Hugging Face's logo

Datasets:
fabiangrob
/
pick_place_clean_2

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
fabiangrob commited on
Commit
eb8ace0
·
verified ·
1 Parent(s): f08654c

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 sha256:79bde1375cc7183a90a81602a878103cee20a775b4995d61571abbf88bfe8462
3
+ size 148832
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5c69ab135a5f68d9c33af5e20c29e723d3d2e46a1009bf05c6b68f0f74d07f21
3
+ size 63026
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 8,
5
+ "total_frames": 2977,
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": "0:8"
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
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 7
8
+ ],
9
+ "mean": [
10
+ 3.178031575411488
11
+ ],
12
+ "std": [
13
+ 2.3422083514028436
14
+ ],
15
+ "count": [
16
+ 2977
17
+ ],
18
+ "q01": [
19
+ 3.1780315754114894
20
+ ],
21
+ "q10": [
22
+ 3.1780315754114916
23
+ ],
24
+ "q50": [
25
+ 3.1780315754115076
26
+ ],
27
+ "q90": [
28
+ 3.178031575411524
29
+ ],
30
+ "q99": [
31
+ 3.1780315754115276
32
+ ]
33
+ },
34
+ "observation.images.wrist": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.4737235808595469
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.4684577933663887
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.46510533346480354
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.003820103509830642
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.003628573602288985
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.005705731561853556
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 812
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.012240613585717043
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ -3.9215686274509807e-13
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ -3.9215686274509807e-13
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.21785300576977573
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.19480183286855662
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.14890274298726416
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.4961114178236441
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.4818881428265252
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.4778798723328662
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.6834884352914532
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.6976275545613126
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.7234994470374322
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.7401570039260937
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.7518364547544717
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.7807266782081156
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 2976
198
+ ],
199
+ "mean": [
200
+ 1488.0
201
+ ],
202
+ "std": [
203
+ 859.3858272045217
204
+ ],
205
+ "count": [
206
+ 2977
207
+ ],
208
+ "q01": [
209
+ 1298.9517948725925
210
+ ],
211
+ "q10": [
212
+ 1333.6686147664634
213
+ ],
214
+ "q50": [
215
+ 1487.8331380584482
216
+ ],
217
+ "q90": [
218
+ 1642.3313852335368
219
+ ],
220
+ "q99": [
221
+ 1677.0482051274078
222
+ ]
223
+ },
224
+ "action": {
225
+ "min": [
226
+ 9.043927192687988,
227
+ -100.0,
228
+ -27.0417423248291,
229
+ 37.9338493347168,
230
+ -35.18925476074219,
231
+ 0.10277492552995682
232
+ ],
233
+ "max": [
234
+ 65.54694366455078,
235
+ 17.346054077148438,
236
+ 93.46642303466797,
237
+ 89.791748046875,
238
+ 48.522586822509766,
239
+ 43.576568603515625
240
+ ],
241
+ "mean": [
242
+ 30.042681905139723,
243
+ -62.240550440031285,
244
+ 60.49675810445184,
245
+ 69.42585460187446,
246
+ 1.3576345619115804,
247
+ 4.283925848676728
248
+ ],
249
+ "std": [
250
+ 14.504358557010516,
251
+ 41.506604993366544,
252
+ 36.97985475439012,
253
+ 7.925396776489629,
254
+ 15.930891564891823,
255
+ 9.609722126577383
256
+ ],
257
+ "count": [
258
+ 2977
259
+ ],
260
+ "q01": [
261
+ 15.613210637830747,
262
+ -100.0,
263
+ -12.37076154652401,
264
+ 53.08366303802378,
265
+ -12.311319454830288,
266
+ 0.10277492552995682
267
+ ],
268
+ "q10": [
269
+ 16.624141050114776,
270
+ -100.0,
271
+ -3.7473196068104784,
272
+ 58.33862086684663,
273
+ -9.950387986251629,
274
+ 0.10277492552995682
275
+ ],
276
+ "q50": [
277
+ 22.973388096835336,
278
+ -84.42561834435917,
279
+ 76.8360369423394,
280
+ 72.1699208759595,
281
+ -4.571781979530923,
282
+ 0.10277492552995682
283
+ ],
284
+ "q90": [
285
+ 54.73793265926065,
286
+ -1.5971466244488384,
287
+ 92.7713858997019,
288
+ 75.785616095187,
289
+ 19.964235639665045,
290
+ 24.371421025032397
291
+ ],
292
+ "q99": [
293
+ 58.69245227851522,
294
+ 9.442187202606632,
295
+ 92.85457979522644,
296
+ 79.09371763056383,
297
+ 23.43782994213239,
298
+ 31.800089503912076
299
+ ]
300
+ },
301
+ "task_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 0
307
+ ],
308
+ "mean": [
309
+ 0.0
310
+ ],
311
+ "std": [
312
+ 0.0
313
+ ],
314
+ "count": [
315
+ 2977
316
+ ],
317
+ "q01": [
318
+ 3.999999999999417e-16
319
+ ],
320
+ "q10": [
321
+ 3.999999999999417e-15
322
+ ],
323
+ "q50": [
324
