Hugging Face's logo

Datasets:
satvikahuja
/
cube_delta_actions_dataset

Modalities:
Tabular
Video
Formats:
parquet
Size:
10K - 100K
Libraries:
Datasets
Dask
Dataset card Data Studio Files
xet
 Community
satvikahuja commited on
Commit
0e31020
·
verified ·
1 Parent(s): c651d3a

Upload 7 files

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 +184 -0
  4. meta/stats.json +497 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.gripper/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 sha256:0b8f99aea28de185e70e98a8569a513d40a4a90c959eb0ea97a452c2029422fc
3
+ size 9343773
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a0457db79fc64d7570ff07241077da0e96a046ee6b2db4adafd097cbe564c7b5
3
+ size 158805
meta/info.json ADDED
@@ -0,0 +1,184 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so100_follower",
4
+ "total_episodes": 59,
5
+ "total_frames": 49387,
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": "0:59"
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
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 7
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos",
43
+ "ee_object_distance"
44
+ ]
45
+ },
46
+ "observation.images.gripper": {
47
+ "dtype": "video",
48
+ "shape": [
49
+ 480,
50
+ 640,
51
+ 3
52
+ ],
53
+ "names": [
54
+ "height",
55
+ "width",
56
+ "channels"
57
+ ],
58
+ "info": {
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.codec": "av1",
62
+ "video.pix_fmt": "yuv420p",
63
+ "video.is_depth_map": false,
64
+ "video.fps": 30,
65
+ "video.channels": 3,
66
+ "has_audio": false
67
+ }
68
+ },
69
+ "observation.poses": {
70
+ "dtype": "float32",
71
+ "shape": [
72
+ 48
73
+ ],
74
+ "names": [
75
+ "poses.ee.m00",
76
+ "poses.ee.m01",
77
+ "poses.ee.m02",
78
+ "poses.ee.m03",
79
+ "poses.ee.m10",
80
+ "poses.ee.m11",
81
+ "poses.ee.m12",
82
+ "poses.ee.m13",
83
+ "poses.ee.m20",
84
+ "poses.ee.m21",
85
+ "poses.ee.m22",
86
+ "poses.ee.m23",
87
+ "poses.ee.m30",
88
+ "poses.ee.m31",
89
+ "poses.ee.m32",
90
+ "poses.ee.m33",
91
+ "poses.obj.m00",
92
+ "poses.obj.m01",
93
+ "poses.obj.m02",
94
+ "poses.obj.m03",
95
+ "poses.obj.m10",
96
+ "poses.obj.m11",
97
+ "poses.obj.m12",
98
+ "poses.obj.m13",
99
+ "poses.obj.m20",
100
+ "poses.obj.m21",
101
+ "poses.obj.m22",
102
+ "poses.obj.m23",
103
+ "poses.obj.m30",
104
+ "poses.obj.m31",
105
+ "poses.obj.m32",
106
+ "poses.obj.m33",
107
+ "poses.rel.m00",
108
+ "poses.rel.m01",
109
+ "poses.rel.m02",
110
+ "poses.rel.m03",
111
+ "poses.rel.m10",
112
+ "poses.rel.m11",
113
+ "poses.rel.m12",
114
+ "poses.rel.m13",
115
+ "poses.rel.m20",
116
+ "poses.rel.m21",
117
+ "poses.rel.m22",
118
+ "poses.rel.m23",
119
+ "poses.rel.m30",
120
+ "poses.rel.m31",
121
+ "poses.rel.m32",
122
+ "poses.rel.m33"
123
+ ]
124
+ },
125
+ "observation.images.top": {
126
+ "dtype": "video",
127
+ "shape": [
128
+ 480,
129
+ 640,
130
+ 3
131
+ ],
132
+ "names": [
133
+ "height",
134
+ "width",
135
+ "channels"
136
+ ],
137
+ "info": {
138
+ "video.height": 480,
139
+ "video.width": 640,
140
+ "video.codec": "av1",
141
+ "video.pix_fmt": "yuv420p",
142
+ "video.is_depth_map": false,
143
+ "video.fps": 30,
