Hugging Face's logo

Datasets:
kfstiger
/
pick_and_place

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
Community
1
kfstiger commited on
Commit
c03e11f
·
verified ·
1 Parent(s): 8e88a05

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 +127 -0
  4. meta/stats.json +632 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.front/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.top/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:ebcf767932f3a0b96fcfc6890a1ec15c4129ba94276a06ae8abc70d7b1d2bd3e
3
+ size 95787
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:803ab55786f043d89530727897c888e75733eee8f8b327a231dc19a98d7e6cff
3
+ size 54309
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 2068,
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": "0:2"
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
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "names": [
34
+ "shoulder_pan.pos",
35
+ "shoulder_lift.pos",
36
+ "elbow_flex.pos",
37
+ "wrist_flex.pos",
38
+ "wrist_roll.pos",
39
+ "gripper.pos"
40
+ ],
41
+ "shape": [
42
+ 6
43
+ ]
44
+ },
45
+ "observation.images.top": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 720,
49
+ 1280,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 720,
59
+ "video.width": 1280,
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.front": {
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
+ },
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
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 2067
8
+ ],
9
+ "mean": [
10
+ 1033.5
11
+ ],
12
+ "std": [
13
+ 596.9801085463401
14
+ ],
15
+ "count": [
16
+ 2068
17
+ ],
18
+ "q01": [
19
+ 525.3498194370392
20
+ ],
21
+ "q10": [
22
+ 618.9644845066897
23
+ ],
24
+ "q50": [
25
+ 1033.5101950676983
26
+ ],
27
+ "q90": [
28
+ 1448.0355154933102
29
+ ],
30
+ "q99": [
31
+ 1541.650180562961
32
+ ]
33
+ },
34
+ "observation.images.front": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.512991370506536
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.5313756127450981
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.5198351350957049
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.008687609050379878
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.003207997894538963
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.014088269454905428
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 364
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.0059560360435547445
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.07244245326915523
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.06860983700815476
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.19634504868991773
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.26088419306799404
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.23179416263647012
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.43556420647644495
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.47284291352108976
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.42615725853253605
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.8903419446670454
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.8626599385078008
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.9046875223121924
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.9843549934351941
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.9961389073565001
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.9999190661884547
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "action": {
193
+ "min": [
194
+ -25.770750045776367,
195
+ -100.0,
196
+ 17.128578186035156,
197
+ -76.07859802246094,
198
+ -65.96968078613281,
199
+ 0.3943217694759369
200
+ ],
201
+ "max": [
202
+ 20.079051971435547,
203
+ 32.887027740478516,
204
+ 99.63652801513672,
205
+ 76.50576782226562,
206
+ -46.00104522705078,
207
+ 64.43217468261719
208
+ ],
209
+ "mean": [
210
+ -8.380256926068023,
211
+ -21.469963141520665,
212
+ 76.00463128966105,
213
+ -13.130396564532525,
214
+ -55.18843875125022,
215
+ 36.74549221761914
216
+ ],
217
+ "std": [
218
+ 13.556749623640872,
219
+ 45.611950054410954,
220
+ 23.1457877710013,
221
+ 45.42363766651848,
222
+ 3.5988710504809345,
223
+ 20.638800835804467
224
+ ],
225
+ "count": [
226
+ 2068
227
+ ],
228
+ "q01": [
229
+ -25.330630577980205,
230
+ -99.29130386311343,
231
+ 33.61834726228726,
232
+ -64.7482916389374,
233
+ -61.952408459477084,
234
+ 0.5882325086050308
235
+ ],
236
+ "q10": [
237
+ -24.979553005101423,
238
+ -98.64425606729814,
239
+ 38.48380826355096,
240
+ -52.73864065322174,
241
+ -60.5550534830035,
242
+ 6.970034697038379
243
+ ],
244
+ "q50": [
245
+ -6.26146465589891,
246
+ -2.1964774131774902,
247
+ 79.2469643985946,
248
+ -27.67371398968653,
249
+ -55.04585128452394,
250
+ 40.72147506547283
251
+ ],
252
+ "q90": [
253
+ 12.560687153558106,
254
+ 27.828896439083156,
255
+ 99.22620488860125,
256
+ 71.84674324242243,
257
+ -49.37282574003667,
258
+ 58.777963859376236
259
+ ],
260
+ "q99": [
261
+ 13.276036248385525,
262
+ 28.835067863833427,
263
+ 99.63004136560485,
264
+ 76.35646639801568,
265
+ -48.274855900525715,
266
+ 60.38476542985363
267
+ ]
268
+ },
269
+ "task_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 0
275
+ ],
276
+ "mean": [
277
+ 0.0
278
+ ],
279
+ "std": [
280
+ 0.0
281
+ ],
282
+ "count": [
283
+ 2068
284
+ ],
285
+ "q01": [
286
