Hugging Face's logo

Datasets:
coded190
/
isaac_so_arm101_vla_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
coded190 commited on
Commit
a1f3d65
·
verified ·
1 Parent(s): a407c02

Upload folder using huggingface_hub

Browse files
Files changed (6) 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 +601 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.wrist_camera/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 sha256:939812bea657c098960cee9974b5097b86fae79236d3d19d5f813d0a6d7ae619
3
+ size 2490703
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:127d5e28c2092c40032cdbefaedd621e2ad7e7644140a678874d3dac05eed6dc
3
+ size 267717
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": null,
4
+ "total_episodes": 130,
5
+ "total_frames": 25716,
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": "0:130"
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
+ "env_id": {
18
+ "dtype": "int64",
19
+ "shape": [
20
+ 1
21
+ ],
22
+ "names": null
23
+ },
24
+ "observation.state": {
25
+ "dtype": "float32",
26
+ "shape": [
27
+ 6
28
+ ],
29
+ "names": [
30
+ "joint_0",
31
+ "joint_1",
32
+ "joint_2",
33
+ "joint_3",
34
+ "joint_4",
35
+ "joint_5"
36
+ ]
37
+ },
38
+ "observation.state.ee_pose": {
39
+ "dtype": "float32",
40
+ "shape": [
41
+ 7
42
+ ],
43
+ "names": [
44
+ "x",
45
+ "y",
46
+ "z",
47
+ "qw",
48
+ "qx",
49
+ "qy",
50
+ "qz"
51
+ ]
52
+ },
53
+ "observation.images.wrist_camera": {
54
+ "dtype": "video",
55
+ "shape": [
56
+ 3,
57
+ 256,
58
+ 256
59
+ ],
60
+ "names": [
61
+ "c",
62
+ "h",
63
+ "w"
64
+ ],
65
+ "info": {
66
+ "video.height": 256,
67
+ "video.width": 256,
68
+ "video.codec": "av1",
69
+ "video.pix_fmt": "yuv420p",
70
+ "video.is_depth_map": false,
71
+ "video.fps": 30,
72
+ "video.channels": 3,
73
+ "has_audio": false
74
+ }
75
+ },
76
+ "action": {
77
+ "dtype": "float32",
78
+ "shape": [
79
+ 7
80
+ ],
81
+ "names": [
82
+ "dx",
83
+ "dy",
84
+ "dz",
85
+ "droll",
86
+ "dpitch",
87
+ "dyaw",
88
+ "gripper"
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 +1,601 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 25716
17
+ ],
18
+ "q01": [
19
+ 3.999999999999418e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997088e-14
26
+ ],
27
+ "q90": [
28
+ 3.5999999999994766e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994216e-14
32
+ ]
33
+ },
34
+ "timestamp": {
35
+ "min": [
36
+ 0.0
37
+ ],
38
+ "max": [
39
+ 6.6
40
+ ],
41
+ "mean": [
42
+ 3.280271685591331
43
+ ],
44
+ "std": [
45
+ 1.9034815233043079
46
+ ],
47
+ "count": [
48
+ 25716
49
+ ],
50
+ "q01": [
51
+ 0.034086184989440625
52
+ ],
53
+ "q10": [
54
+ 0.6339213095060935
55
+ ],
56
+ "q50": [
57
+ 3.268034949447443
58
+ ],
59
+ "q90": [
60
+ 5.926622061676568
61
+ ],
62
+ "q99": [
63
+ 6.526457186193222
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ -2.8599992219824344e-05,
69
+ -0.7853981852531433,
70
+ -0.9014567732810974,
71
+ -1.5708553791046143,
72
+ -0.005882301367819309,
73
+ 0.0
74
+ ],
75
+ "max": [
76
+ 2.4135497369570658e-05,
77
+ 0.27761682868003845,
78
+ 1.5497742891311646,
79
+ -0.20000000298023224,
80
+ 4.7579858801327646e-05,
