Hugging Face's logo

Datasets:
dreamdifferent
/
so101_bottle

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
figurek1m commited on
Commit
857ae09
·
verified ·
1 Parent(s): 2d502b0

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 sha256:703c37b19eec6a921ed69a788cbd036076d0356089d1ee275847f82f212868ab
3
+ size 206557
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:96771d69f82b4e5eb7d970cf0c05a42edc5b6f1ae1ff33b7538c808175556c3f
3
+ size 66491
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 4573,
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": "0:10"
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
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
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",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.wrist": {
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.front": {
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
+ "observation.images.front": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.5583377493937389
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.5096176721846146
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.45570821540421724
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.0014778511036032092
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.0010251092130481457
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0018679969055160187
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 1008
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.03489343250953071
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.039700382593059684
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.027505927639372707
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.18868912796374734
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.19688957448139122
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.1642813407122765
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.6051100588273027
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.502333131982159
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.42709413935351437
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.8038811595420399
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.8051184045853853
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.7764571900183856
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9787810493516532
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.9243699369925619
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.885115724448562
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "index": {
161
+ "min": [
162
+ 0
163
+ ],
164
+ "max": [
165
+ 4572
166
+ ],
167
+ "mean": [
168
+ 2286.0
169
+ ],
170
+ "std": [
171
+ 1320.1113589390861
172
+ ],
173
+ "count": [
174
+ 4573
175
+ ],
176
+ "q01": [
177
+ 2061.277689407293
178
+ ],
179
+ "q10": [
180
+ 2102.663647889707
181
+ ],
182
+ "q50": [
183
+ 2285.8915745899844
184
+ ],
185
+ "q90": [
186
+ 2469.336352110292
187
+ ],
188
+ "q99": [
189
+ 2510.722310592707
190
+ ]
191
+ },
192
+ "task_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 0
198
+ ],
199
+ "mean": [
200
+ 0.0
201
+ ],
202
+ "std": [
203
+ 0.0
204
+ ],
205
+ "count": [
206
+ 4573
207
+ ],
208
+ "q01": [
209
+ 3.9999999999994176e-16
210
+ ],
211
+ "q10": [
212
+ 3.999999999999417e-15
213
+ ],
214
+ "q50": [
215
+ 1.9999999999997088e-14
216
+ ],
217
+ "q90": [
218
+ 3.599999999999476e-14
219
+ ],
220
+ "q99": [
221
+ 3.9599999999994235e-14
222
+ ]
223
+ },
224
+ "observation.images.wrist": {
225
