Datasets:
Add files using upload-large-folder tool
Browse files- README.md +162 -0
- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +134 -0
- meta/skills.json +1438 -0
- meta/stats.json +307 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.side/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.up/chunk-000/file-000.mp4 +3 -0
README.md
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| 1 |
+
---
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| 2 |
+
license: apache-2.0
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| 3 |
+
task_categories:
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| 4 |
+
- robotics
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| 5 |
+
tags:
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| 6 |
+
- LeRobot
|
| 7 |
+
configs:
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| 8 |
+
- config_name: default
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| 9 |
+
data_files: data/*/*.parquet
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| 10 |
+
---
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| 11 |
+
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| 12 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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| 13 |
+
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| 14 |
+
## Dataset Description
|
| 15 |
+
|
| 16 |
+
|
| 17 |
+
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| 18 |
+
- **Homepage:** [More Information Needed]
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| 19 |
+
- **Paper:** [More Information Needed]
|
| 20 |
+
- **License:** apache-2.0
|
| 21 |
+
|
| 22 |
+
## Dataset Structure
|
| 23 |
+
|
| 24 |
+
[meta/info.json](meta/info.json):
|
| 25 |
+
```json
|
| 26 |
+
{
|
| 27 |
+
"codebase_version": "v2.1",
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| 28 |
+
"robot_type": "so100_follower",
|
| 29 |
+
"total_episodes": 50,
|
| 30 |
+
"total_frames": 11939,
|
| 31 |
+
"total_tasks": 1,
|
| 32 |
+
"total_videos": 100,
|
| 33 |
+
"total_chunks": 1,
|
| 34 |
+
"chunks_size": 1000,
|
| 35 |
+
"fps": 30,
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| 36 |
+
"splits": {
|
| 37 |
+
"train": "0:50"
|
| 38 |
+
},
|
| 39 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 40 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 41 |
+
"features": {
|
| 42 |
+
"action": {
|
| 43 |
+
"dtype": "float32",
|
| 44 |
+
"shape": [
|
| 45 |
+
6
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"shoulder_pan.pos",
|
| 49 |
+
"shoulder_lift.pos",
|
| 50 |
+
"elbow_flex.pos",
|
| 51 |
+
"wrist_flex.pos",
|
| 52 |
+
"wrist_roll.pos",
|
| 53 |
+
"gripper.pos"
|
| 54 |
+
]
|
| 55 |
+
},
|
| 56 |
+
"observation.state": {
|
| 57 |
+
"dtype": "float32",
|
| 58 |
+
"shape": [
|
| 59 |
+
6
|
| 60 |
+
],
|
| 61 |
+
"names": [
|
| 62 |
+
"shoulder_pan.pos",
|
| 63 |
+
"shoulder_lift.pos",
|
| 64 |
+
"elbow_flex.pos",
|
| 65 |
+
"wrist_flex.pos",
|
| 66 |
+
"wrist_roll.pos",
|
| 67 |
+
"gripper.pos"
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"observation.images.up": {
|
| 71 |
+
"dtype": "video",
|
| 72 |
+
"shape": [
|
| 73 |
+
480,
|
| 74 |
+
640,
|
| 75 |
+
3
|
| 76 |
+
],
|
| 77 |
+
"names": [
|
| 78 |
+
"height",
|
| 79 |
+
"width",
|
| 80 |
+
"channels"
|
| 81 |
+
],
|
| 82 |
+
"info": {
|
| 83 |
+
"video.height": 480,
|
| 84 |
+
"video.width": 640,
|
| 85 |
+
"video.codec": "av1",
|
| 86 |
+
"video.pix_fmt": "yuv420p",
|
| 87 |
+
"video.is_depth_map": false,
|
| 88 |
+
"video.fps": 30,
|
| 89 |
+
"video.channels": 3,
|
| 90 |
+
"has_audio": false
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"observation.images.side": {
|
| 94 |
+
"dtype": "video",
|
| 95 |
+
"shape": [
|
| 96 |
+
480,
|
| 97 |
+
640,
|
| 98 |
+
3
|
| 99 |
+
],
|
| 100 |
+
"names": [
|
| 101 |
+
"height",
|
| 102 |
+
"width",
|
| 103 |
+
"channels"
|
| 104 |
+
],
|
| 105 |
+
"info": {
|
| 106 |
+
"video.height": 480,
|
| 107 |
+
"video.width": 640,
|
| 108 |
+
"video.codec": "av1",
|
| 109 |
+
"video.pix_fmt": "yuv420p",
|
| 110 |
+
"video.is_depth_map": false,
