Hugging Face's logo

Datasets:
fabiangrob
/
pick_place_bad_lighting

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
Community
fabiangrob commited on
Commit
d0bec75
·
verified ·
1 Parent(s): a6e44bc

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.top/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:bad8d28ee375067eb9e5af36f19b5cd164c8fe90f76e26a8543558e0b1d7b29c
3
+ size 406083
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bc974f4bee83a2a1e60df8947615dce79254ba00548f8f812195f20bda238c32
3
+ size 107067
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 20,
5
+ "total_frames": 8020,
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": "0:20"
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.wrist": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 1080,
49
+ 1920,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 1080,
59
+ "video.width": 1920,
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.top": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 720,
72
+ 1280,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 720,
82
+ "video.width": 1280,
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.top": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.06666666666666667
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.07058823529411765
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.11372549019607843
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 0.9058823529411765
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 0.7686274509803922
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.4310039588178986
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.32808144758897595
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.27944375752565226
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.004149192499792426
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.003080342434811077
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0016453911481190857
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 2012
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.09489757893913212
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.09023871014183757
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.16470765915141192
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.18909142845749755
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.15356767973051408
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.19609230261517532
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.46003154254836476
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.35002908061038257
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.29038572823911774
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.6119225716303355
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.4523339217531087
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.33705138935847084
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.673305147304993
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.4950995366502083
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.3625425581650189
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "observation.state": {
161
+ "min": [
162
+ -29.612960815429688,
163
+ -99.91397857666016,
164
+ -67.83783721923828,
165
+ 26.586345672607422,
166
+ -39.78022003173828,
167
+ 0.8748317360877991
168
+ ],
169
+ "max": [
170
+ 66.24662780761719,
171
+ 46.15053939819336,
172
+ 99.1891860961914,
173
+ 93.73493957519531,
174
+ 44.56654357910156,
175
+ 44.48183059692383
176
+ ],
177
+ "mean": [
178
+ 15.604137866455423,
179
+ -50.50719661189434,
180
+ 50.084485344637066,
181
+ 69.11269082143123,
182
+ -1.8843040895227927,
183
+ 8.076313402468427
184
+ ],
185
+ "std": [
186
+ 17.670667871247627,
187
+ 50.958385910598466,
188
+ 46.34991867517248,
189
+ 9.179513074763085,
190
+ 13.161690732799851,
191
+ 10.422068178438838
192
+ ],
193
+ "count": [
194
+ 8020
195
+ ],
196
+ "q01": [
197
+ -6.055837134484935,
198
+ -99.78010907732045,
199
+ -22.82682136398753,
200
+ 49.15424897190183,
201
+ -15.26676523976656,
202
+ 0.9233477457354491
203
+ ],
204
+ "q10": [
205
+ -4.013839248272551,
206
+ -99.74256767078232,
207
+ -15.834249434203082,
208
+ 57.10746402975473,
209
+ -12.586622768164846,
210
+ 0.9233477457354491
211
+ ],
212
+ "q50": [
213
+ 14.115060945765693,
214
+ -71.5631691732906,
215
+ 70.3963563867539,
216
+ 72.22850064624423,
217
+ -3.1808277867243184,
218
+ 0.9422334805905864
219
+ ],
220
+ "q90": [
221
+ 40.54756043476035,
222
+ 18.566807827940053,
223
+ 93.24721287302465,
224
+ 78.19492825070516,
225
+ 11.779825964382882,
226
+ 25.75842356664884
227
+ ],
228
+ "q99": [
229
+ 43.675627385092916,
230
+ 27.652063816884255,
231
+ 93.49758872521872,
232
+ 81.45997366591851,
233
+ 13.882110567394848,
234
+ 32.89644933240105
235
+ ]
236
+ },
237
+ "frame_index": {
238
+ "min": [
239
+ 0
240
+ ],
241
+ "max": [
242
+ 511
243
+ ],
244
+ "mean": [
245
+ 204.04763092269326
246
+ ],
247
+ "std": [
248
+ 122.43859054435096
249
+ ],
250
+ "count": [
251
+ 8020
252
+ ],
253
+ "q01": [
254
+ 3.633598134565116
255
+ ],
256
+ "q10": [
257
+ 40.37170583533125
258
+ ],
259
+ "q50": [
260
+ 203.79902084788014
261
+ ],
262
+ "q90": [
263
+ 367.59078019958133
264
+ ],
265
+ "q99": [
266
+ 404.4616637108215
267
+ ]
268
+ },
269
+ "index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 8019
275
+ ],
276
+ "mean": [
277
+ 4009.5
278
+ ],
