Hugging Face's logo

Datasets:
dureduck
/
eval_so100_act_1105_9x7x3_20samples

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
Community
dureduck commited on
Commit
58f0b2b
·
verified ·
1 Parent(s): d1b124c

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.external/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:b8ba4b1bfac8109058f1669ace7bc52327d928de742cd66b51d530ea74f95655
3
+ size 724769
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c9132d71249453f9fc1e456abcc4b9fcbe766aa4a8eb492c5369398714371b63
3
+ size 107631
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so100_follower",
4
+ "total_episodes": 20,
5
+ "total_frames": 10398,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:20"
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
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "names": [
34
+ "shoulder_pan.pos",
35
+ "shoulder_lift.pos",
36
+ "elbow_flex.pos",
37
+ "wrist_flex.pos",
38
+ "wrist_roll.pos",
39
+ "gripper.pos"
40
+ ],
41
+ "shape": [
42
+ 6
43
+ ]
44
+ },
45
+ "observation.images.external": {
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.wrist": {
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
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 19
8
+ ],
9
+ "mean": [
10
+ 9.381227159069052
11
+ ],
12
+ "std": [
13
+ 5.70450141263445
14
+ ],
15
+ "count": [
16
+ 10398
17
+ ],
18
+ "q01": [
19
+ 9.381227159069052
20
+ ],
21
+ "q10": [
22
+ 9.381227159069054
23
+ ],
24
+ "q50": [
25
+ 9.381227159069075
26
+ ],
27
+ "q90": [
28
+ 9.381227159069088
29
+ ],
30
+ "q99": [
31
+ 9.381227159069091
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "min": [
36
+ -30.23426055908203,
37
+ -99.1368179321289,
38
+ -52.86164855957031,
39
+ 33.49494934082031,
40
+ -31.4774112701416,
41
+ 0.0
42
+ ],
43
+ "max": [
44
+ 22.913616180419922,
45
+ 50.45317077636719,
46
+ 96.57503509521484,
47
+ 85.45454406738281,
48
+ 13.2600736618042,
49
+ 29.847143173217773
50
+ ],
51
+ "mean": [
52
+ -3.793293866537229,
53
+ -43.35974189588073,
54
+ 49.5260136028876,
55
+ 61.7021984779782,
56
+ -0.6589755993132226,
57
+ 5.606520630093945
58
+ ],
59
+ "std": [
60
+ 8.784735695933064,
61
+ 46.92479580720494,
62
+ 40.84201705386067,
63
+ 9.519713561952516,
64
+ 6.155207442208908,
65
+ 8.194766648656584
66
+ ],
67
+ "count": [
68
+ 10398
69
+ ],
70
+ "q01": [
71
+ -13.364420846211859,
72
+ -98.68347669319613,
73
+ -8.401617237049976,
74
+ 45.909307428694376,
75
+ -7.8376358815760145,
76
+ 0.012183237048817998
77
+ ],
78
+ "q10": [
79
+ -11.35445844712745,
80
+ -98.39197576100644,
81
+ -0.7163049942769341,
82
+ 50.05096958475205,
83
+ -5.621873719760131,
84
+ 0.05557051634938393
85
+ ],
86
+ "q50": [
87
+ -3.2484966051568307,
88
+ -41.427023695303525,
89
+ 49.55093674448648,
90
+ 61.913293476647475,
91
+ -0.44135131766404934,
92
+ 0.8905588504470465
93
+ ],
94
+ "q90": [
95
+ 2.8111877942813193,
96
+ 15.536835934530814,
97
+ 93.09347077260875,
98
+ 72.11554187918452,
99
+ 3.787346853472939,
100
+ 19.83900929394399
101
+ ],
102
+ "q99": [
103
+ 4.829030473179716,
104
+ 24.479701148830603,
105
+ 93.47487816729542,
106
+ 72.97838051121151,
107
+ 5.7415668887819935,
108
+ 25.142800739755632
109
+ ]
110
+ },
111
+ "timestamp": {
112
+ "min": [
113
+ 0.0
114
+ ],
115
+ "max": [
116
+ 18.133333333333333
117
+ ],
118
+ "mean": [
119
+ 8.660418670257101
120
+ ],
121
+ "std": [
122
+ 5.023059515065121
123
+ ],
124
+ "count": [
125
+ 10398
126
+ ],
127
+ "q01": [
128
+ 0.16150891175670734
129
+ ],
130
+ "q10": [
131
+ 1.7165357325607142
132
+ ],
133
+ "q50": [
134
+ 8.655697639930697
135
+ ],
136
+ "q90": [
137
+ 15.598450110870647
138
+ ],
139
+ "q99": [
140
+ 17.15932842875749
141
+ ]
142
+ },
143
+ "action": {
144
+ "min": [
145
+ -30.773317337036133,
146
+ -99.39034271240234,
147
+ -54.86791229248047,
148
+ 33.030906677246094,
149
+ -19.337753295898438,
150
+ -0.6490612030029297
151
+ ],
152
+ "max": [
153
+ 23.033493041992188,
154
+ 49.934696197509766,
155
+ 94.64535522460938,
156
+ 85.66116333007812,
157
+ 13.596426010131836,
158
+ 30.24245262145996
159
+ ],
160
+ "mean": [
161
+ -3.682007334910005,
162
+ -44.02403495228733,
163
+ 48.081491777772605,
164
+ 61.60087449010874,
165
+ -0.5505413648015514,
166
+ 5.208416088197432
167
+ ],
168
+ "std": [
169
+ 8.818384413548975,
170
+ 46.18649660738282,
171
+ 41.1491450602785,
172
+ 9.618384403740937,
173
+ 6.139771975529621,
174
+ 8.325903481932391
175
+ ],
176
+ "count": [
177
+ 10398
178
+ ],
179
+ "q01": [
180
+ -13.329074771083945,
181
+ -99.02308861105125,
182
+ -10.323501509669928,
183
+ 45.6663294405716,
184
+ -7.492530951438746,
185
+ -0.2005760590336505
186
+ ],
187
+ "q10": [
188
+ -11.268987258257006,
189
+ -98.53873180793299,
190
+ -2.1451144416370282,
191
+ 49.849098852887295,
192
+ -5.5682322634879515,
193
+ 0.020743461117810037
194
+ ],
195
+ "q50": [
196
+ -3.144499134068123,
197
+ -42.31958948774828,
198
+ 47.936702120554045,
199
+ 61.79814220231457,
200
+ -0.3367823589923497,
201
+ 0.30834826022367917
202
+ ],
203
+ "q90": [
204
+ 2.9837530660485583,
205
+ 13.898254028910234,
206
+ 92.66409863841332,
207
+ 72.27901015049065,
208
+ 3.9036671194868484,
209
+ 20.10012700631541
210
+ ],
211
+ "q99": [
212
+ 5.012603650544326,
213
+ 23.612896257471323,
214
+ 93.21965307766268,
215
+ 73.24518498023336,
216
+ 5.9098735827376085,
217
+ 25.340090425975234
218
+ ]
219
+ },
220
+ "frame_index": {
221
+ "min": [
222
+ 0
223