+ "min": [
226
+ [
227
+ [
228
+ 0.0
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 0.0
234
+ ]
235
+ ],
236
+ [
237
+ [
238
+ 0.0
239
+ ]
240
+ ]
241
+ ],
242
+ "max": [
243
+ [
244
+ [
245
+ 1.0
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 1.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 1.0
256
+ ]
257
+ ]
258
+ ],
259
+ "mean": [
260
+ [
261
+ [
262
+ 0.5314670819716776
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 0.515075413846094
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.47960980072005654
273
+ ]
274
+ ]
275
+ ],
276
+ "std": [
277
+ [
278
+ [
279
+ 0.010163230395298328
280
+ ]
281
+ ],
282
+ [
283
+ [
284
+ 0.010830082305948556
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.014737433680852986
290
+ ]
291
+ ]
292
+ ],
293
+ "count": [
294
+ 1008
295
+ ],
296
+ "q01": [
297
+ [
298
+ [
299
+ 0.003844964280995096
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.0007552305286275754
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ -3.921568627450981e-13
310
+ ]
311
+ ]
312
+ ],
313
+ "q10": [
314
+ [
315
+ [
316
+ 0.05639170736091856
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.05019191293195448
322
+ ]
323
+ ],
324
+ [
325
+ [
326
+ 0.0015564556055604724
327
+ ]
328
+ ]
329
+ ],
330
+ "q50": [
331
+ [
332
+ [
333
+ 0.6313638562728753
334
+ ]
335
+ ],
336
+ [
337
+ [
338
+ 0.6097712189079838
339
+ ]
340
+ ],
341
+ [
342
+ [
343
+ 0.5802759102026213
344
+ ]
345
+ ]
346
+ ],
347
+ "q90": [
348
+ [
349
+ [
350
+ 0.7886349900545455
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.7752983173578513
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.814152159093654
361
+ ]
362
+ ]
363
+ ],
364
+ "q99": [
365
+ [
366
+ [
367
+ 0.9168385870481157
368
+ ]
369
+ ],
370
+ [
371
+ [
372
+ 0.9349032683776556
373
+ ]
374
+ ],
375
+ [
376
+ [
377
+ 0.9838955705214714
378
+ ]
379
+ ]
380
+ ]
381
+ },
382
+ "frame_index": {
383
+ "min": [
384
+ 0
385
+ ],
386
+ "max": [
387
+ 494
388
+ ],
389
+ "mean": [
390
+ 228.74371309862235
391
+ ],
392
+ "std": [
393
+ 133.01757555310067
394
+ ],
395
+ "count": [
396
+ 4573
397
+ ],
398
+ "q01": [
399
+ 4.02140250591532
400
+ ],
401
+ "q10": [
402
+ 45.40736098833008
403
+ ],
404
+ "q50": [
405
+ 228.635287688607
406
+ ],
407
+ "q90": [
408
+ 412.08006520891456
409
+ ],
410
+ "q99": [
411
+ 453.4660236913293
412
+ ]
413
+ },
414
+ "episode_index": {
415
+ "min": [
416
+ 0
417
+ ],
418
+ "max": [
419
+ 9
420
+ ],
421
+ "mean": [
422
+ 4.479116553684671
423
+ ],
424
+ "std": [
425
+ 2.911000559565508
426
+ ],
427
+ "count": [
428
+ 4573
429
+ ],
430
+ "q01": [
431
+ 4.479116553684671
432
+ ],
433
+ "q10": [
434
+ 4.479116553684674
435
+ ],
436
+ "q50": [
437
+ 4.47911655368469
438
+ ],
439
+ "q90": [
440
+ 4.479116553684706
441
+ ],
442
+ "q99": [
443
+ 4.479116553684711
444
+ ]
445
+ },
446
+ "action": {
447
+ "min": [
448
+ -34.153846740722656,
449
+ -102.68132019042969,
450
+ 6.593406677246094,
451
+ -58.10988998413086,
452
+ -101.67032623291016,
453
+ 14.075286865234375
454
+ ],
455
+ "max": [
456
+ 11.912087440490723,
457
+ 31.03296661376953,
458
+ 95.64835357666016,
459
+ 80.0879135131836,
460
+ -85.75823974609375,
461
+ 58.83797073364258
462
+ ],
463
+ "mean": [
464
+ -8.928979570120605,
465
+ -6.586415831797133,
466
+ 43.8074686003284,
467
+ -11.891281575199136,
468
+ -94.04442802978089,
469
+ 35.61800961314055
470
+ ],
471
+ "std": [
472
+ 12.330306336328045,
473
+ 32.75275069660057,
474
+ 16.636319782709673,
475
+ 34.53593739086373,
476
+ 2.3477723702501017,
