Hugging Face's logo

Datasets:
kdaterao
/
so101_data2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
robotics
manipulation
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
kdaterao commited on
Commit
4a72eb7
·
verified ·
1 Parent(s): eab333b

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 +139 -0
  4. meta/stats.json +632 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.camera1/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.camera2/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 sha256:53f6200a40cd8e1831fdf236a59ca8b38ec17e633a0e6df5f1180c48bcb86a6b
3
+ size 23506
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e3ac0f2c8f84eed9443ead6408308ccf0f85e0314755eab65fec44c69842843f
3
+ size 52914
meta/info.json ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 30,
4
+ "features": {
5
+ "observation.state": {
6
+ "dtype": "float32",
7
+ "shape": [
8
+ 6
9
+ ],
10
+ "names": [
11
+ "shoulder_pan",
12
+ "shoulder_lift",
13
+ "elbow_flex",
14
+ "wrist_flex",
15
+ "wrist_roll",
16
+ "gripper"
17
+ ]
18
+ },
19
+ "observation.images.camera1": {
20
+ "dtype": "video",
21
+ "shape": [
22
+ 480,
23
+ 640,
24
+ 3
25
+ ],
26
+ "names": [
27
+ "height",
28
+ "width",
29
+ "channel"
30
+ ],
31
+ "info": {
32
+ "video.height": 480,
33
+ "video.width": 640,
34
+ "video.codec": "av1",
35
+ "video.pix_fmt": "yuv420p",
36
+ "video.fps": 30,
37
+ "video.channels": 3,
38
+ "has_audio": false,
39
+ "video.g": 2,
40
+ "video.crf": 30,
41
+ "video.preset": 12,
42
+ "video.fast_decode": 0,
43
+ "video.video_backend": "pyav",
44
+ "video.extra_options": {},
45
+ "is_depth_map": false
46
+ }
47
+ },
48
+ "observation.images.camera2": {
49
+ "dtype": "video",
50
+ "shape": [
51
+ 480,
52
+ 640,
53
+ 3
54
+ ],
55
+ "names": [
56
+ "height",
57
+ "width",
58
+ "channel"
59
+ ],
60
+ "info": {
61
+ "video.height": 480,
62
+ "video.width": 640,
63
+ "video.codec": "av1",
64
+ "video.pix_fmt": "yuv420p",
65
+ "video.fps": 30,
66
+ "video.channels": 3,
67
+ "has_audio": false,
68
+ "video.g": 2,
69
+ "video.crf": 30,
70
+ "video.preset": 12,
71
+ "video.fast_decode": 0,
72
+ "video.video_backend": "pyav",
73
+ "video.extra_options": {},
74
+ "is_depth_map": false
75
+ }
76
+ },
77
+ "action": {
78
+ "dtype": "float32",
79
+ "shape": [
80
+ 6
81
+ ],
82
+ "names": [
83
+ "shoulder_pan",
84
+ "shoulder_lift",
85
+ "elbow_flex",
86
+ "wrist_flex",
87
+ "wrist_roll",
88
+ "gripper"
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
+ "total_episodes": 1,
128
+ "total_frames": 471,
129
+ "total_tasks": 1,
130
+ "chunks_size": 1000,
131
+ "data_files_size_in_mb": 100,
132
+ "video_files_size_in_mb": 200,
133
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
134
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
135
+ "robot_type": "so_follower",
136
+ "splits": {
137
+ "train": "0:1"
138
+ }
139
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -82.989013671875,
5
+ -93.18681335449219,
6
+ -69.27472686767578,
7
+ 50.28571319580078,
8
+ -1.4505494832992554,
9
+ 35.57365798950195
10
+ ],
11
+ "max": [
12
+ -4.043956279754639,
13
+ 28.74725341796875,
14
+ 98.37362670898438,
15
+ 85.45054626464844,
16
+ 41.4505500793457,
17
+ 94.84046173095703
18
+ ],
19
+ "mean": [
20
+ -25.31417465209961,
21
+ -27.627328872680664,
22
+ 29.930252075195312,
23
+ 70.93675994873047,
24
+ 18.404203414916992,
25
+ 57.39085388183594
26
+ ],
27
+ "std": [
28
+ 26.582124710083008,
29
+ 47.637081146240234,
30
+ 42.86558151245117,
31
+ 11.070773124694824,
32
+ 14.786877632141113,
33
+ 16.024433135986328
34
+ ],
35
+ "count": [
36
+ 471
37
+ ],
38
+ "q01": [
39
+ -82.989013671875,
40
+ -93.18681335449219,
41
+ -67.2391399383545,
42
+ 51.34565174102783,
43
+ 0.1283877943797284,
44
+ 35.57365798950195
45
+ ],
46
+ "q10": [
47
+ -77.0946458515368,
48
+ -92.67427760197566,
49
+ -8.180149269104003,
50
+ 59.2540529523577,
51
+ 0.13276990293020224,
52
+ 35.57365798950195
