
| 71 |
+
]
|
| 72 |
+
},
|
| 73 |
+
"observation.images.up": {
|
| 74 |
+
"min": [
|
| 75 |
+
[
|
| 76 |
+
[
|
| 77 |
+
0.0
|
| 78 |
+
]
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
[
|
| 82 |
+
0.0
|
| 83 |
+
]
|
| 84 |
+
],
|
| 85 |
+
[
|
| 86 |
+
[
|
| 87 |
+
0.0
|
| 88 |
+
]
|
| 89 |
+
]
|
| 90 |
+
],
|
| 91 |
+
"max": [
|
| 92 |
+
[
|
| 93 |
+
[
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
[
|
| 98 |
+
[
|
| 99 |
+
0.996078431372549
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
[
|
| 103 |
+
[
|
| 104 |
+
1.0
|
| 105 |
+
]
|
| 106 |
+
]
|
| 107 |
+
],
|
| 108 |
+
"mean": [
|
| 109 |
+
[
|
| 110 |
+
[
|
| 111 |
+
0.4947725285825432
|
| 112 |
+
]
|
| 113 |
+
],
|
| 114 |
+
[
|
| 115 |
+
[
|
| 116 |
+
0.4912158809442755
|
| 117 |
+
]
|
| 118 |
+
],
|
| 119 |
+
[
|
| 120 |
+
[
|
| 121 |
+
0.4898547827540848
|
| 122 |
+
]
|
| 123 |
+
]
|
| 124 |
+
],
|
| 125 |
+
"std": [
|
| 126 |
+
[
|
| 127 |
+
[
|
| 128 |
+
0.21513108638945433
|
| 129 |
+
]
|
| 130 |
+
],
|
| 131 |
+
[
|
| 132 |
+
[
|
| 133 |
+
0.2181971472951747
|
| 134 |
+
]
|
| 135 |
+
],
|
| 136 |
+
[
|
| 137 |
+
[
|
| 138 |
+
0.2204971522874304
|
| 139 |
+
]
|
| 140 |
+
]
|
| 141 |
+
],
|
| 142 |
+
"count": [
|
| 143 |
+
5011
|
| 144 |
+
]
|
| 145 |
+
},
|
| 146 |
+
"timestamp": {
|
| 147 |
+
"min": [
|
| 148 |
+
0.0
|
| 149 |
+
],
|
| 150 |
+
"max": [
|
| 151 |
+
16.933333333333334
|
| 152 |
+
],
|
| 153 |
+
"mean": [
|
| 154 |
+
6.167630036630037
|
| 155 |
+
],
|
| 156 |
+
"std": [
|
| 157 |
+
3.7110939249145076
|
| 158 |
+
],
|
| 159 |
+
"count": [
|
| 160 |
+
18200
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"index": {
|
| 164 |
+
"min": [
|
| 165 |
+
0
|
| 166 |
+
],
|
| 167 |
+
"max": [
|
| 168 |
+
18199
|
| 169 |
+
],
|
| 170 |
+
"mean": [
|
| 171 |
+
9099.5
|
| 172 |
+
],
|
| 173 |
+
"std": [
|
| 174 |
+
5253.887441694959
|
| 175 |
+
],
|
| 176 |
+
"count": [
|
| 177 |
+
18200
|
| 178 |
+
]
|
| 179 |
+
},
|
| 180 |
+
"frame_index": {
|
| 181 |
+
"min": [
|
| 182 |
+
0
|
| 183 |
+
],
|
| 184 |
+
"max": [
|
| 185 |
+
508
|
| 186 |
+
],
|
| 187 |
+
"mean": [
|
| 188 |
+
185.0289010989011
|
| 189 |
+
],
|
| 190 |
+
"std": [
|
| 191 |
+
111.33281774743521
|
| 192 |
+
],
|
| 193 |
+
"count": [
|
| 194 |
+
18200
|
| 195 |
+
]
|
| 196 |
+
},
|
| 197 |
+
"observation.state": {
|
| 198 |
+
"min": [
|
| 199 |
+
-5.278700828552246,
|
| 200 |
+
-99.33333587646484,
|
| 201 |
+
-10.013592720031738,
|
| 202 |
+
-21.74657440185547,
|
| 203 |
+
-61.88984680175781,
|
| 204 |