279
+ "std": [
280
+ 2315.1745614531965
281
+ ],
282
+ "count": [
283
+ 8020
284
+ ],
285
+ "q01": [
286
+ 3809.0859672118722
287
+ ],
288
+ "q10": [
289
+ 3845.824074912638
290
+ ],
291
+ "q50": [
292
+ 4009.2555513216957
293
+ ],
294
+ "q90": [
295
+ 4173.0431492768885
296
+ ],
297
+ "q99": [
298
+ 4209.914032788128
299
+ ]
300
+ },
301
+ "episode_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 19
307
+ ],
308
+ "mean": [
309
+ 9.821820448877805
310
+ ],
311
+ "std": [
312
+ 5.84854972134743
313
+ ],
314
+ "count": [
315
+ 8020
316
+ ],
317
+ "q01": [
318
+ 9.821820448877805
319
+ ],
320
+ "q10": [
321
+ 9.821820448877807
322
+ ],
323
+ "q50": [
324
+ 9.821820448877828
325
+ ],
326
+ "q90": [
327
+ 9.821820448877842
328
+ ],
329
+ "q99": [
330
+ 9.821820448877844
331
+ ]
332
+ },
333
+ "timestamp": {
334
+ "min": [
335
+ 0.0
336
+ ],
337
+ "max": [
338
+ 17.033333333333335
339
+ ],
340
+ "mean": [
341
+ 6.801587697423107
342
+ ],
343
+ "std": [
344
+ 4.081286351478366
345
+ ],
346
+ "count": [
347
+ 8020
348
+ ],
349
+ "q01": [
350
+ 0.12111993772388575
351
+ ],
352
+ "q10": [
353
+ 1.3457235277668256
354
+ ],
355
+ "q50": [
356
+ 6.793439408146171
357
+ ],
358
+ "q90": [
359
+ 12.253026006730197
360
+ ],
361
+ "q99": [
362
+ 13.482055457122335
363
+ ]
364
+ },
365
+ "task_index": {
366
+ "min": [
367
+ 0
368
+ ],
369
+ "max": [
370
+ 0
371
+ ],
372
+ "mean": [
373
+ 0.0
374
+ ],
375
+ "std": [
376
+ 0.0
377
+ ],
378
+ "count": [
379
+ 8020
380
+ ],
381
+ "q01": [
382
+ 3.999999999999418e-16
383
+ ],
384
+ "q10": [
385
+ 3.999999999999418e-15
386
+ ],
387
+ "q50": [
388
+ 1.9999999999997088e-14
389
+ ],
390
+ "q90": [
391
+ 3.5999999999994754e-14
392
+ ],
393
+ "q99": [
394
+ 3.959999999999422e-14
395
+ ]
396
+ },
397
+ "action": {
398
+ "min": [
399
+ -30.060293197631836,
400
+ -100.0,
401
+ -70.59890747070312,
402
+ 24.622295379638672,
403
+ -40.07326126098633,
404
+ 0.10277492552995682
405
+ ],
406
+ "max": [
407
+ 66.83892822265625,
408
+ 45.35993194580078,
409
+ 94.37386322021484,
410
+ 94.36504364013672,
411
+ 44.85958480834961,
412
+ 45.01541519165039
413
+ ],
414
+ "mean": [
415
+ 15.579744725928936,
416
+ -51.29211209979735,
417
+ 49.0480168597062,
418
+ 69.04099446722397,
419
+ -1.8932097553426488,
420
+ 4.971529149741603
421
+ ],
422
+ "std": [
423
+ 17.731914579721657,
424
+ 50.37118716785674,
425
+ 46.91951813153868,
426
+ 9.325800559525543,
427
+ 13.195793221734467,
428
+ 10.480796572606904
429
+ ],
430
+ "count": [
431
+ 8020
432
+ ],
433
+ "q01": [
434
+ -6.564600313946019,
435
+ -100.0,
436
+ -25.30870959474945,
437
+ 48.51499910570558,
438
+ -15.40150590353,
439
+ 0.10277492552995682
440
+ ],
441
+ "q10": [
442
+ -4.149288323185689,
443
+ -100.0,
444
+ -17.52277929356132,
445
+ 56.80452169147534,
446
+ -12.636903741626655,
447
+ 0.10277492552995682
448
+ ],
449
+ "q50": [
450
+ 14.122404202510783,
451
+ -72.2441725256437,
452
+ 69.08960677715311,
453
+ 72.21360520883637,
454
+ -3.1764061242102195,
455
+ 0.10277492552995682
456
+ ],
457
+ "q90": [
458
+ 40.52488510589551,
459
+ 16.960406554383614,
460
+ 92.85795262441516,
461
+ 78.25249573788,
462
+ 11.843642606781492,
463
+ 26.014506929501433
464
+ ],
465
+ "q99": [
466
+ 44.17052945338823,
467
+ 27.043230208986873,
468
+ 93.05424491616817,
469
+ 81.75853575942267,
470
+ 14.037023255645487,
471
+ 33.34559949986076
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
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.3334427146272691
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.31555865244264264
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.28127998458053416
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.006955067347530465
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.006872901946754655
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.006569534891790456
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 2012
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.003821844098056553
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.0037998057817998083
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ -3.9215686274509787e-13
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.005708586007014504
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.0039690939857283305
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ -3.9215686274509787e-13
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.3679857710300127
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.35074725166746273
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.31328168241003834
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.5228986990468597
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.4973682846737307
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.47993656029199416
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.5844856034156444
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.552510344324092
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.541557456446241
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:826df6436db362bdde999c57c1ee1721b9f06e7d566d4b1f1d9757b33b1d10ec
3
+ size 2356
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 sha256:576eca1f31780e5cc26970020843b8b682ce83c0504f47b3070aa059d237d7b5
3
+ size 55180279
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 sha256:1fd17383fcec63d1db093bbcd334c08d7332118ce4d936fbb77d551b3a5d7339
3
+ size 78679779