81
+ 5.7070237744483165e-06
82
+ ],
83
+ "mean": [
84
+ -1.029618590697122e-05,
85
+ -0.46416131620608103,
86
+ 0.9821818155362718,
87
+ -1.5077413047689507,
88
+ -0.001889021531844423,
89
+ 4.07740582128281e-06
90
+ ],
91
+ "std": [
92
+ 1.725549630195438e-05,
93
+ 0.3749360110946149,
94
+ 0.8471829237915068,
95
+ 0.23106114641848605,
96
+ 0.0017986805466793652,
97
+ 9.314943416141584e-07
98
+ ],
99
+ "count": [
100
+ 25716
101
+ ],
102
+ "q01": [
103
+ -2.7945102106317607e-05,
104
+ -0.747240922443968,
105
+ -0.8966607765153254,
106
+ -1.570811650663518,
107
+ -0.005334837137031211,
108
+ 1.4362302294151636e-06
109
+ ],
110
+ "q10": [
111
+ -2.2844835167890598e-05,
112
+ -0.7447908039654431,
113
+ -0.5902693063726858,
114
+ -1.570811650663518,
115
+ -0.004633065185845407,
116
+ 3.312023640284808e-06
117
+ ],
118
+ "q50": [
119
+ -2.1552135161541847e-05,
120
+ -0.7007437760781774,
121
+ 1.5492946430188461,
122
+ -1.570811650663518,
123
+ -0.001513639827923278,
124
+ 3.707343711541239e-06
125
+ ],
126
+ "q90": [
127
+ 2.1231488142776462e-05,
128
+ 0.20753066858261449,
129
+ 1.5496132899475246,
130
+ -1.544432003507445,
131
+ 2.4042079180332864e-05,
132
+ 5.545669657513205e-06
133
+ ],
134
+ "q99": [
135
+ 2.3170343663296622e-05,
136
+ 0.2704273008846902,
137
+ 1.549684985506477,
138
+ -0.27626988186752555,
139
+ 4.460795919918719e-05,
140
+ 5.682454335748425e-06
141
+ ]
142
+ },
143
+ "frame_index": {
144
+ "min": [
145
+ 0
146
+ ],
147
+ "max": [
148
+ 198
149
+ ],
150
+ "mean": [
151
+ 98.40815056773992
152
+ ],
153
+ "std": [
154
+ 57.104445699129215
155
+ ],
156
+ "count": [
157
+ 25716
158
+ ],
159
+ "q01": [
160
+ 1.0225855525530843
161
+ ],
162
+ "q10": [
163
+ 19.017639287522368
164
+ ],
165
+ "q50": [
166
+ 98.04104848343403
167
+ ],
168
+ "q90": [
169
+ 177.79866184795742
170
+ ],
171
+ "q99": [
172
+ 195.79371558292672
173
+ ]
174
+ },
175
+ "episode_index": {
176
+ "min": [
177
+ 0
178
+ ],
179
+ "max": [
180
+ 12
181
+ ],
182
+ "mean": [
183
+ 6.00046663555763
184
+ ],
185
+ "std": [
186
+ 3.741719713956256
187
+ ],
188
+ "count": [
189
+ 25716
190
+ ],
191
+ "q01": [
192
+ 6.00046663555763
193
+ ],
194
+ "q10": [
195
+ 6.000466635557632
196
+ ],
197
+ "q50": [
198
+ 6.0004666355576495
199
+ ],
200
+ "q90": [
201
+ 6.0004666355576655
202
+ ],
203
+ "q99": [
204
+ 6.00046663555767
205
+ ]
206
+ },
207
+ "env_id": {
208
+ "min": [
209
+ 0
210
+ ],
211
+ "max": [
212
+ 9
213
+ ],
214
+ "mean": [
215
+ 4.500583294447037
216
+ ],
217
+ "std": [
218
+ 2.872362493719276
219
+ ],
220
+ "count": [
221
+ 25716
222
+ ],
223
+ "q01": [
224
+ 4.500583294447037
225
+ ],
226
+ "q10": [
227
+ 4.50058329444704
228
+ ],
229
+ "q50": [
230
+ 4.500583294447058
231
+ ],
232
+ "q90": [
233
+ 4.500583294447073
234
+ ],
235
+ "q99": [
236
+ 4.500583294447076
237
+ ]
238
+ },
239
+ "observation.images.wrist_camera": {
240
+ "min": [
241
+ [
242
+ [
243
+ 0.0
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.0
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.0
254
+ ]
255
+ ]
256
+ ],
257
+ "max": [
258
+ [
259
+ [
260
+ 1.0
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 1.0
