Hugging Face's logo

Datasets:
ethanCSL
/
eval_koch_baseline

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
ethanCSL commited on
Commit
12e9975
·
verified ·
1 Parent(s): 9bc224d

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.camera1/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.camera2/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 sha256:34cd694e714aacb9bebc826fd4b04384e3510b29a695343f90cc06e88b8ec152
3
+ size 152383
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8208031542a21cb9d7362345201fffe1b5a79fa6e26c217f50873a544de2e296
3
+ size 60658
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "koch_follower",
4
+ "total_episodes": 6,
5
+ "total_frames": 2248,
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": "0:6"
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.camera1": {
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.camera2": {
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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 546
8
+ ],
9
+ "mean": [
10
+ 224.87010676156584
11
+ ],
12
+ "std": [
13
+ 135.73703524199846
14
+ ],
15
+ "count": [
16
+ 2248
17
+ ],
18
+ "q01": [
19
+ 4.213270809510411
20
+ ],
21
+ "q10": [
22
+ 44.59143610312265
23
+ ],
24
+ "q50": [
25
+ 224.78936361209958
26
+ ],
27
+ "q90": [
28
+ 405.14877742000897
29
+ ],
30
+ "q99": [
31
+ 445.52694044671733
32
+ ]
33
+ },
34
+ "action": {
35
+ "min": [
36
+ -38.24427032470703,
37
+ 8.854270935058594,
38
+ -38.82275390625,
39
+ -100.44921875,
40
+ -13.407469749450684,
41
+ 1.1617145538330078
42
+ ],
43
+ "max": [
44
+ 29.67343521118164,
45
+ 100.23577880859375,
46
+ 17.60791778564453,
47
+ -72.93573760986328,
48
+ -0.4192638397216797,
49
+ 49.37131881713867
50
+ ],
51
+ "mean": [
52
+ -5.763660236397672,
53
+ 69.88018254113793,
54
+ -13.265360110595132,
55
+ -92.37644406654657,
56
+ -6.089836597018396,
57
+ 30.42247352735852
58
+ ],
59
+ "std": [
60
+ 16.15156660109668,
61
+ 29.44357186231776,
62
+ 13.39501779536654,
63
+ 6.778003769096281,
64
+ 2.9077232669031234,
65
+ 20.970519604816815
66
+ ],
67
+ "count": [
68
+ 2248
69
+ ],
70
+ "q01": [
71
+ -34.57049951113841,
72
+ 15.63784293733882,
73
+ -33.043331308678795,
74
+ -99.81647809663276,
75
+ -12.019480720716015,
76
+ 2.1082997688868503
77
+ ],
78
+ "q10": [
79
+ -26.454244041358024,
80
+ 22.320133770912143,
81
+ -27.43123589461384,
82
+ -99.45702711118922,
83
+ -11.009161308863833,
84
+ 2.983900277088545
85
+ ],
86
+ "q50": [
87
+ -6.585257330611083,
88
+ 83.88975468564288,
89
+ -15.395783275684003,
90
+ -93.23797545993031,
91
+ -5.98010516166687,
92
+ 46.588643902561415
93
+ ],
94
+ "q90": [
95
+ 24.128707401099152,
96
+ 97.61881778350505,
97
+ 6.958063795897462,
98
+ -81.08689477146733,
99
+ -2.8015280412185235,
100
+ 48.690119492237976
101
+ ],
102
+ "q99": [
103
+ 28.319232644500257,
104
+ 99.05692374171736,
105
+ 16.468119915660168,
106
+ -77.089126019393,
107
+ -1.9359600109279087,
108
+ 49.043801087552545
109
+ ]
110
+ },
111
+ "observation.images.camera1": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.4645341924166883
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.4362902896373603
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.3991677068993315
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.005008333609772397
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.005232105986987998
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.004195976712897107
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 527
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.01963431650066026
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.016542892488004196
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.002519565893781663
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.024308677588190674
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.024297466783851304
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.020413268861391342
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.5865517331083477
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.5699009615468718
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.4363430355630179
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.8319907288031029
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.7485995273601029
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.743897813306888
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.9204342071044228
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.8446276806019417
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.808862338119008
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "task_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 0
275
+ ],
276
+ "mean": [
277
+ 0.0
278
+ ],
279
+ "std": [
280
+ 0.0
281
+ ],
282
+ "count": [
283
+ 2248
284
+ ],
285
+ "q01": [
286
+ 3.9999999999994176e-16
287
+ ],
288
+ "q10": [
289
+ 3.999999999999417e-15
290
+ ],
291
+ "q50": [
292
+ 1.9999999999997088e-14
293
+ ],
294
+ "q90": [
295
+ 3.5999999999994754e-14
296
+ ],
297
+ "q99": [
298
+ 3.9599999999994235e-14
299
+ ]
300
+ },
301