+ ],
224
+ "max": [
225
+ 544
226
+ ],
227
+ "mean": [
228
+ 259.812560107713
229
+ ],
230
+ "std": [
231
+ 150.6917854519536
232
+ ],
233
+ "count": [
234
+ 10398
235
+ ],
236
+ "q01": [
237
+ 4.845267355547182
238
+ ],
239
+ "q10": [
240
+ 51.49607197914659
241
+ ],
242
+ "q50": [
243
+ 259.61248330448166
244
+ ],
245
+ "q90": [
246
+ 467.9535033237964
247
+ ],
248
+ "q99": [
249
+ 514.7798528598789
250
+ ]
251
+ },
252
+ "task_index": {
253
+ "min": [
254
+ 0
255
+ ],
256
+ "max": [
257
+ 0
258
+ ],
259
+ "mean": [
260
+ 0.0
261
+ ],
262
+ "std": [
263
+ 0.0
264
+ ],
265
+ "count": [
266
+ 10398
267
+ ],
268
+ "q01": [
269
+ 3.9999999999994176e-16
270
+ ],
271
+ "q10": [
272
+ 3.9999999999994166e-15
273
+ ],
274
+ "q50": [
275
+ 1.999999999999708e-14
276
+ ],
277
+ "q90": [
278
+ 3.5999999999994754e-14
279
+ ],
280
+ "q99": [
281
+ 3.959999999999423e-14
282
+ ]
283
+ },
284
+ "index": {
285
+ "min": [
286
+ 0
287
+ ],
288
+ "max": [
289
+ 10397
290
+ ],
291
+ "mean": [
292
+ 5198.5
293
+ ],
294
+ "std": [
295
+ 3001.644035635583
296
+ ],
297
+ "count": [
298
+ 10398
299
+ ],
300
+ "q01": [
301
+ 4943.532707247835
302
+ ],
303
+ "q10": [
304
+ 4990.183511871434
305
+ ],
306
+ "q50": [
307
+ 5198.353550855934
308
+ ],
309
+ "q90": [
310
+ 5406.640943216083
311
+ ],
312
+ "q99": [
313
+ 5453.467292752165
314
+ ]
315
+ },
316
+ "observation.images.external": {
317
+ "min": [
318
+ [
319
+ [
320
+ 0.0
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 0.0
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.0
331
+ ]
332
+ ]
333
+ ],
334
+ "max": [
335
+ [
336
+ [
337
+ 1.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 1.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ "mean": [
352
+ [
353
+ [
354
+ 0.42699830500259506
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.4159354159311462
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.40652181072682997
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.0047512961120440116
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.0059178353386959495
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.006352290419914424
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 2166
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.033570831867605004
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 0.024160080314839617
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ -3.9215686274509797e-13
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.1379464168811153
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.0768570550866867
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.04220917702416297
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.4751174280161121
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.4725318303235352
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.43979161123622024
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.6028907411669833
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.6700303419838824
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.7555121170766932
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.8215649225436605
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.7995983386480958
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.8430324028829863
470
+ ]
471
+ ]
472
+ ]
473
+ },
474
+ "observation.images.wrist": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 0.9607843137254902
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.4947813183656811
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.4777131254375404
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.4895106310048642
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.006458253179830595
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.004585654057206023
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.00747020174855965
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 2166
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.015174350158806449
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.014163976577600414
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ -3.9215686274509797e-13
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.10965455101946346
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.09430789512970067
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.05566927224539431
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.5573476578552652
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.5408808501553876
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.5694862580352686
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.7292362139335843
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.7290578208450629
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.7652921653593324
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.8273807209542144
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.7833774149139131
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.825980937998236
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ffea96862693d91d17c3c920ca26e1a529486ff63dd874bb66a8647e2a11b9f
3
+ size 2241
videos/observation.images.external/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1bc0b9735e7715936bb62f3bb44f69bc673defc318955a968c439befd4fcca62
3
+ size 112702025
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:d3870d85905b7f315583c25016e25ee723240907eba9b1e77d899c01590c0ce2
3
+ size 37405466