Hugging Face's logo

Datasets:
garySue
/
eval_act_wire_winding

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
ur5
tutorial
eval
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
 Community
1
garySue commited on
Commit
5c1dd43
·
verified ·
1 Parent(s): c51dc9c

Upload folder using huggingface_hub

Browse files
Files changed (8) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. meta/episodes.jsonl +1 -0
  3. meta/info.json +206 -0
  4. meta/stats.json +498 -0
  5. meta/tasks.jsonl +1 -0
  6. videos/chunk-000/observation.images.left_rgb/episode_000000.mp4 +3 -0
  7. videos/chunk-000/observation.images.right_rgb/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.top_rgb/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:935fa3763a4db839c41279a13a192ef27b2444d71b1865156f86124469791348
3
+ size 70511
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["wire_winding"], "length": 289}
meta/info.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "bi_ur5",
4
+ "total_episodes": 1,
5
+ "total_frames": 289,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 14
21
+ ],
22
+ "names": {
23
+ "motors": [
24
+ "left_shoulder_pan",
25
+ "left_shoulder_lift",
26
+ "left_elbow_flex",
27
+ "left_wrist_1",
28
+ "left_wrist_2",
29
+ "left_wrist_3",
30
+ "left_gripper",
31
+ "right_shoulder_pan",
32
+ "right_shoulder_lift",
33
+ "right_elbow_flex",
34
+ "right_wrist_1",
35
+ "right_wrist_2",
36
+ "right_wrist_3",
37
+ "right_gripper"
38
+ ]
39
+ }
40
+ },
41
+ "observation.state": {
42
+ "dtype": "float32",
43
+ "shape": [
44
+ 14
45
+ ],
46
+ "names": {
47
+ "arms": [
48
+ "left_shoulder_pan",
49
+ "left_shoulder_lift",
50
+ "left_elbow_flex",
51
+ "left_wrist_1",
52
+ "left_wrist_2",
53
+ "left_wrist_3",
54
+ "left_gripper",
55
+ "right_shoulder_pan",
56
+ "right_shoulder_lift",
57
+ "right_elbow_flex",
58
+ "right_wrist_1",
59
+ "right_wrist_2",
60
+ "right_wrist_3",
61
+ "right_gripper"
62
+ ]
63
+ }
64
+ },
65
+ "observation.velocity": {
66
+ "dtype": "float32",
67
+ "shape": [
68
+ 14
69
+ ],
70
+ "names": {
71
+ "arms": [
72
+ "left_shoulder_pan",
73
+ "left_shoulder_lift",
74
+ "left_elbow_flex",
75
+ "left_wrist_1",
76
+ "left_wrist_2",
77
+ "left_wrist_3",
78
+ "left_gripper",
79
+ "right_shoulder_pan",
80
+ "right_shoulder_lift",
81
+ "right_elbow_flex",
82
+ "right_wrist_1",
83
+ "right_wrist_2",
84
+ "right_wrist_3",
85
+ "right_gripper"
86
+ ]
87
+ }
88
+ },
89
+ "observation.gripper_position": {
90
+ "dtype": "float32",
91
+ "shape": [
92
+ 2
93
+ ],
94
+ "names": {
95
+ "gripper": [
96
+ "left_gripper",
97
+ "right_gripper"
98
+ ]
99
+ }
100
+ },
101
+ "observation.images.top_rgb": {
102
+ "dtype": "video",
103
+ "shape": [
104
+ 480,
105
+ 640,
106
+ 3
107
+ ],
108
+ "names": [
109
+ "height",
110
+ "width",
111
+ "channels"
112
+ ],
113
+ "info": {
114
+ "video.fps": 30.0,
115
+ "video.height": 480,
116
+ "video.width": 640,
117
+ "video.channels": 3,
118
+ "video.codec": "h264",
119
+ "video.pix_fmt": "yuv420p",
120
+ "video.is_depth_map": false,
121
+ "has_audio": false
122
+ }
123
+ },
124
+ "observation.images.left_rgb": {
125
+ "dtype": "video",
126
+ "shape": [
127
+ 480,
128
+ 640,
129
+ 3
130
+ ],
131
+ "names": [
132
+ "height",
133
+ "width",
134
+ "channels"
135
+ ],
136
+ "info": {
137
+ "video.fps": 30.0,
138
+ "video.height": 480,
139
+ "video.width": 640,
140
+ "video.channels": 3,