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 1.0
271
+ ]
272
+ ]
273
+ ],
274
+ "mean": [
275
+ [
276
+ [
277
+ 0.5230521898732825
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 0.5388586909321459
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.40706644010932197
288
+ ]
289
+ ]
290
+ ],
291
+ "std": [
292
+ [
293
+ [
294
+ 0.06961768917386134
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.06727506788935812
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.06754549316161204
305
+ ]
306
+ ]
307
+ ],
308
+ "count": [
309
+ 13000
310
+ ],
311
+ "q01": [
312
+ [
313
+ [
314
+ 0.0018982746285783566
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.0027395687571947136
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.00034956276021185927
325
+ ]
326
+ ]
327
+ ],
328
+ "q10": [
329
+ [
330
+ [
331
+ 0.048792247411796615
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.05744160892490409
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.01857298641796513
342
+ ]
343
+ ]
344
+ ],
345
+ "q50": [
346
+ [
347
+ [
348
+ 0.5566761839209192
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.5780441251056648
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ 0.35011475903593237
359
+ ]
360
+ ]
361
+ ],
362
+ "q90": [
363
+ [
364
+ [
365
+ 0.9339165125536649
366
+ ]
367
+ ],
368
+ [
369
+ [
370
+ 0.942223904948838
371
+ ]
372
+ ],
373
+ [
374
+ [
375
+ 0.8553250674922376
376
+ ]
377
+ ]
378
+ ],
379
+ "q99": [
380
+ [
381
+ [
382
+ 0.9723548587625442
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.973877482710096
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.9580449028520716
393
+ ]
394
+ ]
395
+ ]
396
+ },
397
+ "index": {
398
+ "min": [
399
+ 0
400
+ ],
401
+ "max": [
402
+ 2572
403
+ ],
404
+ "mean": [
405
+ 1285.300241095038
406
+ ],
407
+ "std": [
408
+ 742.3573375810242
409
+ ],
410
+ "count": [
411
+ 25716
412
+ ],
413
+ "q01": [
414
+ 1187.9146760798517
415
+ ],
416
+ "q10": [
417
+ 1205.9097298148204
418
+ ],
419
+ "q50": [
420
+ 1284.9331390107322
421
+ ],
422
+ "q90": [
423
+ 1364.690752375256
424
+ ],
425
+ "q99": [
426
+ 1382.6858061102248
427
+ ]
428
+ },
429
+ "observation.state.ee_pose": {
430
+ "min": [
431
+ -104.7958755493164,
432
+ -70.04905700683594,
433
+ 4.714995384216309,
434
+ -0.9459750056266785,
435
+ -0.8051550388336182,
436
+ -0.44471293687820435,
437
+ -0.5224083662033081
438
+ ],
439
+ "max": [
440
+ 105.69786071777344,
441
+ 70.28209686279297,
442
+ 5.27346134185791,
443
+ -0.49438318610191345,
444
+ -0.270418256521225,
445
+ 0.1394762247800827,
446
+ 0.1639697402715683
447
+ ],
448
+ "mean": [
449
+ 21.48495522263373,
450
+ -6.951305134623149,
451
+ 5.1792744616732325,
452
+ -0.8263333540071983,
453
+ -0.4443272773189759,
454
+ -0.0908563642198026,
455
+ -0.16992764774591076
456
+ ],
457
+ "std": [
458
+ 68.59063038059703,
459
+ 58.15015845122944,
460
+ 0.12394214819165586,
461
+ 0.11591474907942746,
462
+ 0.1526284316800135,
463
+ 0.10805767318556171,
464
+ 0.18495415457525313
465
+ ],
466
+ "count": [
467
+ 25716
468
+ ],
469
+ "q01": [
470
+ 21.398516860040324,
471