477
+ 8.718300633916384
478
+ ],
479
+ "count": [
480
+ 4573
481
+ ],
482
+ "q01": [
483
+ -23.59664581068338,
484
+ -88.73774579430003,
485
+ 21.170445419697124,
486
+ -42.9542312780844,
487
+ -97.05509605002304,
488
+ 24.340966172236694
489
+ ],
490
+ "q10": [
491
+ -22.258450918871336,
492
+ -59.18979102375991,
493
+ 28.605284177017236,
494
+ -42.64598754614788,
495
+ -96.18670986190114,
496
+ 24.711994636026077
497
+ ],
498
+ "q50": [
499
+ -11.43931633514641,
500
+ 3.7691463267753664,
501
+ 44.91212800840971,
502
+ -24.553170257419232,
503
+ -94.38638213504898,
504
+ 35.497212643560665
505
+ ],
506
+ "q90": [
507
+ 8.500028278430397,
508
+ 21.508311054393104,
509
+ 64.81678824858574,
510
+ 56.00577003781195,
511
+ -91.41308108092807,
512
+ 46.00068777695478
513
+ ],
514
+ "q99": [
515
+ 9.393519207677109,
516
+ 22.070649578887267,
517
+ 72.39273276430926,
518
+ 67.34918666647762,
519
+ -89.66158827938666,
520
+ 46.30676201784873
521
+ ]
522
+ },
523
+ "observation.state": {
524
+ "min": [
525
+ -33.846153259277344,
526
+ -102.24176025390625,
527
+ 9.758241653442383,
528
+ -57.18681335449219,
529
+ -101.05494689941406,
530
+ 13.778990745544434
531
+ ],
532
+ "max": [
533
+ 11.604395866394043,
534
+ 31.560440063476562,
535
+ 95.73626708984375,
536
+ 80.21977996826172,
537
+ -86.19779968261719,
538
+ 58.52660369873047
539
+ ],
540
+ "mean": [
541
+ -9.246669788160393,
542
+ -6.12735463488214,
543
+ 46.1897142703492,
544
+ -10.546900954505638,
545
+ -94.07539174813763,
546
+ 36.4217851685925
547
+ ],
548
+ "std": [
549
+ 12.325502286077404,
550
+ 33.820236221190626,
551
+ 16.10826806016481,
552
+ 35.00025434817577,
553
+ 2.298490904810682,
554
+ 7.964291453342996
555
+ ],
556
+ "count": [
557
+ 4573
558
+ ],
559
+ "q01": [
560
+ -23.294769710109765,
561
+ -89.03212740706479,
562
+ 24.473798817522596,
563
+ -42.036271298189746,
564
+ -96.66768494419787,
565
+ 26.75440296708638
566
+ ],
567
+ "q10": [
568
+ -22.379539233066687,
569
+ -66.13820192164778,
570
+ 31.650814409501944,
571
+ -41.74247026552067,
572
+ -96.12533765232313,
573
+ 26.76715198198476
574
+ ],
575
+ "q50": [
576
+ -11.678915668500922,
577
+ 5.237714411762437,
578
+ 47.05343286498659,
579
+ -23.23386577254851,
580
+ -94.48291718227533,
581
+ 35.99605053534394
582
+ ],
583
+ "q90": [
584
+ 8.522955309412044,
585
+ 22.145709851053077,
586
+ 66.51530023104047,
587
+ 58.57774387636364,
588
+ -91.43978266598849,
589
+ 45.87642455222164
590
+ ],
591
+ "q99": [
592
+ 9.050814567142634,
593
+ 22.648229817964925,
594
+ 72.7586791882017,
595
+ 67.6199639803811,
596
+ -89.97597121896004,
597
+ 45.97080975584944
598
+ ]
599
+ },
600
+ "timestamp": {
601
+ "min": [
602
+ 0.0
603
+ ],
604
+ "max": [
605
+ 16.466666666666665
606
+ ],
607
+ "mean": [
608
+ 7.624790436620745
609
+ ],
610
+ "std": [
611
+ 4.433919185103355
612
+ ],
613
+ "count": [
614
+ 4573
615
+ ],
616
+ "q01": [
617
+ 0.13404675010221437
618
+ ],
619
+ "q10": [
620
+ 1.5135786995335248
621
+ ],
622
+ "q50": [
623
+ 7.621176256286852
624
+ ],
625
+ "q90": [
626
+ 13.736002173707965
627
+ ],
628
+ "q99": [
629
+ 15.115534123139275
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:471790dddbbc018423e3a4e568482b5068db23dbf409581b8d31b4a8b5df2411
3
+ size 2233
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 sha256:7c9ed94b139b11db2d9f1be7f57afe7c82f071a58670ef846ee36b0a8d3b6ca1
3
+ size 37678126
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 sha256:0aeb2d9cc09fa8e9c2fbd61da7c1e8673d9ed87098b7b2911a6b4cf68782de63
3
+ size 15941080