141
+ "video.codec": "h264",
142
+ "video.pix_fmt": "yuv420p",
143
+ "video.is_depth_map": false,
144
+ "has_audio": false
145
+ }
146
+ },
147
+ "observation.images.right_rgb": {
148
+ "dtype": "video",
149
+ "shape": [
150
+ 480,
151
+ 640,
152
+ 3
153
+ ],
154
+ "names": [
155
+ "height",
156
+ "width",
157
+ "channels"
158
+ ],
159
+ "info": {
160
+ "video.fps": 30.0,
161
+ "video.height": 480,
162
+ "video.width": 640,
163
+ "video.channels": 3,
164
+ "video.codec": "h264",
165
+ "video.pix_fmt": "yuv420p",
166
+ "video.is_depth_map": false,
167
+ "has_audio": false
168
+ }
169
+ },
170
+ "timestamp": {
171
+ "dtype": "float32",
172
+ "shape": [
173
+ 1
174
+ ],
175
+ "names": null
176
+ },
177
+ "frame_index": {
178
+ "dtype": "int64",
179
+ "shape": [
180
+ 1
181
+ ],
182
+ "names": null
183
+ },
184
+ "episode_index": {
185
+ "dtype": "int64",
186
+ "shape": [
187
+ 1
188
+ ],
189
+ "names": null
190
+ },
191
+ "index": {
192
+ "dtype": "int64",
193
+ "shape": [
194
+ 1
195
+ ],
196
+ "names": null
197
+ },
198
+ "task_index": {
199
+ "dtype": "int64",
200
+ "shape": [
201
+ 1
202
+ ],
203
+ "names": null
204
+ }
205
+ }
206
+ }
meta/stats.json ADDED
@@ -0,0 +1,498 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 1.7709426879882812,
5
+ -1.5602059364318848,
6
+ 1.6469004154205322,
7
+ -1.706732988357544,
8
+ -0.9600912928581238,
9
+ -0.31263217329978943,
10
+ 0.37953492999076843,
11
+ -1.8395843505859375,
12
+ -1.798966884613037,
13
+ -1.4332795143127441,
14
+ -1.6051762104034424,
15
+ 0.8565537333488464,
16
+ 0.29111337661743164,
17
+ 0.6500163674354553
18
+ ],
19
+ "std": [
20
+ 0.1000126376748085,
21
+ 0.09372933954000473,
22
+ 0.1529342234134674,
23
+ 0.08167226612567902,
24
+ 0.47714725136756897,
25
+ 0.19775556027889252,
26
+ 0.4085704982280731,
27
+ 0.060449302196502686,
28
+ 0.08617713302373886,
29
+ 0.11637499928474426,
30
+ 0.06503725796937943,
31
+ 0.7346963286399841,
32
+ 0.041654955595731735,
33
+ 0.3761577010154724
34
+ ],
35
+ "max": [
36
+ 2.045184850692749,
37
+ -1.3062913417816162,
38
+ 1.7868610620498657,
39
+ -1.4295258522033691,
40
+ -0.16620908677577972,
41
+ 0.270088791847229,
42
+ 0.9489001631736755,
43
+ -1.7403548955917358,
44
+ -1.5502736568450928,
45
+ -1.2892327308654785,
46
+ -1.4129383563995361,
47
+ 1.6471666097640991,
48
+ 0.35193338990211487,
49
+ 1.0170913934707642
50
+ ],
51
+ "min": [
52
+ 1.6503944396972656,
53
+ -1.6835403442382812,
54
+ 1.1806837320327759,
55
+ -1.8811671733856201,
56
+ -1.6335599422454834,
57
+ -0.6108319759368896,
58
+ -0.05691692605614662,
59
+ -1.9174728393554688,
60
+ -1.955068588256836,
61
+ -1.751344084739685,
62
+ -1.7292903661727905,
63
+ -0.21754801273345947,
64
+ 0.21699394285678864,
65
+ -0.010236098431050777
66
+ ]
67
+ },
68
+ "observation.state": {
69
+ "mean": [
70
+ 1.771899938583374,
71
+ -1.5598737001419067,
72
+ 1.6448549032211304,
73
+ -1.7052102088928223,
74
+ -0.9597461819648743,
75
+ -0.3133072555065155,
76
+ 0.3625999391078949,
77
+ -1.8404223918914795,
78
+ -1.7987072467803955,
79
+ -1.432874083518982,
80
+ -1.6053768396377563,
81
+ 0.856188952922821,
82
+ 0.29192987084388733,
83
+ 0.619221568107605
84
+ ],
85
+ "std": [
86
+ 0.10057303309440613,
87
+ 0.0933605507016182,
88
+ 0.15379388630390167,
89
+ 0.08483929187059402,
90
+ 0.4767268896102905,
91
+ 0.19779112935066223,
92
+ 0.4226650893688202,
93
+ 0.060428112745285034,
94