|
| 111 |
+
"video.fps": 30,
|
| 112 |
+
"video.channels": 3,
|
| 113 |
+
"has_audio": false
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
"timestamp": {
|
| 117 |
+
"dtype": "float32",
|
| 118 |
+
"shape": [
|
| 119 |
+
1
|
| 120 |
+
],
|
| 121 |
+
"names": null
|
| 122 |
+
},
|
| 123 |
+
"frame_index": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"names": null
|
| 129 |
+
},
|
| 130 |
+
"episode_index": {
|
| 131 |
+
"dtype": "int64",
|
| 132 |
+
"shape": [
|
| 133 |
+
1
|
| 134 |
+
],
|
| 135 |
+
"names": null
|
| 136 |
+
},
|
| 137 |
+
"index": {
|
| 138 |
+
"dtype": "int64",
|
| 139 |
+
"shape": [
|
| 140 |
+
1
|
| 141 |
+
],
|
| 142 |
+
"names": null
|
| 143 |
+
},
|
| 144 |
+
"task_index": {
|
| 145 |
+
"dtype": "int64",
|
| 146 |
+
"shape": [
|
| 147 |
+
1
|
| 148 |
+
],
|
| 149 |
+
"names": null
|
| 150 |
+
}
|
| 151 |
+
}
|
| 152 |
+
}
|
| 153 |
+
```
|
| 154 |
+
|
| 155 |
+
|
| 156 |
+
## Citation
|
| 157 |
+
|
| 158 |
+
**BibTeX:**
|
| 159 |
+
|
| 160 |
+
```bibtex
|
| 161 |
+
[More Information Needed]
|
| 162 |
+
```
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data/chunk-000/file-000.parquet
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| 1 |
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5f2d93b8434342039fb72b8b41af96d2db8e7275b86289d4c106d0a722e0ae89
|
| 3 |
+
size 370515
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meta/episodes/chunk-000/file-000.parquet
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| 1 |
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:191998bffd2680c477a4000270cf943bc423ba5fb54ee8b8244b57db062c5209
|
| 3 |
+
size 72560
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meta/info.json
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "so100_follower",
|
| 4 |
+
"total_episodes": 50,
|
| 5 |
+
"total_frames": 11939,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"fps": 30,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:50"
|
| 11 |
+
},
|
| 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": {
|
| 15 |
+
"action": {
|
| 16 |
+
"dtype": "float32",
|
| 17 |
+
"shape": [
|
| 18 |
+
6
|
| 19 |
+
],
|
| 20 |
+
"names": [
|
| 21 |
+
"shoulder_pan.pos",
|
| 22 |
+
"shoulder_lift.pos",
|
| 23 |
+
"elbow_flex.pos",
|
| 24 |
+
"wrist_flex.pos",
|
| 25 |
+
"wrist_roll.pos",
|
| 26 |
+
"gripper.pos"
|
| 27 |
+
],
|
| 28 |
+
"fps": 30.0
|
| 29 |
+
},
|
| 30 |
+
"observation.state": {
|
| 31 |
+
"dtype": "float32",
|
| 32 |
+
"shape": [
|
| 33 |
+
6
|
| 34 |
+
],
|
| 35 |
+
"names": [
|
| 36 |
+
"shoulder_pan.pos",
|
| 37 |
+
"shoulder_lift.pos",
|
| 38 |
+
"elbow_flex.pos",
|
| 39 |
+
"wrist_flex.pos",
|
| 40 |
+
"wrist_roll.pos",
|
| 41 |
+
"gripper.pos"
|
| 42 |
+
],
|
| 43 |
+
"fps": 30.0
|
| 44 |
+
},
|
| 45 |
+
"observation.images.up": {
|
| 46 |
+
"dtype": "video",
|
| 47 |
+
"shape": [
|
| 48 |
+
480,
|
| 49 |
+
640,
|
| 50 |
+
3
|
| 51 |
+
],
|
| 52 |
+
"names": [
|
| 53 |
+
"height",
|
| 54 |
+
"width",
|
| 55 |
+
"channels"
|
| 56 |
+
],
|
| 57 |
+
"info": {
|
| 58 |
+
"video.height": 480,
|
| 59 |
+
"video.width": 640,
|
| 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.side": {
|
| 69 |
+
"dtype": "video",
|
| 70 |
+
"shape": [
|
| 71 |
+
480,
|
| 72 |
+
640,
|
| 73 |
+
3
|
| 74 |
+
],
|
| 75 |
+
"names": [
|
| 76 |
+
"height",
|
| 77 |
+
"width",
|
| 78 |
+
"channels"
|
| 79 |
+
],
|
| 80 |
+
"info": {
|
| 81 |
+
"video.height": 480,
|
| 82 |
+
"video.width": 640,
|
| 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 |
+
"fps": 30.0
|
| 98 |
+
},
|
| 99 |
+
"frame_index": {
|
| 100 |
+
"dtype": "int64",
|
| 101 |
+
"shape": [
|
| 102 |
+
1
|
| 103 |
+
],
|
| 104 |
+
"names": null,
|
| 105 |
+
"fps": 30.0
|
| 106 |
+
},
|
| 107 |
+
"episode_index": {
|
| 108 |
+
"dtype": "int64",
|
| 109 |
+
"shape": [
|
| 110 |
+
1
|
| 111 |
+
],
|
| 112 |
+
"names": null,
|
| 113 |
+
"fps": 30.0
|
| 114 |
+
},
|
| 115 |
+
"index": {
|
| 116 |
+
"dtype": "int64",
|
| 117 |
+
"shape": [
|
| 118 |
+
1
|
| 119 |
+
],
|
| 120 |
+
"names": null,
|
| 121 |
+
"fps": 30.0
|
| 122 |
+
},
|
| 123 |
