Hugging Face's logo

Datasets:
gpue
/
nova_ur5_demo

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
1
gpue commited on
Commit
0142aeb
·
verified ·
1 Parent(s): 6cd5bf1

Upload folder using huggingface_hub

Browse files
Files changed (5) 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 +90 -0
  4. meta/stats.json +397 -0
  5. meta/tasks.parquet +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:d306eac674592fdc238cb1c9ad7cd8f7dfaf0f5e7e2f4b0752da79fcaf441816
3
+ size 93921
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a2123f2c2bd027a4e1b4d47b8a8c0bef58f72b0851debdd7db9e351ef9c7a224
3
+ size 37025
meta/info.json ADDED
@@ -0,0 +1,90 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "nova_sim",
4
+ "total_episodes": 3,
5
+ "total_frames": 5197,
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": "0:3"
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
+ "vx",
21
+ "vy",
22
+ "vz",
23
+ "vrx",
24
+ "vry",
25
+ "vrz"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "names": [
34
+ "j1",
35
+ "j2",
36
+ "j3",
37
+ "j4",
38
+ "j5",
39
+ "j6",
40
+ "end_effector.x",
41
+ "end_effector.y",
42
+ "end_effector.z",
43
+ "ee_orientation.roll",
44
+ "ee_orientation.pitch",
45
+ "ee_orientation.yaw",
46
+ "ee_target.x",
47
+ "ee_target.y",
48
+ "ee_target.z"
49
+ ],
50
+ "shape": [
51
+ 15
52
+ ]
53
+ },
54
+ "timestamp": {
55
+ "dtype": "float32",
56
+ "shape": [
57
+ 1
58
+ ],
59
+ "names": null
60
+ },
61
+ "frame_index": {
62
+ "dtype": "int64",
63
+ "shape": [
64
+ 1
65
+ ],
66
+ "names": null
67
+ },
68
+ "episode_index": {
69
+ "dtype": "int64",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "task_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ }
89
+ }
90
+ }
meta/stats.json ADDED
@@ -0,0 +1,397 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 1732
8
+ ],
9
+ "mean": [
10
+ 865.6667308062343
11
+ ],
12
+ "std": [
13
+ 500.0815859505744
14
+ ],
15
+ "count": [
16
+ 5197
17
+ ],
18
+ "q01": [
19
+ 17.07902837627296
20
+ ],
21
+ "q10": [
22
+ 172.86788391756477
23
+ ],
24
+ "q50": [
25
+ 865.4937307677507
26
+ ],
27
+ "q90": [
28
+ 1558.4655776949041
29
+ ],
30
+ "q99": [
31
+ 1714.2544332361958
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 2
40
+ ],
41
+ "mean": [
42
+ 1.0
43
+ ],
44
+ "std": [
45
+ 0.8164180225419255
46
+ ],
47
+ "count": [
48
+ 5197
49
+ ],
50
+ "q01": [
51
+ 1.0000000000000004
52
+ ],
53
+ "q10": [
54
+ 1.0000000000000038
55
+ ],
56
+ "q50": [
57
+ 1.00000000000002
58
+ ],
59
+ "q90": [
60
+ 1.000000000000036
61
+ ],
62
+ "q99": [
63
+ 1.0000000000000395
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ -3.22016978263855,
69
+ -1.1319454908370972,
70
+ 1.9297122955322266,
71
+ -2.355907678604126,
72
+ -1.578399658203125,
73
+ -1.7201814651489258,
74
+ 0.5617702603340149,
75
+ 0.08942379057407379,
76
+ 0.6953049302101135,
77
+ 3.1361660957336426,
78
+ 0.014691625721752644,
79
+ 0.07080744206905365,
80
+ 561.56103515625,
81
+ 88.74112701416016,
82
+ 164.815673828125
83
+ ],
84
+ "max": [
85
+ -3.220121383666992,
86
+ -1.1309596300125122,
87
+ 1.9297914505004883,
