Hugging Face's logo

Datasets:
fabiangrob
/
pick_place_clean_realsense

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
3546fcc
·
verified ·
1 Parent(s): 0b7b97c

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 +28 -6
  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 sha256:7e29f6fb25099c226796b7276be22667bb41765e3488faa26f4ab51176db69b4
3
+ size 856514
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2680f2d5d48799f62fe3666fa30f358faa1aa4fac9b90df698f0db18055012b
3
+ size 271915
meta/info.json CHANGED
@@ -1,14 +1,16 @@
1
  {
2
  "codebase_version": "v3.0",
3
  "robot_type": "so101_follower",
4
- "total_episodes": 0,
5
- "total_frames": 0,
6
- "total_tasks": 0,
7
  "chunks_size": 1000,
8
  "data_files_size_in_mb": 100,
9
  "video_files_size_in_mb": 200,
10
  "fps": 30,
11
- "splits": {},
 
 
12
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
  "features": {
@@ -51,7 +53,17 @@
51
  "height",
52
  "width",
53
  "channels"
54
- ]
 
 
 
 
 
 
 
 
 
 
55
  },
56
  "observation.images.top": {
57
  "dtype": "video",
@@ -64,7 +76,17 @@
64
  "height",
65
  "width",
66
  "channels"
67
- ]
 
 
 
 
 
 
 
 
 
 
68
  },
69
  "timestamp": {
70
  "dtype": "float32",
 
1
  {
2
  "codebase_version": "v3.0",
3
  "robot_type": "so101_follower",
4
+ "total_episodes": 60,
5
+ "total_frames": 15307,
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": "0:60"
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": {
 