+ "observation.images.camera2": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 0.996078431372549
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.5099765850758393
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.4868629601983109
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.46048260362019566
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.0053500489099096256
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.0065521377446716815
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.00715856652037084
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 527
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.018969451591221674
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.014905761540524028
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.01106126743638527
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.22347025811177082
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.15568348140165914
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.12910263577071368
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.5529109287413115
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.5437739331458936
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.5230547384616436
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.7110035095210333
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.6829434844284804
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.6783035488076606
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.8324768348035834
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.8122190395662241
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.8061310827716465
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "episode_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 5
465
+ ],
466
+ "mean": [
467
+ 1.9408362989323844
468
+ ],
469
+ "std": [
470
+ 1.4885582643276158
471
+ ],
472
+ "count": [
473
+ 2248
474
+ ],
475
+ "q01": [
476
+ 1.9408362989323849
477
+ ],
478
+ "q10": [
479
+ 1.9408362989323884
480
+ ],
481
+ "q50": [
482
+ 1.9408362989324042
483
+ ],
484
+ "q90": [
485
+ 1.9408362989324204
486
+ ],
487
+ "q99": [
488
+ 1.940836298932424
489
+ ]
490
+ },
491
+ "timestamp": {
492
+ "min": [
493
+ 0.0
494
+ ],
495
+ "max": [
496
+ 18.2
497
+ ],
498
+ "mean": [
499
+ 7.495670225385526
500
+ ],
501
+ "std": [
502
+ 4.524567841399948
503
+ ],
504
+ "count": [
505
+ 2248
506
+ ],
507
+ "q01": [
508
+ 0.1404423602221554
509
+ ],
510
+ "q10": [
511
+ 1.4863812033599
512
+ ],
513
+ "q50": [
514
+ 7.493864498813685
515
+ ],
516
+ "q90": [
517
+ 13.504959247411158
518
+ ],
519
+ "q99": [
520
+ 14.850898014985436
521
+ ]
522
+ },
523
+ "index": {
524
+ "min": [
525
+ 0
526
+ ],
527
+ "max": [
528
+ 2247
529
+ ],
530
+ "mean": [
531
+ 1123.5
532
+ ],
533
+ "std": [
534
+ 648.9416383620332
535
+ ],
536
+ "count": [
537
+ 2248
538
+ ],
539
+ "q01": [
540
+ 902.8431640479445
541
+ ],
542
+ "q10": [
543
+ 943.2213293415568
544
+ ],
545
+ "q50": [
546
+ 1123.4192568505339
547
+ ],
548
+ "q90": [
549
+ 1303.7786706584432
550
+ ],
551
+ "q99": [
552
+ 1344.1568336851512
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -37.631256103515625,
558
+ 8.854166984558105,
559
+ -30.12994956970215,
560
+ 100.0,
561
+ -12.722832679748535,
562
+ 8.755760192871094
563
+ ],
564
+ "max": [
565
+ 29.181928634643555,
566
+ 99.73958587646484,
567
+ 17.67905616760254,
568
+ 100.0,
569
+ -1.1477411985397339,
570
+ 47.84946060180664
571
+ ],
572
+ "mean": [
573
+ -5.765799246648877,
574
+ 68.73060786087743,
575
+ -8.593943068141188,
576
+ 100.0,
577
+ -6.165904523214835,
578
+ 35.897601663854196
579
+ ],
580
+ "std": [
581
+ 16.062206007232053,
582
+ 29.461590936345146,
583
+ 12.468766234460343,
584
+ 0.0,
585
+ 2.765000185894597,
586
+ 12.338202651849647
587
+ ],
588
+ "count": [
589
+ 2248
590
+ ],
591
+ "q01": [
592
+ -34.354965518190596,
593
+ 15.637887053755577,
594
+ -25.084907121317528,
595
+ 100.0,
596
+ -11.667170309372143,
597
+ 17.717824306962328
598
+ ],
599
+ "q10": [
600
+ -26.2613500013046,
601
+ 21.815398402895646,
602
+ -23.00483801424291,
603
+ 100.0,
604
+ -10.99837462919318,
605
+ 21.256635138644217
606
+ ],
607
+ "q50": [
608
+ -6.56883475140839,
609
+ 82.72042091491936,
610
+ -10.976606321955959,
611
+ 100.0,
612
+ -6.040923394189448,
613
+ 44.95781530004737
614
+ ],
615
+ "q90": [
616
+ 23.99952537436502,
617
+ 96.78165359424102,
618
+ 11.18142796224426,
619
+ 100.0,
620
+ -3.2206435480897477,
621
+ 47.4973722912496
622
+ ],
623
+ "q99": [
624
+ 28.157990481041786,
625
+ 98.64504685299174,
626
+ 16.868200103951885,
627
+ 100.0,
628
+ -2.414099293880007,
629
+ 47.500487729915974
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:59bc11a31d49af45a0382a360ff2f5dc3a6ae5cfa257888e51ca387cdd1723ed
3
+ size 2411
videos/observation.images.camera1/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7ecdc7fc56411e30717cbbfd4fde883def3adf30d3d48f493306ed199e51c940
3
+ size 21140030
videos/observation.images.camera2/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e64c92ef61946768557f48f8a35c9c5f48b08eb94992f1291451e7882d83e053
3
+ size 24341693