88
+ -2.355445623397827,
89
+ -1.5783488750457764,
90
+ -1.720168948173523,
91
+ 0.5617702603340149,
92
+ 0.08942379057407379,
93
+ 0.6953049302101135,
94
+ 3.1361660957336426,
95
+ 0.014691625721752644,
96
+ 0.07080744206905365,
97
+ 561.56103515625,
98
+ 88.74112701416016,
99
+ 164.815673828125
100
+ ],
101
+ "mean": [
102
+ -3.220186316694047,
103
+ -1.131469392996695,
104
+ 1.9297327250500287,
105
+ -2.3556877468007102,
106
+ -1.5783694575606848,
107
+ -1.720197597673037,
108
+ 0.5617678165435791,
109
+ 0.0894227847456932,
110
+ 0.6953116655349731,
111
+ 3.1361958980560303,
112
+ 0.014691821299493313,
113
+ 0.0708080381155014,
114
+ 561.5624389648438,
115
+ 88.74072265625,
116
+ 164.8133544921875
117
+ ],
118
+ "std": [
119
+ 1.3952713147710327e-05,
120
+ 0.0033828162016250837,
121
+ 0.010863894053884063,
122
+ 0.0001963230748402263,
123
+ 0.006284141082029854,
124
+ 1.7148272616591087e-06,
125
+ 0.0012488629758900958,
126
+ 0.00035979693977513413,
127
+ 0.0,
128
+ 0.0,
129
+ 0.0,
130
+ 0.0,
131
+ 1.0408310358328023,
132
+ 0.28895690638917076,
133
+ 0.7629097259833564
134
+ ],
135
+ "count": [
136
+ 5197
137
+ ],
138
+ "q01": [
139
+ -3.2201437205563654,
140
+ -1.1314670063106513,
141
+ 1.9297582769660002,
142
+ -2.355656910520667,
143
+ -1.5783717190964717,
144
+ -1.7201763377273132,
145
+ 0.5617702603340149,
146
+ 0.08942379057407379,
147
+ 0.6953049302101135,
148
+ 3.1361660957336426,
149
+ 0.014691625721752644,
150
+ 0.07080744206905365,
151
+ 561.56103515625,
152
+ 88.74112701416016,
153
+ 164.815673828125
154
+ ],
155
+ "q10": [
156
+ -3.2201437205563654,
157
+ -1.1314670063106513,
158
+ 1.9297582769660002,
159
+ -2.355656910520667,
160
+ -1.5783717190964717,
161
+ -1.7201763377273132,
162
+ 0.5617702603340149,
163
+ 0.08942379057407379,
164
+ 0.6953049302101135,
165
+ 3.1361660957336426,
166
+ 0.014691625721752644,
167
+ 0.07080744206905365,
168
+ 561.56103515625,
169
+ 88.74112701416016,
170
+ 164.815673828125
171
+ ],
172
+ "q50": [
173
+ -3.2201437205563654,
174
+ -1.1314670063106513,
175
+ 1.9297582769660002,
176
+ -2.355656910520667,
177
+ -1.5783717190964717,
178
+ -1.7201763377273132,
179
+ 0.5617702603340149,
180
+ 0.08942379057407379,
181
+ 0.6953049302101135,
182
+ 3.1361660957336426,
183
+ 0.014691625721752644,
184
+ 0.07080744206905365,
185
+ 561.56103515625,
186
+ 88.74112701416016,
187
+ 164.815673828125
188
+ ],
189
+ "q90": [
190
+ -3.2201437205563654,
191
+ -1.1314670063106513,
192
+ 1.9297582769660002,
193
+ -2.355656910520667,
194
+ -1.5783717190964717,
195
+ -1.7201763377273132,
196
+ 0.5617702603340149,
197
+ 0.08942379057407379,
198
+ 0.6953049302101135,
199
+ 3.1361660957336426,
200
+ 0.014691625721752644,
201
+ 0.07080744206905365,
202
+ 561.56103515625,
203
+ 88.74112701416016,
204
+ 164.815673828125
205
+ ],
206
+ "q99": [
207
+ -3.2201437205563654,
208
+ -1.1314670063106513,
209
+ 1.9297582769660002,
210
+ -2.355656910520667,
211
+ -1.5783717190964717,
212
+ -1.7201763377273132,
213
+ 0.5617702603340149,
214
+ 0.08942379057407379,
215
+ 0.6953049302101135,
216
+ 3.1361660957336426,
217