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",
 
76
  "height",
77
  "width",
78
  "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 848,
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",
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -39.23520278930664,
5
+ -99.14383697509766,
6
+ -88.06639862060547,
7
+ 28.25997543334961,
8
+ -42.759464263916016,
9
+ 0.40844112634658813
10
+ ],
11
+ "max": [
12
+ 46.67365264892578,
13
+ 57.106163024902344,
14
+ 96.68012237548828,
15
+ 96.46236419677734,
16
+ 29.181928634643555,
17
+ 45.677330017089844
18
+ ],
19
+ "mean": [
20
+ 9.236214825813542,
21
+ -47.856878590535516,
22
+ 48.07975302379914,
23
+ 68.1007166188555,
24
+ -5.860303657093996,
25
+ 8.560934844315774
26
+ ],
27
+ "std": [
28
+ 15.495928056203143,
29
+ 51.97844265398392,
30
+ 48.970764793226984,
31
+ 10.038924045530987,
32
+ 9.976238793604532,
33
+ 10.858480690896032
34
+ ],
35
+ "count": [
36
+ 15307
37
+ ],
38
+ "q01": [
39
+ -19.233041133107086,
40
+ -98.79928472250799,
41
+ -34.99599439091296,
42
+ 49.33708314014775,
43
+ -16.242946468031878,
44
+ 0.5143264399336616
45
+ ],
46
+ "q10": [
47
+ -16.440116219528573,
48
+ -98.74395806498318,
49
+ -27.341636488300498,
50
+ 54.3286809765498,
51
+ -14.734609892635174,
52
+ 0.52183701283157
53
+ ],
54
+ "q50": [
55
+ 13.136913831949588,
56
+ -64.22700426171012,
57
+ 64.82769230952258,
58
+ 70.90093662962374,
59
+ -5.670600733854061,
60
+ 1.6535949990920826
61
+ ],
62
+ "q90": [
63
+ 25.813978454317223,
64
+ 25.482430952088315,
65
+ 93.51009460335071,
66
+ 77.90459460615402,
67
+ 2.342058080980801,
68
+ 26.861766304672642
69
+ ],
70
+ "q99": [
71
+ 27.720048507550196,
72
+ 34.941334061981664,
73
+ 93.62423062468226,
74
+ 79.23717271012772,
75
+ 4.238923342734467,
76
+ 33.45471943673241
77
+ ]
78
+ },
79
+ "episode_index": {
80
+ "min": [
81
+ 0
82
+ ],
83
+ "max": [
84
+ 59
85
+ ],
86
+ "mean": [
87
+ 29.04546939308813
88
+ ],
89
+ "std": [
90
+ 17.022292274118847
91
+ ],
92
+ "count": [
93
+ 15307
94
+ ],
95
+ "q01": [
96
+ 29.04546939308813
97
+ ],
98
+ "q10": [
99
+ 29.04546939308813
100
+ ],
101
+ "q50": [
102
+ 29.045469393088137
103
+ ],
104
+ "q90": [
105
+ 29.045469393088155
106
+ ],
107
+ "q99": [
108
+ 29.045469393088155
109
+ ]
110
+ },
111
+ "action": {
112
+ "min": [
113
+ -39.27794647216797,
114
+ -99.39681243896484,
115
+ -90.9338150024414,
116
+ 26.294166564941406,
117
+ -43.19902420043945,
118
+ 0.10121457278728485
119
+ ],
120
+ "max": [
121
+ 47.3684196472168,
122
+ 56.39810562133789,
123
+ 96.46418762207031,
124
+ 97.20624542236328,
125
+ 29.5238094329834,
126
+ 47.57085037231445
127
+ ],
128
+ "mean": [
129
+ 9.359354778330868,
130
+ -48.77160371419162,
131
+ 46.93150088252362,
132
+ 68.006158486691,
133
+ -5.861893204120712,
134
+ 5.689963566343407
135
+ ],
136
+ "std": [
137
+ 15.5662265982852,
138
+ 51.166960704457004,
139
+ 49.602572445164526,
140
+ 10.246628565965498,
141
+ 10.00217636643955,
142
+ 11.09031109523216
143
+ ],
144
+ "count": [
145
+ 15307
146
+ ],
147
+ "q01": [
148
+ -19.726756025655874,
149
+ -98.78879552999106,
150
+ -37.82133610847658,
151
+ 48.3644638393385,
152
+ -16.452635095256376,
153
+ 0.10121457278728485
154
+ ],
155
+ "q10": [
156
+ -16.472920308880987,
157
+ -98.67834744142515,
158
+ -29.63146156464478,
159
+ 53.917646818268366,
160
+ -14.843344090605148,
161
+ 0.10121457278728485
162
+ ],
163
+ "q50": [
164
+ 13.243287593918064,
165
+ -65.02397815312095,
166
+ 63.86366766807577,
167
+ 70.90773175843655,
168
+ -5.653844917765245,
169
+ 0.11093366140115084
170
+ ],
171
+ "q90": [
172
+ 26.048398296786274,
173
+ 23.447329936055876,
174
+ 92.93790943422111,
175
+ 78.03440011346781,
176
+ 2.3423484547628015,
177
+ 27.2353625506885
178
+ ],
179
+ "q99": [
180
+ 28.336697239926686,
181
+ 34.15056621186792,
182
+ 93.13334637574965,
183
+ 79.52572560482983,
184
+ 4.47658070332678,
185
+ 34.181622222434505
186
+ ]
187
+ },
188
+ "task_index": {
189
+ "min": [
190
+ 0
191
+ ],
192
+ "max": [
193
+ 0
194
+ ],
195
+ "mean": [
196
+ 0.0
197
+ ],
198
+ "std": [
199
+ 0.0
200
+ ],
201
+ "count": [
202
+ 15307
203
+ ],
204
+ "q01": [
205
+ 3.999999999999417e-16
206
+ ],
207
+ "q10": [
208
+ 3.999999999999418e-15
209
+ ],
210
+ "q50": [
211
+ 1.999999999999709e-14
212
+ ],
213
+ "q90": [
214
+ 3.599999999999477e-14
215
+ ],
216
+ "q99": [
217
+ 3.959999999999424e-14
218
+ ]
219
+ },
220
+ "frame_index": {
221
+ "min": [
222
+ 0
223
+ ],
224
+ "max": [
225
+ 344
226
+ ],
227
+ "mean": [
228
+ 129.40223427190173
229
+ ],
230
+ "std": [
231
+ 77.68137774858275
232
+ ],
233
+ "count": [
234
+ 15307
235
+ ],
236
+ "q01": [
237
+ 2.0709429394717342
238
+ ],
239
+ "q10": [
240
+ 25.364062465458233
241
+ ],
242
+ "q50": [
243
+ 129.15287878748262
244
+ ],
245
+ "q90": [
246
+ 233.2708461384484
247
+ ],
248
+ "q99": [
249
+ 256.7147733994582
250
+ ]
251
+ },
252
+ "observation.images.wrist": {
253
+ "min": [
254
+ [
255
+ [
256
+ 0.0
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 0.0
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 0.0
