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 sha256:31592b032e51c23f43356f896d977b4203f3015c25b4e7cdb3c89032a07e9285
|
| 3 |
+
size 345200
|
meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:94b6efaf3d82c69b7ac2dafe46f9ba6027a653dcc1263c6d97da938ec3789713
|
| 3 |
+
size 52745
|
meta/info.json
CHANGED
|
@@ -1,18 +1,16 @@
|
|
| 1 |
{
|
| 2 |
-
"codebase_version": "
|
| 3 |
"robot_type": "so100_follower",
|
| 4 |
"total_episodes": 15,
|
| 5 |
"total_frames": 11172,
|
| 6 |
"total_tasks": 1,
|
| 7 |
-
"total_videos": 30,
|
| 8 |
-
"total_chunks": 1,
|
| 9 |
"chunks_size": 1000,
|
| 10 |
"fps": 30,
|
| 11 |
"splits": {
|
| 12 |
"train": "0:15"
|
| 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.top": {
|
| 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": "so100_follower",
|
| 4 |
"total_episodes": 15,
|
| 5 |
"total_frames": 11172,
|
| 6 |
"total_tasks": 1,
|
|
|
|
|
|
|
| 7 |
"chunks_size": 1000,
|
| 8 |
"fps": 30,
|
| 9 |
"splits": {
|
| 10 |
"train": "0:15"
|
| 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.top": {
|
| 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 |
+
"observation.state": {
|
| 3 |
+
"min": [
|
| 4 |
+
-68.40970611572266,
|
| 5 |
+
-94.70319366455078,
|
| 6 |
+
-78.45328521728516,
|
| 7 |
+
51.60650634765625,
|
| 8 |
+
-85.20146179199219,
|
| 9 |
+
6.04122257232666
|
| 10 |
+
],
|
| 11 |
+
"max": [
|
| 12 |
+
17.95148277282715,
|
| 13 |
+
73.97260284423828,
|
| 14 |
+
99.64237976074219,
|
| 15 |
+
98.09599304199219,
|
| 16 |
+
-28.4981689453125,
|
| 17 |
+
19.829423904418945
|
| 18 |
+
],
|
| 19 |
+
"mean": [
|
| 20 |
+
-16.266968224495063,
|
| 21 |
+
-15.370452114215173,
|
| 22 |
+
25.84879314263491,
|
| 23 |
+
75.08022021530266,
|
| 24 |
+
-49.73718661900024,
|
| 25 |
+
8.551145842200832
|
| 26 |
+
],
|
| 27 |
+
"std": [
|
| 28 |
+
21.61601158281001,
|
| 29 |
+
58.32047286893199,
|
| 30 |
+
59.35376208442313,
|
| 31 |
+
8.908031686178859,
|
| 32 |
+
10.114763702221417,
|
| 33 |
+
2.739918645323741
|
| 34 |
+
],
|
| 35 |
+
"count": [
|
| 36 |
+
11172
|
| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"observation.images.top": {
|
| 40 |
+
"min": [
|
| 41 |
+
[
|
| 42 |
+
[
|
| 43 |
+
0.0
|
| 44 |
+
]
|
| 45 |
+
],
|
| 46 |
+
[
|
| 47 |
+
[
|
| 48 |
+
0.0
|
| 49 |
+
]
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
[
|
| 53 |
+
0.0
|
| 54 |
+
]
|
| 55 |
+
]
|
| 56 |
+
],
|
| 57 |
+
"max": [
|
| 58 |
+
[
|
| 59 |
+
[
|
| 60 |
+
1.0
|
| 61 |
+
]
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
[
|
| 65 |
+
1.0
|
| 66 |
+
]