144
+ "video.channels": 3,
145
+ "has_audio": false
146
+ }
147
+ },
148
+ "timestamp": {
149
+ "dtype": "float32",
150
+ "shape": [
151
+ 1
152
+ ],
153
+ "names": null
154
+ },
155
+ "frame_index": {
156
+ "dtype": "int64",
157
+ "shape": [
158
+ 1
159
+ ],
160
+ "names": null
161
+ },
162
+ "episode_index": {
163
+ "dtype": "int64",
164
+ "shape": [
165
+ 1
166
+ ],
167
+ "names": null
168
+ },
169
+ "index": {
170
+ "dtype": "int64",
171
+ "shape": [
172
+ 1
173
+ ],
174
+ "names": null
175
+ },
176
+ "task_index": {
177
+ "dtype": "int64",
178
+ "shape": [
179
+ 1
180
+ ],
181
+ "names": null
182
+ }
183
+ }
184
+ }
meta/stats.json ADDED
@@ -0,0 +1,497 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.poses": {
3
+ "min": [
4
+ -0.9768013954162598,
5
+ -0.9525327682495117,
6
+ 0.008421090431511402,
7
+ 0.04030708596110344,
8
+ -0.8033175468444824,
9
+ 0.23801764845848083,
10
+ -0.7236209511756897,
11
+ -0.2932552397251129,
12
+ -0.9660890698432922,
13
+ -0.32702380418777466,
14
+ -0.9982484579086304,
15
+ -0.023768169805407524,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 1.0,
20
+ -0.9998844265937805,
21
+ -0.9996355175971985,
22
+ -0.9989868998527527,
23
+ 0.07358327507972717,
24
+ -0.9987883567810059,
25
+ -0.9999925494194031,
26
+ -0.9999529123306274,
27
+ -0.19370844960212708,
28
+ -0.9999059438705444,
29
+ -0.9999983906745911,
30
+ -0.9999938607215881,
31
+ 0.014203714206814766,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 1.0,
36
+ -0.9843776822090149,
37
+ -0.9860779047012329,
38
+ -0.991891622543335,
39
+ -0.24536950886249542,
40
+ -0.9987592697143555,
41
+ -0.9999870657920837,
42
+ -0.9999985694885254,
43
+ -0.17222808301448822,
44
+ -0.9890187382698059,
45
+ -0.9776869416236877,
46
+ -0.9521904587745667,
47
+ -0.13415150344371796,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 1.0
52
+ ],
53
+ "max": [
54
+ -0.20230942964553833,
55
+ 0.9645507335662842,
56
+ 0.9531095027923584,
57
+ 0.44237077236175537,
58
+ 0.9043776392936707,
59
+ 0.9999985098838806,
60
+ 0.818121612071991,
61
+ 0.2770262658596039,
62
+ -0.05816343054175377,
63
+ 0.16237546503543854,
64
+ -0.2552114725112915,
65
+ 0.22626933455467224,
66
+ 0.0,
67
+ 0.0,
68
+ 0.0,
69
+ 1.0,
70
+ 0.999870777130127,
71
+ 0.9969841837882996,
72
+ 0.9991235136985779,
73
+ 0.4159284234046936,
74
+ 0.9999666213989258,
75
+ 0.9999505281448364,
76
+ 0.998738706111908,
77
+ 0.2806638181209564,
78
+ 0.9997996091842651,
79
+ 0.9999805092811584,
80
+ 0.9999862909317017,
81
+ 0.2074863165616989,
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 1.0,
86
+ 0.9893369674682617,
87
+ 0.9628781676292419,
88
+ 0.994327962398529,
89
+ 0.17447501420974731,
90
+ 0.9999999403953552,
91
+ 0.9999640583992004,
92
+ 0.9994919300079346,
93
+ 0.2871973216533661,
94
+ 0.9647561311721802,
95
+ 0.8776277303695679,
96
+ 0.9857987761497498,
97
+ 0.210188627243042,
98
+ 0.0,
99
+ 0.0,
100
+ 0.0,
101
+ 1.0
102
+ ],
103
+ "mean": [
104
+ -0.6458536260979408,
105
+ 0.02443191231068442,
106
+ 0.625934938667375,
107
+ 0.2645710348116832,
108
+ 0.005459546488846739,
109
+ 0.9194940823917485,
110
+ -0.025156756307791187,