+ 1.9999999999997084e-14
325
+ ],
326
+ "q90": [
327
+ 3.599999999999476e-14
328
+ ],
329
+ "q99": [
330
+ 3.9599999999994235e-14
331
+ ]
332
+ },
333
+ "timestamp": {
334
+ "min": [
335
+ 0.0
336
+ ],
337
+ "max": [
338
+ 18.066666666666666
339
+ ],
340
+ "mean": [
341
+ 6.4156085544731845
342
+ ],
343
+ "std": [
344
+ 4.020918747650457
345
+ ],
346
+ "count": [
347
+ 2977
348
+ ],
349
+ "q01": [
350
+ 0.11400171679796442
351
+ ],
352
+ "q10": [
353
+ 1.2712290466111051
354
+ ],
355
+ "q50": [
356
+ 6.410433577426853
357
+ ],
358
+ "q90": [
359
+ 11.559988062335261
360
+ ],
361
+ "q99": [
362
+ 12.717215392148402
363
+ ]
364
+ },
365
+ "observation.state": {
366
+ "min": [
367
+ 9.180917739868164,
368
+ -99.82795715332031,
369
+ -24.234233856201172,
370
+ 39.1164665222168,
371
+ -34.652015686035156,
372
+ 0.9421265125274658
373
+ ],
374
+ "max": [
375
+ 65.07650756835938,
376
+ 17.849462509155273,
377
+ 93.60360717773438,
378
+ 89.07630157470703,
379
+ 48.27838897705078,
380
+ 41.04979705810547
381
+ ],
382
+ "mean": [
383
+ 30.041681420374605,
384
+ -61.693735418041,
385
+ 61.337035740707236,
386
+ 69.51315009565933,
387
+ 1.3392760996294775,
388
+ 7.248175509391634
389
+ ],
390
+ "std": [
391
+ 14.458396323975807,
392
+ 41.861440387631845,
393
+ 36.24304106202107,
394
+ 7.755747448483597,
395
+ 15.890886319226244,
396
+ 9.709497229546491
397
+ ],
398
+ "count": [
399
+ 2977
400
+ ],
401
+ "q01": [
402
+ 15.79791627240333,
403
+ -99.75748467930742,
404
+ -9.359345291285319,
405
+ 53.88301223056526,
406
+ -12.197943687754508,
407
+ 0.9972146107199851
408
+ ],
409
+ "q10": [
410
+ 16.650436514212117,
411
+ -99.73622152929227,
412
+ -2.0375793094709875,
413
+ 58.48453546234352,
414
+ -9.845984713304636,
415
+ 0.9972146107199851
416
+ ],
417
+ "q50": [
418
+ 22.90160739792678,
419
+ -83.95710127746254,
420
+ 77.11180515240797,
421
+ 72.23378055279754,
422
+ -4.45265889877946,
423
+ 1.0299398468994334
424
+ ],
425
+ "q90": [
426
+ 54.64315422977604,
427
+ -0.5511697903070268,
428
+ 92.8304722019783,
429
+ 75.72159981383808,
430
+ 19.819521424801767,
431
+ 24.11956365871718
432
+ ],
433
+ "q99": [
434
+ 58.26061427386976,
435
+ 9.963221361860668,
436
+ 93.02797494265432,
437
+ 78.80872702791552,
438
+ 23.23934764722886,
439
+ 31.40904412886108
440
+ ]
441
+ },
442
+ "frame_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 542
448
+ ],
449
+ "mean": [
450
+ 192.4682566341955
451
+ ],
452
+ "std": [
453
+ 120.62756242951376
454
+ ],
455
+ "count": [
456
+ 2977
457
+ ],
458
+ "q01": [
459
+ 3.4200515067878863
460
+ ],
461
+ "q10": [
462
+ 38.1368714006588
463
+ ],
464
+ "q50": [
465
+ 192.30139469264353
466
+ ],
467
+ "q90": [
468
+ 346.79964186773225
469
+ ],
470
+ "q99": [
471
+ 381.5164617616032
472
+ ]
473
+ },
474
+ "observation.images.top": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0784313725490196
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.08627450980392157
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.1568627450980392
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 0.5607843137254902
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 0.7098039215686275
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 0.8549019607843137
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.3097995954607896
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.37026239878135164
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.4379880479490647
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.005242132761828481
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.005979948308360621
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.005394464793505905
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 812
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.09359492144125732
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.09412167114154393
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.17651001667755678
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.14761681566737106
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.15644570654414752
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.22944438964628194
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.3329402418794354
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.3962697002380481
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.4605361156974799
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.42811008574956605
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.529631544941825
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.5948835990896945
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.46877461168426676
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.5815756222720095
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.6492402718122444
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 sha256:533a4d0171495516af2b2ba79e8239d6409b8e4e1c45e870d2072334ad4c4f3d
3
+ size 11206140
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 sha256:9e20210cfb31904c7342f5e82f634d83f126be323877382d8cb8ac1c05105944
3
+ size 32318351