53
+ ],
54
+ "q50": [
55
+ -15.559835833172466,
56
+ -28.741149671149977,
57
+ 27.775832948230562,
58
+ 68.65798328944615,
59
+ 11.032458004744157,
60
+ 64.1570784079062
61
+ ],
62
+ "q90": [
63
+ -4.053490713926462,
64
+ 28.673129013349424,
65
+ 94.23896474202473,
66
+ 85.44560125550227,
67
+ 40.30852165222168,
68
+ 70.53958477020264
69
+ ],
70
+ "q99": [
71
+ -4.044909723171821,
72
+ 28.74470127360026,
73
+ 98.3673094329834,
74
+ 85.45005176373382,
75
+ 41.44961035173993,
76
+ 92.53249099731445
77
+ ]
78
+ },
79
+ "observation.images.camera1": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.2377598136663437
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.21567033231258392
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.22104860842227936
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.19739355146884918
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.2179740071296692
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.21850192546844482
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 101
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.039312411458730254
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.015695558478256284
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ 0.019728343936645177
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.06663371537778674
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.035313231313513244
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.039245834867361225
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.15291786171226365
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.10997089816861796
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.1215728393950144
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.5569931295377525
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.6038360698178653
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.6039051046810212
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.8000821223277286
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.7764474457848639
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.7961869998009828
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "observation.images.camera2": {
238
+ "min": [
239
+ [
240
+ [
241
+ 0.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.0
252
+ ]
253
+ ]
254
+ ],
255
+ "max": [
256
+ [
257
+ [
258
+ 1.0
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 1.0
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 1.0
269
+ ]
270
+ ]
271
+ ],
272
+ "mean": [
273
+ [
274
+ [
275
+ 0.2791553735733032
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.27253419160842896
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.24516543745994568
286
+ ]
287
+ ]
288
+ ],
289
+ "std": [
290
+ [
291
+ [
292
+ 0.19179506599903107
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.1902303248643875
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.17587940394878387
303
+ ]
304
+ ]
305
+ ],
306
+ "count": [
307
+ 101
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.007989662196572694
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.011711445946352563
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.003965198061050927
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.08237731474846828
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.07845810143851802
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.066647570012557
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.223432713011256
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.21571167733528998
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.19604349067406746
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.5019364999917314
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.4744550522952823
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.435234495112516
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9882454535988828
