Hugging Face's logo

Datasets:
kinghanse
/
pick_and_place

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
kinghanse commited on
Commit
c2be7c1
·
verified ·
1 Parent(s): 67e2715

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.top/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.wrist/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 sha256:9ff72c4312a0ec23a52b886da8a5108bd907140de991ecb7c8b246c0325a338b
3
+ size 117413
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d00f176752fd85053def5e7fc9890710d586080bd013c67ace4d0f361f67c32b
3
+ size 57937
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 2508,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:5"
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
+ 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.wrist": {
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
+ "action": {
3
+ "min": [
4
+ -53.28614807128906,
5
+ -100.0,
6
+ -86.24443054199219,
7
+ -50.8914909362793,
8
+ -34.23860168457031,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 60.26289367675781,
13
+ 56.55073928833008,
14
+ 100.0,
15
+ 100.0,
16
+ 100.0,
17
+ 55.971336364746094
18
+ ],
19
+ "mean": [
20
+ 20.28837994525307,
21
+ -3.049220309873517,
22
+ -9.125113205571305,
23
+ 71.16729470607386,
24
+ -1.7347782021314144,
25
+ 11.870445549202877
26
+ ],
27
+ "std": [
28
+ 21.30968743177721,
29
+ 41.88774725056105,
30
+ 56.971548799269776,
31
+ 27.16504229773425,
32
+ 21.344083989645828,
33
+ 12.867149295219269
34
+ ],
35
+ "count": [
36
+ 2508
37
+ ],
38
+ "q01": [
39
+ -5.419346518527671,
40
+ -68.24432429216822,
41
+ -77.35542881297526,
42
+ 2.387693874989338,
43
+ -20.02580488930721,
44
+ 0.015712155873174732
45
+ ],
46
+ "q10": [
47
+ 3.7070329096005485,
48
+ -51.751372077856715,
49
+ -64.59087807010944,
50
+ 40.23210445582229,
51
+ -15.078712550622798,
52
+ 0.015950127795532714
53
+ ],
54
+ "q50": [
55
+ 19.509065807503482,
56
+ 4.201375507064441,
57
+ -20.514848047649384,
58
+ 78.95789744486862,
59
+ -6.735773220675688,
60
+ 7.929166113532402
61
+ ],
62
+ "q90": [
63
+ 42.92851095874914,
64
+ 38.972154155339105,
65
+ 54.726351493940385,
66
+ 93.68525873531627,
67
+ 16.941667232429566,
68
+ 26.952526964237393
69
+ ],
70
+ "q99": [
71
+ 48.36924425646068,
72
+ 42.45067779268754,
73
+ 77.75322760863479,
74
+ 99.54895550127937,
75
+ 36.700219825346686,
76
+ 33.492896309136334
77
+ ]
78
+ },
79
+ "task_index": {
80
+ "min": [
81
+ 0
82
+ ],
83
+ "max": [
84
+ 0
85
+ ],
86
+ "mean": [
87
+ 0.0
88
+ ],
89
+ "std": [
90
+ 0.0
91
+ ],
92
+ "count": [
93
+ 2508
94
+ ],
95
+ "q01": [
96
+ 3.999999999999417e-16
97
+ ],
98
+ "q10": [
99
+ 3.999999999999417e-15
100
+ ],
101
+ "q50": [
102
+ 1.9999999999997088e-14
103
+ ],
104
+ "q90": [
105
+ 3.599999999999476e-14
106
+ ],
107
+ "q99": [
108
+ 3.959999999999424e-14
109
+ ]
110
+ },
111
+ "index": {
112
+ "min": [
113
+ 0
114
+ ],
115
+ "max": [
116
+ 2507
117
+ ],
118
+ "mean": [
119
+ 1253.5
120
+ ],
121
+ "std": [
122
+ 723.9971800129243
123
+ ],
124
+ "count": [
125
+ 2508
126
+ ],
127
+ "q01": [
128
+ 1008.1472004879403
129
+ ],
130
+ "q10": [
131
+ 1053.2156694736043
132
+ ],
133
+ "q50": [
134
+ 1253.259328229665
135
+ ],
136
+ "q90": [
137
+ 1453.7843305263957
138
+ ],
139
+ "q99": [
140
+ 1498.8527995120598
141
+ ]
142
+ },
143
+ "frame_index": {
144
+ "min": [
145
+ 0
146
+ ],
147
+ "max": [
148
+ 501
149
+ ],
150
+ "mean": [
151
+ 250.30023923444975
152
+ ],
153
+ "std": [
154
+ 144.7995740142612
155
+ ],
156
+ "count": [
157
+ 2508
158
+ ],
159
+ "q01": [
160
+ 4.947439722390015
161
+ ],