+ 3.9999999999994176e-16
287
+ ],
288
+ "q10": [
289
+ 3.999999999999417e-15
290
+ ],
291
+ "q50": [
292
+ 1.9999999999997088e-14
293
+ ],
294
+ "q90": [
295
+ 3.599999999999476e-14
296
+ ],
297
+ "q99": [
298
+ 3.959999999999424e-14
299
+ ]
300
+ },
301
+ "observation.images.top": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.5232403816227346
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.49764462280638755
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.4947278626194067
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.0005525075100845828
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.00016692093037305145
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.00017900242143034845
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 364
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.12542458904027962
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.07854747729987599
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.13738084613508197
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.23538720607688068
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.21163418002665507
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.2234572808395561
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.48810971724995955
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.4568076243000663
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.44707438249774056
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.845159145297969
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.8589013337612561
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.8666617099305315
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.9883031125026032
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.9979088444642218
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.9998572143621097
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "frame_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 1084
465
+ ],
466
+ "mean": [
467
+ 517.7577369439072
468
+ ],
469
+ "std": [
470
+ 300.657892126217
471
+ ],
472
+ "count": [
473
+ 2068
474
+ ],
475
+ "q01": [
476
+ 9.607556380946342
477
+ ],
478
+ "q10": [
479
+ 103.22222145059693
480
+ ],
481
+ "q50": [
482
+ 517.7679320116055
483
+ ],
484
+ "q90": [
485
+ 932.2932524372175
486
+ ],
487
+ "q99": [
488
+ 1025.9079175068678
489
+ ]
490
+ },
491
+ "episode_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 1
497
+ ],
498
+ "mean": [
499
+ 0.5246615087040619
500
+ ],
501
+ "std": [
502
+ 0.499391439642731
503
+ ],
504
+ "count": [
505
+ 2068
506
+ ],
507
+ "q01": [
508
+ 0.5246615087040624
509
+ ],
510
+ "q10": [
511
+ 0.5246615087040658
512
+ ],
513
+ "q50": [
514
+ 0.5246615087040818
515
+ ],
516
+ "q90": [
517
+ 0.524661508704098
518
+ ],
519
+ "q99": [
520
+ 0.5246615087041014
521
+ ]
522
+ },
523
+ "timestamp": {
524
+ "min": [
525
+ 0.0
526
+ ],
527
+ "max": [
528
+ 36.13333333333333
529
+ ],
530
+ "mean": [
531
+ 17.25859123146357
532
+ ],
533
+ "std": [
534
+ 10.021929737540567
535
+ ],
536
+ "count": [
537
+ 2068
538
+ ],
539
+ "q01": [
540
+ 0.3202518792700042
541
+ ],
542
+ "q10": [
543
+ 3.4407407149425024
544
+ ],
545
+ "q50": [
546
+ 17.255139513217262
547
+ ],
548
+ "q90": [
549
+ 31.076441747984646
550
+ ],
551
+ "q99": [
552
+ 34.196930583657135
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -25.982906341552734,
558
+ -100.0,
559
+ 17.298036575317383,
560
+ -76.2046890258789,
561
+ -64.61785125732422,
562
+ 2.283411741256714
563
+ ],
564
+ "max": [
565
+ 20.256410598754883,
566
+ 32.21052551269531,
567
+ 99.63487243652344,
568
+ 76.46055603027344,
569
+ -45.911277770996094,
570
+ 61.786434173583984
571
+ ],
572
+ "mean": [
573
+ -8.482389309650694,
574
+ -21.57186608664994,
575
+ 75.99757944915004,
576
+ -13.11458140115904,
577
+ -55.249287498297036,
578
+ 37.81038157022207
579
+ ],
580
+ "std": [
581
+ 13.568056083912946,
582
+ 45.84848457817654,
583
+ 23.201372680890803,
584
+ 45.34127248041884,
585
+ 3.5571549696792615,
586
+ 19.633710679781316
587
+ ],
588
+ "count": [
589
+ 2068
590
+ ],
591
+ "q01": [
592
+ -25.771810563159406,
593
+ -99.73090002661286,
594
+ 33.58146181327923,
595
+ -64.8014353238222,
596
+ -61.612740707120764,
597
+ 2.3153350825927705
598
+ ],
599
+ "q10": [
600
+ -25.00010516441337,
601
+ -99.1135688424883,
602
+ 38.82113708350024,
603
+ -53.34739441788634,
604
+ -60.575532450236324,
605
+ 7.646366408200206
606
+ ],
607
+ "q50": [
608
+ -6.120341861315966,
609
+ -2.4466359505746054,
610
+ 79.67353198031162,
611
+ -27.461096706410032,
612
+ -55.05316174376172,
613
+ 38.46534368397047
614
+ ],
615
+ "q90": [
616
+ 12.49269342044336,
617
+ 28.18794877927806,
618
+ 99.2680090600257,
619
+ 71.92231911044979,
620
+ -49.32176574362756,
621
+ 58.80181949382162
622
+ ],
623
+ "q99": [
624
+ 13.590212266669205,
625
+ 28.717242640592755,
626
+ 99.62704082421553,
627
+ 76.23719419633089,
628
+ -48.12876018713904,
629
+ 59.30692145883768
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5dcddc3fce839c1e3bf86a98ad4d0f9e4ad3f4fbf98f745279b4eb9ee7aa516e
3
+ size 2351
videos/observation.images.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5c8aee6d9378f3d77f36e59906186db0c0f9d34ee9cb8b23a30fd578ba549709
3
+ size 34257815
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:b0845275e6a6daab82f3faebaeef5e839d67b6b65994f1c37ce299347ba7244b
3
+ size 89045719