Upload folder using huggingface_hub

README.md

@@ -0,0 +1,34 @@
+---
+annotations_creators:
+- machine-generated
+language:
+- en
+license: apache-2.0
+multimodal:
+- vision
+pretty_name: DataArm move the cylinder to the green plate
+task_categories:
+- imitation-learning
+task_ids:
+- continuous-control
+- robotic-manipulation
+---
+
+# lr-2002/test_60
+
+## Dataset Description
+
+This dataset contains robot arm demonstration trajectories collected with the DataArm robotic system.
+
+- **Task**: move the cylinder to the green plate
+- **Action Type**: delta_joint
+- **Total Episodes**: 49
+- **Total Frames**: 20164
+- **FPS**: 60
+
+## Action Format
+
+**Action Type**: delta_joint
+
+Actions are **delta joint positions** (in radians). Each action is an 8-dimensional vector representing relative position changes from current joint positions.
+

data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80e0c3122d038a5626fc2e22b2cd8507b7db4f468fe2662e9ad15c1db18fd90c
+size 1479998

meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c926be741aa0cab3b2bbdaa5b305b679966b7885f06c96ba947273a9c4ba27a
+size 5143

meta/info.json

@@ -0,0 +1,126 @@
+{
+  "codebase_version": "v3.0",
+  "robot_type": "dataarm",
+  "total_episodes": 49,
+  "total_frames": 20164,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "fps": 60,
+  "action_type": "delta_joint",
+  "task_description": "move the cylinder to the green plate",
+  "splits": {
+    "train": "0:49"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 60.0
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 60.0
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 60.0
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        9
+      ],
+      "names": {
+        "motors": [
+          "joint_0",
+          "joint_1",
+          "joint_2",
+          "joint_3",
+          "joint_4",
+          "joint_5",
+          "joint_6",
+          "joint_7",
+          "gripper"
+        ]
+      },
+      "fps": 60.0
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        9
+      ],
+      "names": {
+        "motors": [
+          "joint_0",
+          "joint_1",
+          "joint_2",
+          "joint_3",
+          "joint_4",
+          "joint_5",
+          "joint_6",
+          "joint_7",
+          "gripper"
+        ]
+      },
+      "fps": 60.0
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 60.0
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 60.0
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 60.0
+    },
+    "observation.images.cam_left": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "video_info": {
+        "video.fps": 60.0,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    }
+  }
+}

meta/stats.json

@@ -0,0 +1,173 @@
+{
+  "observation.state": {
+    "min": [
+      0.004768444342717615,
+      -1.4681904631113145,
+      -0.5378443579766525,
+      0.18139162279697807,
+      0.4583428702220207,
+      -1.9131702065261325,
+      -0.26452210545539856,
+      -0.06534513086080551,
+      0.3067155067110434
+    ],
+    "max": [
+      0.44003204394598505,
+      0.005177111467155271,
+      0.15358764019226356,
+      1.3124666208896016,
+      1.186961165789274,
+      -1.1545658409085913,
+      0.922999918460846,
+      0.8180707097053528,
+      0.4705738705739472
+    ],
+    "mean": [
+      0.25136384254278266,
+      -0.4605307381153233,
+      -0.2084143799700873,
+      0.6719812712702384,
+      0.8889158678336978,
+      -1.519740459312715,
+      0.28513380738879923,
+      0.3998221831930621,
+      0.35752631151600384
+    ],
+    "std": [
+      0.09172393146276027,
+      0.23894384644181793,
+      0.13448729693891795,
+      0.20515346466579606,
+      0.13838986591245186,
+      0.10275251235812945,
+      0.15308325303263107,
+      0.14617069453898685,
+      0.021657212773515462
+    ],
+    "count": [
+      20164
+    ]
+  },
+  "action": {
+    "min": [
+      -0.02323076664597873,
+      -0.05359802480560272,
+      -0.04766125486989056,
+      -0.024573805101320234,
+      -0.05467075747574923,
+      -0.13467811126098672,
+      -0.06289779525164801,
+      -0.04321600448992846,
+      -0.05484044624635376
+    ],
+    "max": [
+      0.023998182783412425,
+      0.04376003758210634,
+      0.03619046205896831,
+      0.04189154641078485,
+      0.04692149233234133,
+      0.03582749933243723,
+      0.044493410485385354,
+      0.06350257112505825,
+      0.04951129517322567
+    ],
+    "mean": [
+      7.889074750698024e-06,
+      0.0006089164328208703,
+      -0.0003728583772824796,
+      0.00014429250149536812,
+      1.5494369834103173e-05,
+      4.281289247200928e-05,
+      -0.0004856661693020284,
+      0.00034503923526576575,
+      -9.859991176611497e-06
+    ],
+    "std": [
+      0.0018197254080998288,
+      0.0033221976806920225,
+      0.0035346513273696186,
+      0.0020927657587104507,
+      0.0050366149062358746,
+      0.003207181473761649,
+      0.0028103919444619147,
+      0.003208578055850847,
+      0.0019320178624974557
+    ],
+    "count": [
+      20164
+    ]
+  },
+  "observation.images.cam_left": {
+    "min": [
+      [
+        [
+          0.11372549086809158
+        ]
+      ],
+      [
+        [
+          0.24705882370471954
+        ]
+      ],
+      [
+        [
+          0.0
+        ]
+      ]
+    ],
+    "max": [
+      [
+        [
+          1.0
+        ]
+      ],
+      [
+        [
+          1.0
+        ]
+      ],
+      [
+        [
+          1.0
+        ]
+      ]
+    ],
+    "mean": [
+      [
+        [
+          0.747684471379729
+        ]
+      ],
+      [
+        [
+          0.7670354728049394
+        ]
+      ],
+      [
+        [
+          0.6128568225638552
+        ]
+      ]
+    ],
+    "std": [
+      [
+        [
+          0.189572855626199
+        ]
+      ],
+      [
+        [
+          0.13675406943390397
+        ]
+      ],
+      [
+        [
+          0.24713046206847186
+        ]
+      ]
+    ],
+    "count": [
+      20241
+    ]
+  }
+}

meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:798bd5d52367d33864a57f6328573b37d2e94afd8be2127e77151606577454f6
+size 931

videos/observation.images.cam_left/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:318fd14febd8a9fad43bde0fadf6ad87eefa2eb83c2d7a38538591dc40f0db2c
+size 58699729