162
+ "q10": [
163
+ 50.01590870805395
164
+ ],
165
+ "q50": [
166
+ 250.03959138755968
167
+ ],
168
+ "q90": [
169
+ 450.58456976084557
170
+ ],
171
+ "q99": [
172
+ 495.6530387465095
173
+ ]
174
+ },
175
+ "observation.state": {
176
+ "min": [
177
+ -51.555328369140625,
178
+ -99.90543365478516,
179
+ -83.94470977783203,
180
+ -49.47787094116211,
181
+ -33.63533401489258,
182
+ 0.7447528839111328
183
+ ],
184
+ "max": [
185
+ 59.81642150878906,
186
+ 51.96217346191406,
187
+ 99.57469177246094,
188
+ 99.90054321289062,
189
+ 99.43374633789062,
190
+ 55.7210578918457
191
+ ],
192
+ "mean": [
193
+ 20.299361341117482,
194
+ -1.978260035720168,
195
+ -7.990302517273399,
196
+ 71.23313386056222,
197
+ -1.7226688555743326,
198
+ 13.268398589114444
199
+ ],
200
+ "std": [
201
+ 21.325614584245475,
202
+ 41.713735540861656,
203
+ 56.40903730788725,
204
+ 27.04717385523066,
205
+ 21.33119151847856,
206
+ 11.489533201304543
207
+ ],
208
+ "count": [
209
+ 2508
210
+ ],
211
+ "q01": [
212
+ -6.757753526019068,
213
+ -68.01683966095395,
214
+ -77.49681363212531,
215
+ -1.4564862918853752,
216
+ -19.533153584159354,
217
+ 2.775772327045809
218
+ ],
219
+ "q10": [
220
+ 4.055878346959393,
221
+ -49.01536039081677,
222
+ -63.40992519265633,
223
+ 41.45868631908886,
224
+ -15.089185133220237,
225
+ 3.518806604089242
226
+ ],
227
+ "q50": [
228
+ 19.421778486022998,
229
+ 6.102864340196809,
230
+ -18.98096690398464,
231
+ 79.13626119495191,
232
+ -6.7103104597388645,
233
+ 9.302870493275863
234
+ ],
235
+ "q90": [
236
+ 43.062143935772404,
237
+ 38.309037001680764,
238
+ 54.8110106694544,
239
+ 93.69298514569664,
240
+ 17.03857088279315,
241
+ 26.928205680780078
242
+ ],
243
+ "q99": [
244
+ 50.921912755484925,
245
+ 41.73200209060342,
246
+ 77.71462063000183,
247
+ 99.24137666806962,
248
+ 36.37496190523706,
249
+ 33.15185150050395
250
+ ]
251
+ },
252
+ "observation.images.top": {
253
+ "min": [
254
+ [
255
+ [
256
+ 0.0
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 0.0
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 0.0
267
+ ]
268
+ ]
269
+ ],
270
+ "max": [
271
+ [
272
+ [
273
+ 1.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 1.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 1.0
284
+ ]
285
+ ]
286
+ ],
287
+ "mean": [
288
+ [
289
+ [
290
+ 0.5286698143351405
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.5427149803024114
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.5449530039209497
301
+ ]
302
+ ]
303
+ ],
304
+ "std": [
305
+ [
306
+ [
307
+ 0.01659977455326736
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.01905686789345298
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.020495163142674033
318
+ ]
319
+ ]
320
+ ],
321
+ "count": [
322
+ 528
323
+ ],
324
+ "q01": [
325
+ [
326
+ [
327
+ 0.002334746477252115
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.007046247385838532
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ 0.003936031142709247
338
+ ]
339
+ ]
340
+ ],
341
+ "q10": [
342
+ [
343
+ [
344
+ 0.09184396982077501
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.07695527255307384
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.1137453112177634
355
+ ]
356
+ ]
357
+ ],
358
+ "q50": [
359
+ [
360
+ [
361
+ 0.5754702990938749
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.5943624767693345
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.5841213824587387
372
+ ]
373
+ ]
374
+ ],
375
+ "q90": [
376
+ [
377
+ [
378
+ 0.9090781069160485
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.9475568551803796