+ -7.0076395535471026,
472
+ 4.73087232412974,
473
+ -0.9016612853594733,
474
+ -0.7692279249000425,
475
+ -0.1680958812499594,
476
+ -0.19283487916713038
477
+ ],
478
+ "q10": [
479
+ 21.415053842754418,
480
+ -7.006962766689196,
481
+ 4.982481108801398,
482
+ -0.8963086167151745,
483
+ -0.7491005453232588,
484
+ -0.16310888919897693,
485
+ -0.19096123656975458
486
+ ],
487
+ "q50": [
488
+ 21.503650788425592,
489
+ -6.994876591278913,
490
+ 5.2326337475810325,
491
+ -0.8873949330132505,
492
+ -0.3570811696764087,
493
+ -0.07180476056291475,
494
+ -0.18211940860956072
495
+ ],
496
+ "q90": [
497
+ 21.518460432088773,
498
+ -6.811145198325507,
499
+ 5.254977068255508,
500
+ -0.5943985984248294,
501
+ -0.3334346109043816,
502
+ -0.059489942215443306,
503
+ -0.11603063173457864
504
+ ],
505
+ "q99": [
506
+ 21.520437960661862,
507
+ -6.776686573132082,
508
+ 5.266019022623679,
509
+ -0.5680779504082097,
510
+ -0.3185251908852031,
511
+ -0.05591863412621397,
512
+ -0.10996868813256186
513
+ ]
514
+ },
515
+ "action": {
516
+ "min": [
517
+ -0.0065764798782765865,
518
+ -0.042875323444604874,
519
+ 0.02851266786456108,
520
+ 0.0,
521
+ 0.0,
522
+ 0.0,
523
+ 0.0
524
+ ],
525
+ "max": [
526
+ -0.002273107646033168,
527
+ 0.015642475336790085,
528
+ 0.22705543041229248,
529
+ 0.0,
530
+ 0.0,
531
+ 0.0,
532
+ 0.0
533
+ ],
534
+ "mean": [
535
+ -0.004991931896459014,
536
+ -0.0014126194129948871,
537
+ 0.06112574205033714,
538
+ 0.0,
539
+ 0.0,
540
+ 0.0,
541
+ 0.0
542
+ ],
543
+ "std": [
544
+ 0.0012523593506713897,
545
+ 0.017039884886609506,
546
+ 0.04335700053022267,
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 0.0
551
+ ],
552
+ "count": [
553
+ 25716
554
+ ],
555
+ "q01": [
556
+ -0.005642882372586708,
557
+ -0.04207820062704638,
558
+ 0.030747728201895214,
559
+ 3.9999999999994176e-16,
560
+ 3.9999999999994176e-16,
561
+ 3.9999999999994176e-16,
562
+ 3.9999999999994176e-16
563
+ ],
564
+ "q10": [
565
+ -0.005637084204780492,
566
+ -0.03198903675032251,
567
+ 0.03462989396074603,
568
+ 3.999999999999417e-15,
569
+ 3.999999999999417e-15,
570
+ 3.999999999999417e-15,
571
+ 3.999999999999417e-15
572
+ ],
573
+ "q50": [
574
+ -0.005615717303285213,
575
+ 0.007359943890827014,
576
+ 0.04245005615152282,
577
+ 1.9999999999997088e-14,
578
+ 1.9999999999997088e-14,
579
+ 1.9999999999997088e-14,
580
+ 1.9999999999997088e-14
581
+ ],
582
+ "q90": [
583
+ -0.002804724366191003,
584
+ 0.012556618395542162,
585
+ 0.13000347921385264,
586
+ 3.599999999999477e-14,
587
+ 3.599999999999477e-14,
588
+ 3.599999999999477e-14,
589
+ 3.599999999999477e-14
590
+ ],
591
+ "q99": [
592
+ -0.002801442881338215,
593
+ 0.012823940236532017,
594
+ 0.21806655334378058,
595
+ 3.959999999999423e-14,
596
+ 3.959999999999423e-14,
597
+ 3.959999999999423e-14,
598
+ 3.959999999999423e-14
599
+ ]
600
+ }
601
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:14d06028c2cb8a83e468fb9a26f8f8f4003acef5fedc7deb02a01a4e51690248
3
+ size 2599
videos/observation.images.wrist_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b8d2d4334d46ea87b577286437323ebb691bf300905b71b139261bb4b60eb8f1
3
+ size 125979302