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
[
|
| 70 |
+
1.0
|
| 71 |
+
]
|
| 72 |
+
]
|
| 73 |
+
],
|
| 74 |
+
"mean": [
|
| 75 |
+
[
|
| 76 |
+
[
|
| 77 |
+
0.3952642534674276
|
| 78 |
+
]
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
[
|
| 82 |
+
0.43567995556399397
|
| 83 |
+
]
|
| 84 |
+
],
|
| 85 |
+
[
|
| 86 |
+
[
|
| 87 |
+
0.39879411390729996
|
| 88 |
+
]
|
| 89 |
+
]
|
| 90 |
+
],
|
| 91 |
+
"std": [
|
| 92 |
+
[
|
| 93 |
+
[
|
| 94 |
+
0.2344496184914252
|
| 95 |
+
]
|
| 96 |
+
],
|
| 97 |
+
[
|
| 98 |
+
[
|
| 99 |
+
0.21783302345372352
|
| 100 |
+
]
|
| 101 |
+
],
|
| 102 |
+
[
|
| 103 |
+
[
|
| 104 |
+
0.2506531970419804
|
| 105 |
+
]
|
| 106 |
+
]
|
| 107 |
+
],
|
| 108 |
+
"count": [
|
| 109 |
+
2130
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"index": {
|
| 113 |
+
"min": [
|
| 114 |
+
0
|
| 115 |
+
],
|
| 116 |
+
"max": [
|
| 117 |
+
11171
|
| 118 |
+
],
|
| 119 |
+
"mean": [
|
| 120 |
+
5585.5
|
| 121 |
+
],
|
| 122 |
+
"std": [
|
| 123 |
+
3225.0785907736677
|
| 124 |
+
],
|
| 125 |
+
"count": [
|
| 126 |
+
11172
|
| 127 |
+
]
|
| 128 |
+
},
|
| 129 |
+
"timestamp": {
|
| 130 |
+
"min": [
|
| 131 |
+
0.0
|
| 132 |
+
],
|
| 133 |
+
"max": [
|
| 134 |
+
24.833333333333332
|
| 135 |
+
],
|
| 136 |
+
"mean": [
|
| 137 |
+
12.396673230695788
|
| 138 |
+
],
|
| 139 |
+
"std": [
|
| 140 |
+
7.166846250421848
|
| 141 |
+
],
|
| 142 |
+
"count": [
|
| 143 |
+
11172
|
| 144 |
+
]
|
| 145 |
+
},
|
| 146 |
+
"observation.images.gripper": {
|
| 147 |
+
"min": [
|
| 148 |
+
[
|
| 149 |
+
[
|
| 150 |
+
0.0
|
| 151 |
+
]
|
| 152 |
+
],
|
| 153 |
+
[
|
| 154 |
+
[
|
| 155 |
+
0.0
|
| 156 |
+
]
|
| 157 |
+
],
|
| 158 |
+
[
|
| 159 |
+
[
|
| 160 |
+
0.0
|
| 161 |
+
]
|
| 162 |
+
]
|
| 163 |
+
],
|
| 164 |
+
"max": [
|
| 165 |
+
[
|
| 166 |
+
[
|
| 167 |
+
0.9882352941176471
|
| 168 |
+
]
|
| 169 |
+
],
|
| 170 |
+
[
|
| 171 |
+
[
|
| 172 |
+
1.0
|
| 173 |
+
]
|
| 174 |
+
],
|
| 175 |
+
[
|
| 176 |
+
[
|
| 177 |
+
1.0
|
| 178 |
+
]
|
| 179 |
+
]
|
| 180 |
+
],
|
| 181 |
+
"mean": [
|
| 182 |
+
[
|
| 183 |
+
[
|
| 184 |
+
0.33899196623093686
|
| 185 |
+
]
|
| 186 |
+
],
|
| 187 |
+
[
|
| 188 |
+
[
|
| 189 |
+
0.3611526130366074
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
[
|
| 193 |
+
[
|
| 194 |
+
0.3368328528222713
|
| 195 |
+
]
|
| 196 |
+
]
|
| 197 |
+
],
|
| 198 |
+
"std": [
|
| 199 |
+
[
|
| 200 |
+
[
|
| 201 |
+
0.15703476152267967
|
| 202 |
+
]
|
| 203 |
+
],
|
| 204 |
+
[
|
| 205 |
+
[
|
| 206 |
+
0.17907057415722566
|
| 207 |
+
]
|
| 208 |
+
],
|
| 209 |
+
[
|
| 210 |
+
[
|
| 211 |
+