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.9310911298659956
389
+ ]
390
+ ]
391
+ ],
392
+ "q99": [
393
+ [
394
+ [
395
+ 0.9920794427876599
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.9999684570177622
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.9999582298883248
406
+ ]
407
+ ]
408
+ ]
409
+ },
410
+ "timestamp": {
411
+ "min": [
412
+ 0.0
413
+ ],
414
+ "max": [
415
+ 16.7
416
+ ],
417
+ "mean": [
418
+ 8.343341307814994
419
+ ],
420
+ "std": [
421
+ 4.826652467142037
422
+ ],
423
+ "count": [
424
+ 2508
425
+ ],
426
+ "q01": [
427
+ 0.16491465731824453
428
+ ],
429
+ "q10": [
430
+ 1.6671969568577814
431
+ ],
432
+ "q50": [
433
+ 8.335984784688906
434
+ ],
435
+ "q90": [
436
+ 15.019485658772199
437
+ ],
438
+ "q99": [
439
+ 16.52176795831174
440
+ ]
441
+ },
442
+ "observation.images.wrist": {
443
+ "min": [
444
+ [
445
+ [
446
+ 0.0
447
+ ]
448
+ ],
449
+ [
450
+ [
451
+ 0.0
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.0
457
+ ]
458
+ ]
459
+ ],
460
+ "max": [
461
+ [
462
+ [
463
+ 1.0
464
+ ]
465
+ ],
466
+ [
467
+ [
468
+ 1.0
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 1.0
474
+ ]
475
+ ]
476
+ ],
477
+ "mean": [
478
+ [
479
+ [
480
+ 0.55027941215154
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.5568876893165726
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.5571145755966528
491
+ ]
492
+ ]
493
+ ],
494
+ "std": [
495
+ [
496
+ [
497
+ 0.0047464709092975
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.006151665409922376
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.008036958773094025
508
+ ]
509
+ ]
510
+ ],
511
+ "count": [
512
+ 528
513
+ ],
514
+ "q01": [
515
+ [
516
+ [
517
+ -3.921568627450981e-13
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ -3.921568627450981e-13
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ -3.921568627450981e-13
528
+ ]
529
+ ]
530
+ ],
531
+ "q10": [
532
+ [
533
+ [
534
+ 0.021954029073316735
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.018888043463478953
540
+ ]
541
+ ],
542
+ [
543
+ [
544
+ 0.00869187811203429
545
+ ]
546
+ ]
547
+ ],
548
+ "q50": [
549
+ [
550
+ [
551
+ 0.7176728709386122
552
+ ]
553
+ ],
554
+ [
555
+ [
556
+ 0.7364286412061243
557
+ ]
558
+ ],
559
+ [
560
+ [
561
+ 0.7152949761235438
562
+ ]
563
+ ]
564
+ ],
565
+ "q90": [
566
+ [
567
+ [
568
+ 0.8227998239549608
569
+ ]
570
+ ],
571
+ [
572
+ [
573
+ 0.8525822501043983
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.8384589233430422
579
+ ]
580
+ ]
581
+ ],
582
+ "q99": [
583
+ [
584
+ [
585
+ 0.9670545257829143
586
+ ]
587
+ ],
588
+ [
589
+ [
590
+ 0.9983303310621001
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.995206953055994
596
+ ]
597
+ ]
598
+ ]
599
+ },
600
+ "episode_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 4
606
+ ],
607
+ "mean": [
608
+ 2.0
609
+ ],
610
+ "std": [
611
+ 1.4136495689060502
612
+ ],
613
+ "count": [
614
+ 2508
615
+ ],
616
+ "q01": [
617
+ 2.0000000000000004
618
+ ],
619
+ "q10": [
620
+ 2.000000000000004
621
+ ],
622
+ "q50": [
623
+ 2.00000000000002
624
+ ],
625
+ "q90": [
626
+ 2.0000000000000355
627
+ ],
628
+ "q99": [
629
+ 2.0000000000000395
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:97bc2879aa696b02743c2b802a3c0c893c1d46d2d7ebdf71ec7152e0be142079
3
+ size 2166
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 sha256:2d00bb2d4b3fe001866630a7a687c1a6cae40e04cff106b687de735edeea9593
3
+ size 12500858
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:775968bf696e32120709aaf961f682f0c8b645e3c46a606344d63787efd8009c
3
+ size 49070265