+
6.896551609039307
|
| 205 |
+
],
|
| 206 |
+
"max": [
|
| 207 |
+
25.286083221435547,
|
| 208 |
+
27.75,
|
| 209 |
+
99.4562759399414,
|
| 210 |
+
66.86643981933594,
|
| 211 |
+
-18.820152282714844,
|
| 212 |
+
32.75862121582031
|
| 213 |
+
],
|
| 214 |
+
"mean": [
|
| 215 |
+
4.7200154133075545,
|
| 216 |
+
-54.92965273385519,
|
| 217 |
+
65.2490934072222,
|
| 218 |
+
18.040084692082562,
|
| 219 |
+
-51.90813547888955,
|
| 220 |
+
17.814711751571068
|
| 221 |
+
],
|
| 222 |
+
"std": [
|
| 223 |
+
6.151590791668829,
|
| 224 |
+
44.5479805225449,
|
| 225 |
+
36.465786550600455,
|
| 226 |
+
19.333725617836944,
|
| 227 |
+
7.002426277004513,
|
| 228 |
+
4.995761463595109
|
| 229 |
+
],
|
| 230 |
+
"count": [
|
| 231 |
+
18200
|
| 232 |
+
]
|
| 233 |
+
},
|
| 234 |
+
"observation.images.wrist": {
|
| 235 |
+
"min": [
|
| 236 |
+
[
|
| 237 |
+
[
|
| 238 |
+
0.0
|
| 239 |
+
]
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
[
|
| 243 |
+
0.0
|
| 244 |
+
]
|
| 245 |
+
],
|
| 246 |
+
[
|
| 247 |
+
[
|
| 248 |
+
0.0
|
| 249 |
+
]
|
| 250 |
+
]
|
| 251 |
+
],
|
| 252 |
+
"max": [
|
| 253 |
+
[
|
| 254 |
+
[
|
| 255 |
+
1.0
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
[
|
| 259 |
+
[
|
| 260 |
+
1.0
|
| 261 |
+
]
|
| 262 |
+
],
|
| 263 |
+
[
|
| 264 |
+
[
|
| 265 |
+
1.0
|
| 266 |
+
]
|
| 267 |
+
]
|
| 268 |
+
],
|
| 269 |
+
"mean": [
|
| 270 |
+
[
|
| 271 |
+
[
|
| 272 |
+
0.5677107497492447
|
| 273 |
+
]
|
| 274 |
+
],
|
| 275 |
+
[
|
| 276 |
+
[
|
| 277 |
+
0.577098337538135
|
| 278 |
+
]
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
[
|
| 282 |
+
0.5650160498618726
|
| 283 |
+
]
|
| 284 |
+
]
|
| 285 |
+
],
|
| 286 |
+
"std": [
|
| 287 |
+
[
|
| 288 |
+
[
|
| 289 |
+
0.2195071280407743
|
| 290 |
+
]
|
| 291 |
+
],
|
| 292 |
+
[
|
| 293 |
+
[
|
| 294 |
+
0.22590103949502224
|
| 295 |
+
]
|
| 296 |
+
],
|
| 297 |
+
[
|
| 298 |
+
[
|
| 299 |
+
0.2300801412253205
|
| 300 |
+
]
|
| 301 |
+
]
|
| 302 |
+
],
|
| 303 |
+
"count": [
|
| 304 |
+
5011
|
| 305 |
+
]
|
| 306 |
+
}
|
| 307 |
+
}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f95888303cc398f6795ad8c848f9c027793d65655f978c400b1f3f743fd6ba75
|
| 3 |
+
size 2301
|
videos/observation.images.up/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7590171e544c40b93198e1571cb8f5f7606dc3ed7f544c6a0b4606bcc5fcfc40
|
| 3 |
+
size 221512349
|
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 sha256:8fe9528ce2a217f109249a980656b9ce9b0445586fc0e87f47e52f389d347ea5
|
| 3 |
+
size 47973869
|