+
"task_index": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"names": null,
|
| 129 |
+
"fps": 30.0
|
| 130 |
+
}
|
| 131 |
+
},
|
| 132 |
+
"data_files_size_in_mb": 100,
|
| 133 |
+
"video_files_size_in_mb": 500
|
| 134 |
+
}
|
meta/skills.json
ADDED
|
@@ -0,0 +1,1438 @@
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|
| 1 |
+
{
|
| 2 |
+
"coarse_description": "pink lego brick into the transparent box",
|
| 3 |
+
"skill_to_task_index": {
|
| 4 |
+
"robot arm picks up pink lego brick": 19,
|
| 5 |
+
"robot arm approaches transparent box": 3,
|
| 6 |
+
"robot arm retracts from transparent box": 28,
|
| 7 |
+
"robot arm moves towards pink lego brick": 12,
|
| 8 |
+
"robot arm releases red lego brick into box": 26,
|
| 9 |
+
"robot arm releases red lego brick into transparent box": 27,
|
| 10 |
+
"robot arm closes gripper to pick up the pink lego brick": 5,
|
| 11 |
+
"robot arm lifts the pink lego brick": 7,
|
| 12 |
+
"robot arm moves away from transparent box": 9,
|
| 13 |
+
"robot arm moves down to pick up the pink lego brick": 10,
|
| 14 |
+
"robot arm moves towards transparent box": 16,
|
| 15 |
+
"robot arm moves away from the transparent box": 8,
|
| 16 |
+
"robot arm releases lego brick into transparent box": 24,
|
| 17 |
+
"robot arm releases pink lego brick into transparent box": 25,
|
| 18 |
+
"robot arm places the pink lego brick into the transparent box": 23,
|
| 19 |
+
"robot arm opens gripper to release the pink lego brick": 18,
|
| 20 |
+
"robot arm opens gripper": 17,
|
| 21 |
+
"robot arm closes gripper around pink lego brick": 4,
|
| 22 |
+
"robot arm moves towards red lego brick": 13,
|
| 23 |
+
"robot arm places pink lego brick into transparent box": 21,
|
| 24 |
+
"robot arm moves towards the transparent box": 15,
|
| 25 |
+
"robot arm lifts pink lego brick": 6,
|
| 26 |
+
"robot arm places red lego brick into transparent box": 22,
|
| 27 |
+
"robot arm moves lego brick towards transparent box": 11,
|
| 28 |
+
"robot arm moves towards the pink lego brick": 14,
|
| 29 |
+
"robot arm picks up red lego brick": 20
|
| 30 |
+
},
|
| 31 |
+
"episodes": {
|
| 32 |
+
"0": {
|
| 33 |
+
"episode_index": 0,
|
| 34 |
+
"description": "pink lego brick into the transparent box",
|
| 35 |
+
"skills": [
|
| 36 |
+
{
|
| 37 |
+
"name": "robot arm moves towards pink lego brick",
|
| 38 |
+
"start": 0.0,
|
| 39 |
+
"end": 1.8
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"name": "robot arm picks up pink lego brick",
|
| 43 |
+
"start": 1.8,
|
| 44 |
+
"end": 3.1
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"name": "robot arm moves towards transparent box",
|
| 48 |
+
"start": 3.1,
|
| 49 |
+
"end": 5.5
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "robot arm releases pink lego brick into transparent box",
|
| 53 |
+
"start": 5.5,
|
| 54 |
+
"end": 7.0
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"name": "robot arm retracts from transparent box",
|
| 58 |
+
"start": 7.0,
|
| 59 |
+
"end": 10.1
|
| 60 |
+
}
|
| 61 |
+
]
|
| 62 |
+
},
|
| 63 |
+
"1": {
|
| 64 |
+
"episode_index": 1,
|
| 65 |
+
"description": "pink lego brick into the transparent box",
|
| 66 |
+
"skills": [
|
| 67 |
+
{
|
| 68 |
+
"name": "robot arm moves towards red lego brick",
|
| 69 |
+
"start": 0.0,
|
| 70 |
+
"end": 1.2
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
+
"name": "robot arm picks up red lego brick",
|
| 74 |
+
"start": 1.2,
|
| 75 |
+
"end": 2.0
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"name": "robot arm moves towards transparent box",
|
| 79 |
+
"start": 2.0,
|
| 80 |
+
"end": 3.8
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"name": "robot arm places red lego brick into transparent box",
|
| 84 |
+
"start": 3.8,
|
| 85 |
+
"end": 5.0
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"name": "robot arm moves away from transparent box",
|
| 89 |
+
"start": 5.0,
|
| 90 |
+
"end": 8.9
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"2": {
|
| 95 |
+
"episode_index": 2,
|
| 96 |
+
"description": "pink lego brick into the transparent box",
|
