Hugging Face's logo

Datasets:
dreamdifferent
/
so101_camera_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
eugeneseo commited on
Commit
5033380
·
verified ·
1 Parent(s): 648099e

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 sha256:4839101efe42207c72ad66e0f9a3345fcf49a05408e5bdf1e528e8c2274dfc30
3
+ size 14136
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e8b4b71116c476d0ffebc63e5e19f7ffc89d59ec02210480347b6b1187e609bc
3
+ size 52609
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 30,
4
+ "features": {
5
+ "action": {
6
+ "dtype": "float32",
7
+ "shape": [
8
+ 6
9
+ ],
10
+ "names": [
11
+ "shoulder_pan.pos",
12
+ "shoulder_lift.pos",
13
+ "elbow_flex.pos",
14
+ "wrist_flex.pos",
15
+ "wrist_roll.pos",
16
+ "gripper.pos"
17
+ ]
18
+ },
19
+ "observation.state": {
20
+ "dtype": "float32",
21
+ "shape": [
22
+ 6
23
+ ],
24
+ "names": [
25
+ "shoulder_pan.pos",
26
+ "shoulder_lift.pos",
27
+ "elbow_flex.pos",
28
+ "wrist_flex.pos",
29
+ "wrist_roll.pos",
30
+ "gripper.pos"
31
+ ]
32
+ },
33
+ "observation.images.wrist": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 480,
37
+ 640,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channels"
44
+ ],
45
+ "info": {
46
+ "video.height": 480,
47
+ "video.width": 640,
48
+ "video.codec": "av1",
49
+ "video.pix_fmt": "yuv420p",
50
+ "video.is_depth_map": false,
51
+ "video.fps": 30,
52
+ "video.channels": 3,
53
+ "has_audio": false
54
+ }
55
+ },
56
+ "observation.images.front": {
57
+ "dtype": "video",
58
+ "shape": [
59
+ 480,
60
+ 640,
61
+ 3
62
+ ],
63
+ "names": [
64
+ "height",
65
+ "width",
66
+ "channels"
67
+ ],
68
+ "info": {
69
+ "video.height": 480,
70
+ "video.width": 640,
71
+ "video.codec": "av1",
72
+ "video.pix_fmt": "yuv420p",
73
+ "video.is_depth_map": false,
74
+ "video.fps": 30,
75
+ "video.channels": 3,
76
+ "has_audio": false
77
+ }
78
+ },
79
+ "timestamp": {
80
+ "dtype": "float32",
81
+ "shape": [
82
+ 1
83
+ ],
84
+ "names": null
85
+ },
86
+ "frame_index": {
87
+ "dtype": "int64",
88
+ "shape": [
89
+ 1
90
+ ],
91
+ "names": null
92
+ },
93
+ "episode_index": {
94
+ "dtype": "int64",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "task_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ }
114
+ },
115
+ "total_episodes": 1,
116
+ "total_frames": 269,
117
+ "total_tasks": 1,
118
+ "chunks_size": 1000,
119
+ "data_files_size_in_mb": 100,
120
+ "video_files_size_in_mb": 200,
121
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
122
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
123
+ "robot_type": "so_follower",
124
+ "splits": {
125
+ "train": "0:1"
126
+ }
127
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -25.9780216217041,
5
+ -101.18681335449219,
6
+ -19.69230842590332,
7
+ 56.879119873046875,
8
+ -93.4945068359375,
9
+ 4.009819984436035
10
+ ],
11
+ "max": [
12
+ -9.362637519836426,
13
+ 44.30769348144531,
14
+ 66.72527313232422,
15
+ 73.14286041259766,
16
+ -90.76923370361328,
17
+ 18.739770889282227
18
+ ],
19
+ "mean": [
20
+ -21.102304458618164,
21
+ -0.2709215581417084,
22
+ -2.65795636177063,
23
+ 64.93717956542969,
24
+ -91.85375213623047,
25
+ 11.911698341369629
26
+ ],
27
+ "std": [
28
+ 5.202236175537109,
29
+ 41.49738311767578,
30
+ 26.0439453125,
31
+ 6.070709705352783,
32
+ 1.1532901525497437,
33
+ 7.270320415496826
34
+ ],
35
+ "count": [
36
+ 269
37
+ ],
38
+ "q01": [
39
+ -25.9780216217041,
40
+ -101.18681335449219,
41
+ -19.69230842590332,
42
+ 56.96918823242188,
43
+ -93.4945068359375,
44
+ 4.009819984436035
45
+ ],
46
+ "q10": [
47
+ -24.8367112159729,
48
+ -80.32580871582032,
49
+ -19.420524692535402,
50
+ 60.22151726432469,
51
+ -93.40636901855468,
52
+ 4.009819984436035
53
+ ],
54
+ "q50": [
55
+ -23.07531452178955,
56
+ 8.429355303446451,
57
+ -17.93223972523466,
58
+ 60.65932480948312,
59
+ -91.03264707677505,
60
+ 18.659176962716238
61
+ ],
62
+ "q90": [
63
+ -9.452195930480958,
64
+ 43.3212387084961,
65
+ 45.62382888793945,
66
+ 73.14155551284107,
67
+ -90.76953727404276,
68
+ 18.739170356230304
69
+ ],
70
+ "q99": [
71
+ -9.36299533958435,
72
+ 44.30308907003964,
73
+ 66.71946253776551,
74
+ 73.142729922622,
75
+ -90.76926406065623,
76
+ 18.739710835977036
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -25.758241653442383,
82
+ -101.010986328125,
83
+ -17.934066772460938,
84
+ 57.978023529052734,
85
+ -93.84615325927734,
86
+ 11.255115509033203
87
+ ],
88
+ "max": [
89
+ -9.406593322753906,
90
+ 44.659339904785156,
91
+ 66.989013671875,
92
+ 73.0988998413086,
93
+ -91.12088012695312,
94
+ 18.55388832092285
95
+ ],
96
+ "mean": [
97
+ -21.030284881591797,
98
+ 0.3134128749370575,
99
+ -0.08269279450178146,
100
+ 64.85828399658203,
101
+ -92.24421691894531,
102
+ 15.140470504760742
103
+ ],
104
+ "std": [
105
+ 5.376311302185059,
106
+ 43.7320442199707,
107
+ 27.13563346862793,
108
+ 5.924863338470459,
109
+ 1.1750997304916382,
110
+ 3.545898199081421
111
+ ],
112
+ "count": [
113
+ 269
114
+ ],
115
+ "q01": [
116
+ -25.758241653442383,
117
+ -101.010986328125,
118
+ -17.843284177780152,
119
+ 58.06676706314087,
120
+ -93.84615325927734,
121
+ 11.255115509033203
122
+ ],
123
+ "q10": [
124
+ -24.878849983215332,
125
+ -87.64136428833008,
126
+ -17.74866298675537,
127