111
+ -0.012585323938957362,
112
+ -0.6822622568419973,
113
+ -0.011759832353195053,
114
+ -0.6954816540806027,
115
+ 0.05184003233640772,
116
+ 0.0,
117
+ 0.0,
118
+ 0.0,
119
+ 1.0,
120
+ 0.041527561997575346,
121
+ -0.07683629216597526,
122
+ 0.13933307419647945,
123
+ 0.29191569851110855,
124
+ 0.10000343835429945,
125
+ -0.038270310056420814,
126
+ -0.10228833171208641,
127
+ 0.03076968902383761,
128
+ 0.1125861518933644,
129
+ 0.3075880295751593,
130
+ -0.09599577649264453,
131
+ 0.05709621740090344,
132
+ 0.0,
133
+ 0.0,
134
+ 0.0,
135
+ 1.0,
136
+ -0.06775523363506424,
137
+ -0.17012411384153156,
138
+ -0.0739605313697517,
139
+ -0.022144930895527586,
140
+ 0.10119877687565834,
141
+ -0.04808998492009412,
142
+ -0.05353176408836039,
143
+ 0.04567305559903442,
144
+ -0.07274040875427157,
145
+ -0.2824083785210306,
146
+ 0.18331670184909246,
147
+ 0.006727544377852251,
148
+ 0.0,
149
+ 0.0,
150
+ 0.0,
151
+ 1.0
152
+ ],
153
+ "std": [
154
+ 0.16299264962972834,
155
+ 0.3645300999374586,
156
+ 0.1761613827743314,
157
+ 0.08626996615197798,
158
+ 0.25630722000413364,
159
+ 0.1295823486903963,
160
+ 0.26717622922828066,
161
+ 0.1039701852060206,
162
+ 0.1584356841021289,
163
+ 0.06420128174091229,
164
+ 0.14649744886482707,
165
+ 0.04842023898310178,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.6310266788683454,
171
+ 0.4892867720271147,
172
+ 0.5790962128685677,
173
+ 0.08157051658804067,
174
+ 0.572769849675622,
175
+ 0.5577946028312782,
176
+ 0.5821195448066558,
177
+ 0.11464251784762217,
178
+ 0.4993154421552504,
179
+ 0.589481950221609,
180
+ 0.5354358321883297,
181
+ 0.035609679719140384,
182
+ 0.0,
183
+ 0.0,
184
+ 0.0,
185
+ 0.0,
186
+ 0.5237387237814386,
187
+ 0.5723931166633982,
188
+ 0.5992133966059686,
189
+ 0.07088478191212447,
190
+ 0.5922654300198383,
191
+ 0.5466615654401957,
192
+ 0.5787519527655371,
193
+ 0.05949182128027881,
194
+ 0.595628327637035,
195
+ 0.512369023338769,
196
+ 0.5138559140444324,
197
+ 0.057080061643440004,
198
+ 0.0,
199
+ 0.0,
200
+ 0.0,
201
+ 0.0
202
+ ],
203
+ "count": [
204
+ 49387
205
+ ]
206
+ },
207
+ "observation.images.top": {
208
+ "min": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "max": [
226
+ [
227
+ [
228
+ 1.0
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 1.0
234
+ ]
235
+ ],
236
+ [
237
+ [
238
+ 1.0
239
+ ]
240
+ ]
241
+ ],
242
+ "mean": [
243
+ [
244
+ [
245
+ 0.4801250426271052
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 0.48257018096222115
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.46712548115707775
256
+ ]
257
+ ]
258
+ ],
259
+ "std": [
260
+ [
261
+ [
262
+ 0.19743948887370635
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 0.1994892731648233
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.21138035783727982
273
+ ]
274
+ ]
275
+ ],
276
+ "count": [
277
+ 9147
278
+ ]
279
+ },
280
+ "task_index": {
281
+ "min": [
282
+ 0
283
+ ],
284
+ "max": [
285
+ 0
286
+ ],
287
+ "mean": [
288
+ 0.0
289
+ ],
290
+ "std": [
291
+ 0.0
292
+ ],
293
+ "count": [
294
+ 49387
295
+ ]
296
+ },
297
+ "index": {
298
+ "min": [
299
+ 0
300
+ ],
301
+ "max": [
302