0.1990226249658699
|
| 212 |
+
]
|
| 213 |
+
]
|
| 214 |
+
],
|
| 215 |
+
"count": [
|
| 216 |
+
2130
|
| 217 |
+
]
|
| 218 |
+
},
|
| 219 |
+
"task_index": {
|
| 220 |
+
"min": [
|
| 221 |
+
0
|
| 222 |
+
],
|
| 223 |
+
"max": [
|
| 224 |
+
0
|
| 225 |
+
],
|
| 226 |
+
"mean": [
|
| 227 |
+
0.0
|
| 228 |
+
],
|
| 229 |
+
"std": [
|
| 230 |
+
0.0
|
| 231 |
+
],
|
| 232 |
+
"count": [
|
| 233 |
+
11172
|
| 234 |
+
]
|
| 235 |
+
},
|
| 236 |
+
"episode_index": {
|
| 237 |
+
"min": [
|
| 238 |
+
0
|
| 239 |
+
],
|
| 240 |
+
"max": [
|
| 241 |
+
14
|
| 242 |
+
],
|
| 243 |
+
"mean": [
|
| 244 |
+
6.9982993197278915
|
| 245 |
+
],
|
| 246 |
+
"std": [
|
| 247 |
+
4.3202137699629075
|
| 248 |
+
],
|
| 249 |
+
"count": [
|
| 250 |
+
11172
|
| 251 |
+
]
|
| 252 |
+
},
|
| 253 |
+
"frame_index": {
|
| 254 |
+
"min": [
|
| 255 |
+
0
|
| 256 |
+
],
|
| 257 |
+
"max": [
|
| 258 |
+
745
|
| 259 |
+
],
|
| 260 |
+
"mean": [
|
| 261 |
+
371.9001969208736
|
| 262 |
+
],
|
| 263 |
+
"std": [
|
| 264 |
+
215.00538751265546
|
| 265 |
+
],
|
| 266 |
+
"count": [
|
| 267 |
+
11172
|
| 268 |
+
]
|
| 269 |
+
},
|
| 270 |
+
"action": {
|
| 271 |
+
"min": [
|
| 272 |
+
-67.95630645751953,
|
| 273 |
+
-89.40229034423828,
|
| 274 |
+
-83.28502655029297,
|
| 275 |
+
51.05415344238281,
|
| 276 |
+
-85.4945068359375,
|
| 277 |
+
5.318138599395752
|
| 278 |
+
],
|
| 279 |
+
"max": [
|
| 280 |
+
19.162494659423828,
|
| 281 |
+
71.2590103149414,
|
| 282 |
+
100.0,
|
| 283 |
+
99.91732025146484,
|
| 284 |
+
-27.86324691772461,
|
| 285 |
+
20.987653732299805
|
| 286 |
+
],
|
| 287 |
+
"mean": [
|
| 288 |
+
-16.237035243860333,
|
| 289 |
+
-17.602018020847044,
|
| 290 |
+
24.457562697561162,
|
| 291 |
+
76.01108855941669,
|
| 292 |
+
-49.716972730085494,
|
| 293 |
+
8.36678422649744
|
| 294 |
+
],
|
| 295 |
+
"std": [
|
| 296 |
+
21.689240179691375,
|
| 297 |
+
56.106669930026676,
|
| 298 |
+
60.664204132519885,
|
| 299 |
+
8.826784783387104,
|
| 300 |
+
10.14226566235248,
|
| 301 |
+
3.218476794140585
|
| 302 |
+
],
|
| 303 |
+
"count": [
|
| 304 |
+
11172
|
| 305 |
+
]
|
| 306 |
+
}
|
| 307 |
+
}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:53d7a1a09ffc6ee4a8a55c81265c86d30c6af8066bd684bfd88a8109da00cb44
|
| 3 |
+
size 2409
|
videos/observation.images.gripper/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dab92b5e8a918d702ded9b92849d29c0729e4a20b7e4e47d27a56c3b2a5fd782
|
| 3 |
+
size 133099378
|
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 sha256:20f5fa95b7339d0064d8496f3f48b8a94f608bcdbb86718bb5ced59fe8d73559
|
| 3 |
+
size 55748419
|