Hugging Face's logo

Datasets:
lirislab
/
franka_stack-bowls

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
Community
1
lirislab commited on
Commit
ebc4cf3
·
verified ·
1 Parent(s): 4dcedd7

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 +20 -13
  4. meta/stats.json +323 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.side_camera/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.wrist_camera/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 sha256:78850c7c2238b1545294ebf485d68ae19de77e33c8ed685a295828d4a8d462e4
3
+ size 2978796
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5d76de6cd5333157a433bbe6d57203c4976ce5bec807496c01a22c8c146dd932
3
+ size 85393
meta/info.json CHANGED
@@ -1,18 +1,16 @@
1
  {
2
- "codebase_version": "v2.1",
3
  "robot_type": "Franka",
4
  "total_episodes": 50,
5
  "total_frames": 22155,
6
  "total_tasks": 1,
7
- "total_videos": 100,
8
- "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 10,
11
  "splits": {
12
  "train": "0:50"
13
  },
14
- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
- "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
  "features": {
17
  "action": {
18
  "dtype": "float64",
@@ -28,7 +26,8 @@
28
  "joint_5",
29
  "joint_6",
30
  "gripper"
31
- ]
 
32
  },
33
  "observation.state": {
34
  "dtype": "float64",
@@ -44,7 +43,8 @@
44
  "joint_5",
45
  "joint_6",
46
  "gripper"
47
- ]
 
48
  },
49
  "observation.images.wrist_camera": {
50
  "shape": [
@@ -97,35 +97,42 @@
97
  "shape": [
98
  1
99
  ],
100
- "names": null
 
101
  },
102
  "frame_index": {
103
  "dtype": "int64",
104
  "shape": [
105
  1
106
  ],
107
- "names": null
 
108
  },
109
  "episode_index": {
110
  "dtype": "int64",
111
  "shape": [
112
  1
113
  ],
114
- "names": null
 
115
  },
116
  "index": {
117
  "dtype": "int64",
118
  "shape": [
119
  1
120
  ],
121
- "names": null
 
122
  },
123
  "task_index": {
124
  "dtype": "int64",
125
  "shape": [
126
  1
127
  ],
128
- "names": null
 
129
  }
130
- }
 
 
131
  }
 
1
  {
2
+ "codebase_version": "v3.0",
3
  "robot_type": "Franka",
4
  "total_episodes": 50,
5
  "total_frames": 22155,
6
  "total_tasks": 1,
 
 
7
  "chunks_size": 1000,
8
  "fps": 10,
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": "float64",
 
26
  "joint_5",
27
  "joint_6",
28
  "gripper"
29
+ ],
30
+ "fps": 10
31
  },
32
  "observation.state": {
33
  "dtype": "float64",
 
43
  "joint_5",
44
  "joint_6",
45
  "gripper"
46
+ ],
47
+ "fps": 10
48
  },
49
  "observation.images.wrist_camera": {
50
  "shape": [
 