+ 18420
303
+ ],
304
+ "mean": [
305
+ 5997.072427966874
306
+ ],
307
+ "std": [
308
+ 4568.597180219608
309
+ ],
310
+ "count": [
311
+ 49387
312
+ ]
313
+ },
314
+ "observation.images.gripper": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.5423768794109787
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.5410881280006445
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.5256177268869539
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.19253338472001585
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.2015799988916071
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.222082577293685
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 9147
385
+ ]
386
+ },
387
+ "timestamp": {
388
+ "min": [
389
+ 0.0
390
+ ],
391
+ "max": [
392
+ 46.6
393
+ ],
394
+ "mean": [
395
+ 14.60700994188754
396
+ ],
397
+ "std": [
398
+ 9.091584603877177
399
+ ],
400
+ "count": [
401
+ 49387
402
+ ]
403
+ },
404
+ "action": {
405
+ "mean": [
406
+ 0.001727456622540626,
407
+ 1.818930952857027e-05,
408
+ -6.442634155686214e-05,
409
+ 0.0004409355790615999,
410
+ -0.0004835844224797356,
411
+ -0.0003374707151618386
412
+ ],
413
+ "std": [
414
+ 0.2201475846041589,
415
+ 0.5735215335279834,
416
+ 0.5836570929273498,
417
+ 0.3576525180771903,
418
+ 0.1331756246695998,
419
+ 0.6838418127993225
420
+ ]
421
+ },
422
+ "frame_index": {
423
+ "min": [
424
+ 0
425
+ ],
426
+ "max": [
427
+ 1398
428
+ ],
429
+ "mean": [
430
+ 438.21029825662623
431
+ ],
432
+ "std": [
433
+ 272.7475381163153
434
+ ],
435
+ "count": [
436
+ 49387
437
+ ]
438
+ },
439
+ "observation.state": {
440
+ "min": [
441
+ -74.86095428466797,
442
+ -92.81129455566406,
443
+ -95.20144653320312,
444
+ -21.515789031982422,
445
+ -16.678876876831055,
446
+ 1.8169583082199097,
447
+ 0.0009340317919850349
448
+ ],
449
+ "max": [
450
+ 88.5428237915039,
451
+ 70.90287017822266,
452
+ 100.0,
453
+ 76.75789642333984,
454
+ 29.328449249267578,
455
+ 84.65679931640625,
456
+ 0.2777763903141022
457
+ ],
458
+ "mean": [
459
+ 1.5902062171872242,
460
+ -22.857303331809582,
461
+ 38.37996787743166,
462
+ 29.915435194619178,
463
+ 3.477909050751971,
464
+ 30.58476040070617,
465
+ 0.09430729979183967
466
+ ],
467
+ "std": [
468
+ 24.901688773454563,
469
+ 46.04985968025798,
470
+ 41.13718162921658,
471
+ 21.58993239898311,
472
+ 6.029154002504577,
473
+ 23.30252855141894,
474
+ 0.07016418924050775
475
+ ],
476
+ "count": [
477
+ 49387
478
+ ]
479
+ },
480
+ "episode_index": {
481
+ "min": [
482
+ 0
483
+ ],
484
+ "max": [
485
+ 20
486
+ ],
487
+ "mean": [
488
+ 6.475590742503088
489
+ ],
490
+ "std": [
491
+ 5.158718271092138
492
+ ],
493
+ "count": [
494
+ 49387
495
+ ]
496
+ }
497
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:842c62b95531804fc3ae33bb65ee2b5571340a3251663697c21ed31bef8098f0
3
+ size 2111
videos/observation.images.gripper/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6d0857dadb10a5b33e1f8d0be7d3d4d0fe65aab4ed43fc31f78058d5de538a3
3
+ size 139909196
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 sha256:1cd69b2d68340ea58c6677a0715378a192b269caa5bf2c1e15368be0423fa300
3
+ size 284551630