267
+ ]
268
+ ]
269
+ ],
270
+ "max": [
271
+ [
272
+ [
273
+ 1.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 1.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 1.0
284
+ ]
285
+ ]
286
+ ],
287
+ "mean": [
288
+ [
289
+ [
290
+ 0.4626849320987653
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.46588562481844586
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.4622700027233117
301
+ ]
302
+ ]
303
+ ],
304
+ "std": [
305
+ [
306
+ [
307
+ 0.0052017107829503174
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.004597398223471646
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.0062145524724366704
318
+ ]
319
+ ]
320
+ ],
321
+ "count": [
322
+ 6000
323
+ ],
324
+ "q01": [
325
+ [
326
+ [
327
+ 0.003795661671136207
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.0010222500082694881
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ -3.921568627450984e-13
338
+ ]
339
+ ]
340
+ ],
341
+ "q10": [
342
+ [
343
+ [
344
+ 0.06437262406920874
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.05555090434236299
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.010042987344351766
355
+ ]
356
+ ]
357
+ ],
358
+ "q50": [
359
+ [
360
+ [
361
+ 0.48111753022417014
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.5037211916273774
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.5071803817782147
372
+ ]
373
+ ]
374
+ ],
375
+ "q90": [
376
+ [
377
+ [
378
+ 0.7341878127075381
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.7082282316276075
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.7080577084326719
389
+ ]
390
+ ]
391
+ ],
392
+ "q99": [
393
+ [
394
+ [
395
+ 0.812161997526103
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.7744550822087396
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.7713781381505445
406
+ ]
407
+ ]
408
+ ]
409
+ },
410
+ "observation.images.top": {
411
+ "min": [
412
+ [
413
+ [
414
+ 0.0
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.0
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.0
425
+ ]
426
+ ]
427
+ ],
428
+ "max": [
429
+ [
430
+ [
431
+ 1.0
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 1.0
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 1.0
442
+ ]
443
+ ]
444
+ ],
445
+ "mean": [
446
+ [
447
+ [
448
+ 0.4230791797625911
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 0.4361574676806997
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.43187255090189675
459
+ ]
460
+ ]
461
+ ],
462
+ "std": [
463
+ [
464
+ [
465
+ 0.006059406979658557
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.005882270140467163
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.006470465713246035
476
+ ]
477
+ ]
478
+ ],
479
+ "count": [
480
+ 6000
481
+ ],
482
+ "q01": [
483
+ [
484
+ [
485
+ 0.004641441856581207
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.028429670206466806
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ 0.010780638351245831
496
+ ]
497
+ ]
498
+ ],
499
+ "q10": [
500
+ [
501
+ [
502
+ 0.12850910233338037
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.18948672971210181
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.1864801225195035
513
+ ]
514
+ ]
515
+ ],
516
+ "q50": [
517
+ [
518
+ [
519
+ 0.44255396509104705
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 0.46942593807051086
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 0.4709841234298323
530
+ ]
531
+ ]
532
+ ],
533
+ "q90": [
534
+ [
535
+ [
536
+ 0.6248442337751854
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.5734701436478439
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.5500629134107714
547
+ ]
548
+ ]
549
+ ],
550
+ "q99": [
551
+ [
552
+ [
553
+ 0.6823395127207591
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.6103376237659581
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.5781679850005556
564
+ ]
565
+ ]
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 15306
574
+ ],
575
+ "mean": [
576
+ 7653.0
577
+ ],
578
+ "std": [
579
+ 4418.750275813287
580
+ ],
581
+ "count": [
582
+ 15307
583
+ ],
584
+ "q01": [
585
+ 7525.668708667571
586
+ ],
587
+ "q10": [
588
+ 7548.961828193558
589
+ ],
590
+ "q50": [
591
+ 7652.750644515582
592
+ ],
593
+ "q90": [
594
+ 7756.868611866546
595
+ ],
596
+ "q99": [
597
+ 7780.312539127555
598
+ ]
599
+ },
600
+ "timestamp": {
601
+ "min": [
602
+ 0.0
603
+ ],
604
+ "max": [
605
+ 11.466666666666667
606
+ ],
607
+ "mean": [
608
+ 4.313407809063388
609
+ ],
610
+ "std": [
611
+ 2.5893792582860926
612
+ ],
613
+ "count": [
614
+ 15307
615
+ ],
616
+ "q01": [
617
+ 0.06903143122060708
618
+ ],
619
+ "q10": [
620
+ 0.8454687487708769
621
+ ],
622
+ "q50": [
623
+ 4.305002197687133
624
+ ],
625
+ "q90": [
626
+ 7.775694871359213
627
+ ],
628
+ "q99": [
629
+ 8.55715911341038
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:f41e6f3ee1f57e3ae90939e90dc73fe05dc3a827fd3a84d91fb977c7c06d0944
3
+ size 47459912
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:a9f4dca7255919699fed8454990b89aba598c07172c7c34d8b986b937ba8d6bd
3
+ size 134070978