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9998320632712965
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.956854541198073
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -83.03296661376953,
398
+ -93.05494689941406,
399
+ -74.72527313232422,
400
+ 51.340660095214844,
401
+ -0.48351648449897766,
402
+ 32.57365798950195
403
+ ],
404
+ "max": [
405
+ -3.5604395866394043,
406
+ 27.120878219604492,
407
+ 99.69230651855469,
408
+ 95.03296661376953,
409
+ 41.80219650268555,
410
+ 91.84046173095703
411
+ ],
412
+ "mean": [
413
+ -25.022375106811523,
414
+ -29.043725967407227,
415
+ 28.044641494750977,
416
+ 73.24468231201172,
417
+ 18.597925186157227,
418
+ 56.444786071777344
419
+ ],
420
+ "std": [
421
+ 26.652856826782227,
422
+ 46.82620620727539,
423
+ 43.52568435668945,
424
+ 14.612140655517578,
425
+ 14.85070514678955,
426
+ 16.99135971069336
427
+ ],
428
+ "count": [
429
+ 471
430
+ ],
431
+ "q01": [
432
+ -83.03296661376953,
433
+ -93.05494689941406,
434
+ -72.08424285888673,
435
+ 51.43267528533936,
436
+ -0.04497135370969772,
437
+ 32.57365798950195
438
+ ],
439
+ "q10": [
440
+ -76.45224685668946,
441
+ -92.81282119750976,
442
+ -13.00587272644043,
443
+ 58.72835209754206,
444
+ 0.13109597251063487,
445
+ 32.57365798950195
446
+ ],
447
+ "q50": [
448
+ -15.420741695827909,
449
+ -31.07767063776652,
450
+ 25.407852172851562,
451
+ 67.24718816656815,
452
+ 11.563331127166748,
453
+ 64.06023570469448
454
+ ],
455
+ "q90": [
456
+ -3.571781056577509,
457
+ 27.039850198406064,
458
+ 93.64211444854736,
459
+ 94.59516525268555,
460
+ 41.099408340454104,
461
+ 70.79908720504406
462
+ ],
463
+ "q99": [
464
+ -3.5615737336332147,
465
+ 27.11521719646454,
466
+ 99.68448136465891,
467
+ 95.0303950548172,
468
+ 41.79721733570099,
469
+ 89.53249099731445
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 15.666666666666666
478
+ ],
479
+ "mean": [
480
+ 7.833333333333333
481
+ ],
482
+ "std": [
483
+ 4.532189398154138
484
+ ],
485
+ "count": [
486
+ 471
487
+ ],
488
+ "q01": [
489
+ 0.13382466656837505
490
+ ],
491
+ "q10": [
492
+ 1.566979999920004
493
+ ],
494
+ "q50": [
495
+ 7.83490000000002
496
+ ],
497
+ "q90": [
498
+ 14.099686666746662
499
+ ],
500
+ "q99": [
501
+ 15.53284200009829
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0.0
507
+ ],
508
+ "max": [
509
+ 470.0
510
+ ],
511
+ "mean": [
512
+ 235.0
513
+ ],
514
+ "std": [
515
+ 135.96568194462407
516
+ ],
517
+ "count": [
518
+ 471
519
+ ],
520
+ "q01": [
521
+ 4.014739999901709
522
+ ],
523
+ "q10": [
524
+ 47.00939999992
525
+ ],
526
+ "q50": [
527
+ 235.04700000000003
528
+ ],
529
+ "q90": [
530
+ 422.99060000007995
531
+ ],
532
+ "q99": [
533
+ 465.98526000009826
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0.0
539
+ ],
540
+ "max": [
541
+ 0.0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 471
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0.0
571
+ ],
572
+ "max": [
573
+ 470.0
574
+ ],
575
+ "mean": [
576
+ 235.0
577
+ ],
578
+ "std": [
579
+ 135.96568194462407
580
+ ],
581
+ "count": [
582
+ 471
583
+ ],
584
+ "q01": [
585
+ 4.014739999901709
586
+ ],
587
+ "q10": [
588
+ 47.00939999992
589
+ ],
590
+ "q50": [
591
+ 235.04700000000003
592
+ ],
593
+ "q90": [
594
+ 422.99060000007995
595
+ ],
596
+ "q99": [
597
+ 465.98526000009826
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0.0
603
+ ],
604
+ "max": [
605
+ 0.0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 471
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:791c3718acbe4ddf15396388df9c299ed6565f38f7a3d3468c999c6e4524f7aa
3
+ size 2195
videos/observation.images.camera1/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:07dceb02ac16a6169a0cbfac2a14efe32811fc37860bfdef8526ce3aa53cf70e
3
+ size 2174699
videos/observation.images.camera2/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6a2ea5b94ebb6108d1817d6f95da6776c48e0dd2e97a600b9a0df27322678d03
3
+ size 8641945