+ 0.08680892735719681,
95
+ 0.1162349134683609,
96
+ 0.06521594524383545,
97
+ 0.7341347932815552,
98
+ 0.042174190282821655,
99
+ 0.3480917811393738
100
+ ],
101
+ "max": [
102
+ 2.044318914413452,
103
+ -1.3068732023239136,
104
+ 1.7868285179138184,
105
+ -1.3961905241012573,
106
+ -0.16682463884353638,
107
+ 0.26920053362846375,
108
+ 0.9419122934341431,
109
+ -1.7404006719589233,
110
+ -1.5529626607894897,
111
+ -1.2892030477523804,
112
+ -1.4131511449813843,
113
+ 1.6395528316497803,
114
+ 0.40138953924179077,
115
+ 0.9058389663696289
116
+ ],
117
+ "min": [
118
+ 1.6503828763961792,
119
+ -1.683585524559021,
120
+ 1.1814002990722656,
121
+ -1.8808878660202026,
122
+ -1.633323073387146,
123
+ -0.6107633709907532,
124
+ 0.0,
125
+ -1.9198201894760132,
126
+ -1.9550641775131226,
127
+ -1.7501662969589233,
128
+ -1.745402216911316,
129
+ -0.2170737385749817,
130
+ 0.2170305699110031,
131
+ 7.388214839920693e-08
132
+ ]
133
+ },
134
+ "observation.velocity": {
135
+ "mean": [
136
+ -0.0020843208767473698,
137
+ -0.0005261447513476014,
138
+ 0.00457712821662426,
139
+ -0.003177851438522339,
140
+ -0.0005231586983427405,
141
+ 0.000321956817060709,
142
+ 0.0,
143
+ 0.0016297883121296763,
144
+ -0.00044214751687832177,
145
+ -0.0010419394820928574,
146
+ 0.001261453377082944,
147
+ -0.0009006822947412729,
148
+ -0.003240467282012105,
149
+ 0.0
150
+ ],
151
+ "std": [
152
+ 0.03892470523715019,
153
+ 0.032829754054546356,
154
+ 0.04373802989721298,
155
+ 0.030255548655986786,
156
+ 0.07639013975858688,
157
+ 0.0530589260160923,
158
+ 0.0,
159
+ 0.006746017839759588,
160
+ 0.022703329101204872,
161
+ 0.03455660864710808,
162
+ 0.0328376479446888,
163
+ 0.09700009226799011,
164
+ 0.03193102031946182,
165
+ 0.0
166
+ ],
167
+ "max": [
168
+ 0.13876134157180786,
169
+ 0.16115747392177582,
170
+ 0.40511155128479004,
171
+ 0.09889382869005203,
172
+ 0.2678714096546173,
173
+ 0.24816933274269104,
174
+ 0.0,
175
+ 0.05092816427350044,
176
+ 0.09208998084068298,
177
+ 0.10512881726026535,
178
+ 0.09421998262405396,
179
+ 0.4578453600406647,
180
+ 0.057380471378564835,
181
+ 0.0
182
+ ],
183
+ "min": [
184
+ -0.1210438683629036,
185
+ -0.16855892539024353,
186
+ -0.1733909696340561,
187
+ -0.1282072365283966,
188
+ -0.27177825570106506,
189
+ -0.12772788107395172,
190
+ 0.0,
191
+ -0.01764077879488468,
192
+ -0.05872590094804764,
193
+ -0.2308768928050995,
194
+ -0.10879279673099518,
195
+ -0.25006285309791565,
196
+ -0.1890152096748352,
197
+ 0.0
198
+ ]
199
+ },
200
+ "observation.gripper_position": {
201
+ "mean": [
202
+ 0.3625999391078949,
203
+ 0.619221568107605
204
+ ],
205
+ "std": [
206
+ 0.4226650893688202,
207
+ 0.3480917811393738
208
+ ],
209
+ "max": [
210
+ 0.9419122934341431,
211
+ 0.9058389663696289
212
+ ],
213
+ "min": [
214
+ 0.0,
215
+ 7.388214839920693e-08
216
+ ]
217
+ },
218
+ "observation.images.top_rgb": {
219
+ "mean": [
220
+ [
221
+ [
222
+ 0.4206461012363434
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.4399149417877197
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.4339817464351654
233
+ ]
234
+ ]
235
+ ],
236
+ "std": [
237
+ [
238
+ [
239
+ 0.40728068351745605
240
+ ]
241
+ ],
242
+ [
243
+ [
244
+ 0.39151185750961304
245
+ ]
246
+ ],
247
+ [
248
+ [
249
+ 0.39122435450553894
250
+ ]
251
+ ]
252
+ ],
253
+ "max": [
254
+ [
255
+ [
256
+ 1.0
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 1.0