+ 60.263011671367444,
128
+ -93.75786437988282,
129
+ 11.255115509033203
130
+ ],
131
+ "q50": [
132
+ -23.20820188522339,
133
+ 12.135807342529297,
134
+ -16.624128103256226,
135
+ 60.52994985165803,
136
+ -91.4727824124423,
137
+ 18.416762948036194
138
+ ],
139
+ "q90": [
140
+ -9.408908919284219,
141
+ 44.28349304199219,
142
+ 54.761784362792966,
143
+ 73.09783048127827,
144
+ -91.12103191216787,
145
+ 18.417917370796204
146
+ ],
147
+ "q99": [
148
+ -9.406824882406937,
149
+ 44.65593039802883,
150
+ 66.98647451188829,
151
+ 73.09879290530556,
152
+ -91.1208953054746,
153
+ 18.552907061576843
154
+ ]
155
+ },
156
+ "observation.images.wrist": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.48644772671568626
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.4741065890522876
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.42929237949346405
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 100
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ 0.0038371292802924836
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.0038251991163019074
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ -3.9215686274509807e-13
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.08229325741651386
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.09007549264469653
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.03130309333296573
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.5372337667121209
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.5177725188120714
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.41961049972932535
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.6941890824940266
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.6980823908376642
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.7686306737267032
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.8431776079139381
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.8589153337344967
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.8823579425116462
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.front": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.5491083905228759
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.4719847385620915
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.4034318647875817
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 100
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ 0.035369251793280945
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.039208502906615324
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ 0.027434724742521073
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.17259752935768127
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.1920371367268893
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.1765795826642728
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.6039944592677511
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.49013861693325195
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.3883310949808198
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.8156582434517113
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.7606729696546509
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.6941307564270063
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.999833362263888
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.8863617606605505
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.8274880590536654
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 8.933333333333334
478
+ ],
479
+ "mean": [
480
+ 4.466666666666667
481
+ ],
482
+ "std": [
483
+ 2.5884358211089555
484
+ ],
485
+ "count": [
486
+ 269
487
+ ],
488
+ "q01": [
489
+ 0.06733946656817427
490
+ ],
491
+ "q10": [
492
+ 0.8681413332527694
493
+ ],
494
+ "q50": [
495
+ 4.46756000000002
496
+ ],
497
+ "q90": [
498
+ 8.065192000080565
499
+ ],
500
+ "q99": [
501
+ 8.86599386676516
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 268
510
+ ],
511
+ "mean": [
512
+ 134.0
513
+ ],
514
+ "std": [
515
+ 77.6530746332687
516
+ ],
517
+ "count": [
518
+ 269
519
+ ],
520
+ "q01": [
521
+ 2.0201839999015077
522
+ ],
523
+ "q10": [
524
+ 26.044239999919437
525
+ ],
526
+ "q50": [
527
+ 134.02680000000004
528
+ ],
529
+ "q90": [
530
+ 241.95576000008055
531
+ ],
532
+ "q99": [
533
+ 265.9798160000985
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 269
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 268
574
+ ],
575
+ "mean": [
576
+ 134.0
577
+ ],
578
+ "std": [
579
+ 77.6530746332687
580
+ ],
581
+ "count": [
582
+ 269
583
+ ],
584
+ "q01": [
585
+ 2.0201839999015077
586
+ ],
587
+ "q10": [
588
+ 26.044239999919437
589
+ ],
590
+ "q50": [
591
+ 134.02680000000004
592
+ ],
593
+ "q90": [
594
+ 241.95576000008055
595
+ ],
596
+ "q99": [
597
+ 265.9798160000985
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 269
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:59ee3770b160b21e7aefa18dd8501f49c2c24bff274999561630ec4c8dd0bd0a
3
+ size 2105
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 sha256:0c561571a416681b0795c789ed57e62214a8d937dc452ec5e52700f055aa35ad
3
+ size 14716567
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 sha256:1edd929296060ff9bb8ea1b7981822c10bed43887c150eec83a7996a8d73612c
3
+ size 5664017