| 97 |
+
"skills": []
|
| 98 |
+
},
|
| 99 |
+
"3": {
|
| 100 |
+
"episode_index": 3,
|
| 101 |
+
"description": "pink lego brick into the transparent box",
|
| 102 |
+
"skills": []
|
| 103 |
+
},
|
| 104 |
+
"4": {
|
| 105 |
+
"episode_index": 4,
|
| 106 |
+
"description": "pink lego brick into the transparent box",
|
| 107 |
+
"skills": [
|
| 108 |
+
{
|
| 109 |
+
"name": "robot arm moves towards pink lego brick",
|
| 110 |
+
"start": 0.0,
|
| 111 |
+
"end": 1.5
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"name": "robot arm picks up pink lego brick",
|
| 115 |
+
"start": 1.5,
|
| 116 |
+
"end": 2.8
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"name": "robot arm moves towards transparent box",
|
| 120 |
+
"start": 2.8,
|
| 121 |
+
"end": 4.5
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"name": "robot arm releases pink lego brick into transparent box",
|
| 125 |
+
"start": 4.5,
|
| 126 |
+
"end": 6.0
|
| 127 |
+
},
|
| 128 |
+
{
|
| 129 |
+
"name": "robot arm retracts from transparent box",
|
| 130 |
+
"start": 6.0,
|
| 131 |
+
"end": 7.2
|
| 132 |
+
}
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
"5": {
|
| 136 |
+
"episode_index": 5,
|
| 137 |
+
"description": "pink lego brick into the transparent box",
|
| 138 |
+
"skills": []
|
| 139 |
+
},
|
| 140 |
+
"6": {
|
| 141 |
+
"episode_index": 6,
|
| 142 |
+
"description": "pink lego brick into the transparent box",
|
| 143 |
+
"skills": [
|
| 144 |
+
{
|
| 145 |
+
"name": "robot arm moves towards pink lego brick",
|
| 146 |
+
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| 1022 |
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| 1023 |
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| 1416 |
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"name": "robot arm picks up pink lego brick",
|
| 1417 |
+
"start": 1.5,
|
| 1418 |
+
"end": 3.0
|
| 1419 |
+
},
|
| 1420 |
+
{
|
| 1421 |
+
"name": "robot arm moves towards transparent box",
|
| 1422 |
+
"start": 3.0,
|
| 1423 |
+
"end": 5.5
|
| 1424 |
+
},
|
| 1425 |
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{
|
| 1426 |
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"name": "robot arm releases pink lego brick into transparent box",
|
| 1427 |
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"start": 5.5,
|
| 1428 |
+
"end": 7.0
|
| 1429 |
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},
|
| 1430 |
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{
|
| 1431 |
+
"name": "robot arm retracts from transparent box",
|
| 1432 |
+
"start": 7.0,
|
| 1433 |
+
"end": 9.0
|
| 1434 |
+
}
|
| 1435 |
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]
|
| 1436 |
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}
|
| 1437 |
+
}
|
| 1438 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,307 @@
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3446.492419837885
|
| 302 |
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],
|
| 303 |
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"count": [
|
| 304 |
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11939
|
| 305 |
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|
| 306 |
+
}
|
| 307 |
+
}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:d150593d01a93aa7885605377256d57687903bb4720f07e34c65aad2649b1385
|
| 3 |
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size 2776
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videos/observation.images.side/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:3b0f30282b21764fad29d46f4133e66e303dfcb95803510c790ca53dfd2bfe50
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| 3 |
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size 45541633
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videos/observation.images.up/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:73d93dae2091cb1b11995d17c34f67c1ec18db005e70acdf896d2307b47406d1
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| 3 |
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size 40124489
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