97
  "shape": [
98
  1
99
  ],
100
+ "names": null,
101
+ "fps": 10
102
  },
103
  "frame_index": {
104
  "dtype": "int64",
105
  "shape": [
106
  1
107
  ],
108
+ "names": null,
109
+ "fps": 10
110
  },
111
  "episode_index": {
112
  "dtype": "int64",
113
  "shape": [
114
  1
115
  ],
116
+ "names": null,
117
+ "fps": 10
118
  },
119
  "index": {
120
  "dtype": "int64",
121
  "shape": [
122
  1
123
  ],
124
+ "names": null,
125
+ "fps": 10
126
  },
127
  "task_index": {
128
  "dtype": "int64",
129
  "shape": [
130
  1
131
  ],
132
+ "names": null,
133
+ "fps": 10
134
  }
135
+ },
136
+ "data_files_size_in_mb": 100,
137
+ "video_files_size_in_mb": 500
138
  }
meta/stats.json ADDED
@@ -0,0 +1,323 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -0.21877212822437286,
5
+ -0.7238516211509705,
6
+ -0.9211045503616333,
7
+ -2.9134809970855713,
8
+ -0.9912922382354736,
9
+ 1.3744807243347168,
10
+ -0.4395753741264343,
11
+ 0.00832109621519016
12
+ ],
13
+ "max": [
14
+ 1.198987603187561,
15
+ 0.72530597448349,
16
+ 0.4717821478843689,
17
+ -1.3230245113372803,
18
+ 0.23607659339904785,
19
+ 2.721569061279297,
20
+ 1.0415937900543213,
21
+ 0.936123314830992
22
+ ],
23
+ "mean": [
24
+ 0.5573023904843725,
25
+ 0.002153617064489839,
26
+ -0.40173637954400065,
27
+ -2.2787030626274185,
28
+ -0.2323204821560257,
29
+ 2.186315404930278,
30
+ 0.43620293554476386,
31
+ 0.27494322393860116
32
+ ],
33
+ "std": [
34
+ 0.27647181574807633,
35
+ 0.25032527207457017,
36
+ 0.22955014454801678,
37
+ 0.3384000344084352,
38
+ 0.19304343550108183,
39
+ 0.25173744227518513,
40
+ 0.2722761960593664,
41
+ 0.25224519369460974
42
+ ],
43
+ "count": [
44
+ 22155
45
+ ]
46
+ },
47
+ "timestamp": {
48
+ "min": [
49
+ 0.0
50
+ ],
51
+ "max": [
52
+ 56.9
53
+ ],
54
+ "mean": [
55
+ 22.310088016249153
56
+ ],
57
+ "std": [
58
+ 13.152537265876903
59
+ ],
60
+ "count": [
61
+ 22155
62
+ ]
63
+ },
64
+ "action": {
65
+ "min": [
66
+ -0.24390294527381684,
67
+ -0.7224892997950115,
68
+ -0.9203884711974023,
69
+ -2.960582920603948,
70
+ -1.0293011071372857,
71
+ 1.3331594340196276,
72
+ -0.4632621978641324,
73
+ 0.06784784226190416
74
+ ],
75
+ "max": [
76
+ 1.2057088992781124,
77
+ 0.7240389257307583,
78
+ 0.47246608266877743,
79
+ -1.287117729089642,
80
+ 0.2822524649709579,
81
+ 2.753495514253799,
82
+ 1.0691844557732304,
83
+ 1.0
84
+ ],
85
+ "mean": [
86
+ 0.5546177913758621,
87
+ -0.0006608443311566497,
88
+ -0.3994978858513804,
89
+ -2.2783459482454043,
90
+ -0.23803791205282487,
91
+ 2.1830747293436374,
92
+ 0.4328253088951095,
93
+ 0.7364984083203558
94
+ ],
95
+ "std": [
96
+ 0.2785938956409378,
97
+ 0.24755300454053986,
98
+ 0.2300389158826156,
99
+ 0.34375641568060433,
100
+ 0.20542423125119574,
101
+ 0.267853922982083,
102
+ 0.27698380484749835,
103
+ 0.2616637890891233
104
+ ],
105
+ "count": [
106
+ 22155
107
+ ]
108
+ },
109
+ "episode_index": {
110
+ "min": [
111
+ 0
112
+ ],
113
+ "max": [
114
+ 49
115
+ ],
116
+ "mean": [
117
+ 23.839449334236065
118
+ ],
119
+ "std": [
120
+ 14.52726356380677
121
+ ],
122
+ "count": [
123
+ 22155
124
+ ]
125
+ },
126
+ "index": {
127
+ "min": [
128
+ 0
129
+ ],
130
+ "max": [
131
+ 22154
132
+ ],
133
+ "mean": [
134
+ 11077.0
135
+ ],
136
+ "std": [
137
+ 6395.5976004331815
138
+ ],
139
+ "count": [
140
+ 22155
141
+ ]
142
+ },
143
+ "observation.images.wrist_camera": {
144
+ "min": [
145
+ [
146
+ [
147
+ 0.0
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ]
160
+ ],
161
+ "max": [
162
+ [
163
+ [
164
+ 1.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ]
177
+ ],
178
+ "mean": [
179
+ [
180
+ [
181
+ 0.5065055106978478
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.5056525226623422
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.5034207429185291
192
+ ]
193
+ ]
194
+ ],
195
+ "std": [
196
+ [
197
+ [
198
+ 0.21799648701126878
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.22070267136708982
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.21750972752601092
209
+ ]
210
+ ]
211
+ ],
212
+ "count": [
213
+ 5062
214
+ ]
215
+ },
216
+ "task_index": {
217
+ "min": [
218
+ 0
219
+ ],
220
+ "max": [
221
+ 0
222
+ ],
223
+ "mean": [
224
+ 0.0
225
+ ],
226
+ "std": [
227
+ 0.0
228
+ ],
229
+ "count": [
230
+ 22155
231
+ ]
232
+ },
233
+ "frame_index": {
234
+ "min": [
235
+ 0
236
+ ],
237
+ "max": [
238
+ 569
239
+ ],
240
+ "mean": [
241
+ 223.10088016249153
242
+ ],
243
+ "std": [
244
+ 131.52537265876904
245
+ ],
246
+ "count": [
247
+ 22155
248
+ ]
249
+ },
250
+ "observation.images.side_camera": {
251
+ "min": [
252
+ [
253
+ [
254
+ 0.0
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.0
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.0
265
+ ]
266
+ ]
267
+ ],
268
+ "max": [
269
+ [
270
+ [
271
+ 1.0
272
+ ]
273
+ ],
274
+ [
275
+ [
276
+ 1.0
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ 1.0
282
+ ]
283
+ ]
284
+ ],
285
+ "mean": [
286
+ [
287
+ [
288
+ 0.365865674675419
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.35054144958721006
294
+ ]
295
+ ],
296
+ [
297
+ [
298
+ 0.3300418595365184
299
+ ]
300
+ ]
301
+ ],
302
+ "std": [
303
+ [
304
+ [
305
+ 0.29706582838138007
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.2865050184922217
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.25793307210589683
316
+ ]
317
+ ]
318
+ ],
319
+ "count": [
320
+ 5062
321
+ ]
322
+ }
323
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ea7c393de5b7c4b145ce5810ec081f472e940d4db8548014bb2d68cfc370493
3
+ size 2181
videos/observation.images.side_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:56281b99e4e861b43ee19e01e0985948032a2e995347919ab5c9aece5a2402dd
3
+ size 278207691
videos/observation.images.wrist_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d0941519e678b88fc2f8b1c244eced2606fbed73a95dcbecda0e548b082c2030
3
+ size 242297915