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 1.0
267
+ ]
268
+ ]
269
+ ],
270
+ "min": [
271
+ [
272
+ [
273
+ 0.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.0
284
+ ]
285
+ ]
286
+ ]
287
+ },
288
+ "observation.images.left_rgb": {
289
+ "mean": [
290
+ [
291
+ [
292
+ 0.44977208971977234
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.45101985335350037
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.43747854232788086
303
+ ]
304
+ ]
305
+ ],
306
+ "std": [
307
+ [
308
+ [
309
+ 0.1966971606016159
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 0.19593042135238647
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.19988666474819183
320
+ ]
321
+ ]
322
+ ],
323
+ "max": [
324
+ [
325
+ [
326
+ 1.0
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 1.0
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 1.0
337
+ ]
338
+ ]
339
+ ],
340
+ "min": [
341
+ [
342
+ [
343
+ 0.0
344
+ ]
345
+ ],
346
+ [
347
+ [
348
+ 0.0
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.0
354
+ ]
355
+ ]
356
+ ]
357
+ },
358
+ "observation.images.right_rgb": {
359
+ "mean": [
360
+ [
361
+ [
362
+ 0.40107935667037964
363
+ ]
364
+ ],
365
+ [
366
+ [
367
+ 0.3895808756351471
368
+ ]
369
+ ],
370
+ [
371
+ [
372
+ 0.3784053921699524
373
+ ]
374
+ ]
375
+ ],
376
+ "std": [
377
+ [
378
+ [
379
+ 0.2633710205554962
380
+ ]
381
+ ],
382
+ [
383
+ [
384
+ 0.257830411195755
385
+ ]
386
+ ],
387
+ [
388
+ [
389
+ 0.25123968720436096
390
+ ]
391
+ ]
392
+ ],
393
+ "max": [
394
+ [
395
+ [
396
+ 1.0
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ 1.0
402
+ ]
403
+ ],
404
+ [
405
+ [
406
+ 1.0
407
+ ]
408
+ ]
409
+ ],
410
+ "min": [
411
+ [
412
+ [
413
+ 0.0
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.0
419
+ ]
420
+ ],
421
+ [
422
+ [
423
+ 0.0
424
+ ]
425
+ ]
426
+ ]
427
+ },
428
+ "timestamp": {
429
+ "mean": [
430
+ 4.799999713897705
431
+ ],
432
+ "std": [
433
+ 2.7808871269226074
434
+ ],
435
+ "max": [
436
+ 9.600000381469727
437
+ ],
438
+ "min": [
439
+ 0.0
440
+ ]
441
+ },
442
+ "frame_index": {
443
+ "mean": [
444
+ 144.00001525878906
445
+ ],
446
+ "std": [
447
+ 83.4266128540039
448
+ ],
449
+ "max": [
450
+ 288.0
451
+ ],
452
+ "min": [
453
+ 0.0
454
+ ]
455
+ },
456
+ "episode_index": {
457
+ "mean": [
458
+ 0.0
459
+ ],
460
+ "std": [
461
+ 0.0
462
+ ],
463
+ "max": [
464
+ 0.0
465
+ ],
466
+ "min": [
467
+ 0.0
468
+ ]
469
+ },
470
+ "index": {
471
+ "mean": [
472
+ 144.00001525878906
473
+ ],
474
+ "std": [
475
+ 83.4266128540039
476
+ ],
477
+ "max": [
478
+ 288.0
479
+ ],
480
+ "min": [
481
+ 0.0
482
+ ]
483
+ },
484
+ "task_index": {
485
+ "mean": [
486
+ 0.0
487
+ ],
488
+ "std": [
489
+ 0.0
490
+ ],
491
+ "max": [
492
+ 0.0
493
+ ],
494
+ "min": [
495
+ 0.0
496
+ ]
497
+ }
498
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "wire_winding"}
videos/chunk-000/observation.images.left_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9c8434563e2c4437cf8ca6c651f90e1e7b20ae83b97c20b11066a63c4be3042f
3
+ size 758610
videos/chunk-000/observation.images.right_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e4562abde5dd0a2cf2e3a88382145a173a2387c16d82250f2372a3125287b92
3
+ size 1244885
videos/chunk-000/observation.images.top_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:24cc26b48c2e7f36ea2822f095020ddff080a4fc4742b2dc7684025fff2699f6
3
+ size 1315442