+ 0.014691625721752644,
218
+ 0.07080744206905365,
219
+ 561.56103515625,
220
+ 88.74112701416016,
221
+ 164.815673828125
222
+ ]
223
+ },
224
+ "timestamp": {
225
+ "min": [
226
+ 0.0
227
+ ],
228
+ "max": [
229
+ 57.733333333333334
230
+ ],
231
+ "mean": [
232
+ 28.85555769354114
233
+ ],
234
+ "std": [
235
+ 16.669386198352484
236
+ ],
237
+ "count": [
238
+ 5197
239
+ ],
240
+ "q01": [
241
+ 0.5693009457810058
242
+ ],
243
+ "q10": [
244
+ 5.762262797174796
245
+ ],
246
+ "q50": [
247
+ 28.845940655506354
248
+ ],
249
+ "q90": [
250
+ 51.9488525899075
251
+ ],
252
+ "q99": [
253
+ 57.14181444130128
254
+ ]
255
+ },
256
+ "action": {
257
+ "min": [
258
+ -0.05000000074505806,
259
+ -0.05000000074505806,
260
+ 0.0,
261
+ 0.0,
262
+ 0.0,
263
+ 0.0
264
+ ],
265
+ "max": [
266
+ 0.05000000074505806,
267
+ 0.05000000074505806,
268
+ 0.0,
269
+ 0.0,
270
+ 0.0,
271
+ 0.0
272
+ ],
273
+ "mean": [
274
+ 0.0004906674735183575,
275
+ -0.0014912472141461119,
276
+ 0.0,
277
+ 0.0,
278
+ 0.0,
279
+ 0.0
280
+ ],
281
+ "std": [
282
+ 0.011064631731746091,
283
+ 0.01119167023756642,
284
+ 0.0,
285
+ 0.0,
286
+ 0.0,
287
+ 0.0
288
+ ],
289
+ "count": [
290
+ 5197
291
+ ],
292
+ "q01": [
293
+ -0.01666345993658633,
294
+ -0.01666345993658633,
295
+ 3.999578446212126e-16,
296
+ 3.999578446212126e-16,
297
+ 3.999578446212126e-16,
298
+ 3.999578446212126e-16
299
+ ],
300
+ "q10": [
301
+ 3.200861997085395e-07,
302
+ -0.016663459936583934,
303
+ 3.999578446212126e-15,
304
+ 3.999578446212126e-15,
305
+ 3.999578446212126e-15,
306
+ 3.999578446212126e-15
307
+ ],
308
+ "q50": [
309
+ 3.4467132536375423e-06,
310
+ 2.979487000449108e-06,
311
+ 1.9997892231060632e-14,
312
+ 1.9997892231060632e-14,
313
+ 1.9997892231060632e-14,
314
+ 1.9997892231060632e-14
315
+ ],
316
+ "q90": [
317
+ 6.573340307566545e-06,
318
+ 6.127427122157678e-06,
319
+ 3.599620601590914e-14,
320
+ 3.599620601590914e-14,
321
+ 3.599620601590914e-14,
322
+ 3.599620601590914e-14
323
+ ],
324
+ "q99": [
325
+ 0.01666270521630727,
326
+ 0.016661360441944332,
327
+ 3.959582661750005e-14,
328
+ 3.959582661750005e-14,
329
+ 3.959582661750005e-14,
330
+ 3.959582661750005e-14
331
+ ]
332
+ },
333
+ "index": {
334
+ "min": [
335
+ 0
336
+ ],
337
+ "max": [
338
+ 5196
339
+ ],
340
+ "mean": [
341
+ 2598.0
342
+ ],
343
+ "std": [
344
+ 1500.2446467159948
345
+ ],
346
+ "count": [
347
+ 5197
348
+ ],
349
+ "q01": [
350
+ 1749.4122975700386
351
+ ],
352
+ "q10": [
353
+ 1905.2011531113303
354
+ ],
355
+ "q50": [
356
+ 2597.8269999615163
357
+ ],
358
+ "q90": [
359
+ 3290.79884688867
360
+ ],
361
+ "q99": [
362
+ 3446.5877024299616
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
+ 5197
380
+ ],
381
+ "q01": [
382
+ 3.9999999999994176e-16
383
+ ],
384
+ "q10": [
385
+ 3.999999999999417e-15
386
+ ],
387
+ "q50": [
388
+ 1.9999999999997088e-14
389
+ ],
390
+ "q90": [
391
+ 3.5999999999994754e-14
392
+ ],
393
+ "q99": [
394
+ 3.9599999999994235e-14
395
+ ]
396
+ }
397
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d4a8ff62a58694fe47b630b66d51c1cfb6a59372d992174a3b05806e3cee8f7e
3
+ size 2166