Hugging Face's logo

Datasets:
shashuo0104
/
0121_peginsert_teleop_aug_2000

Modalities:
Tabular
Time-series
Formats:
parquet
Size:
100K - 1M
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
shashuo0104 commited on
Commit
0380673
·
verified ·
1 Parent(s): 84b008b

Upload folder using huggingface_hub

Browse files
Files changed (5) 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 +118 -0
  4. meta/stats.json +515 -0
  5. meta/tasks.parquet +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:f37c2861225ad23df227704ba14e1db7ccb347707687d2ad377f4c030ff1123f
3
+ size 71745097
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:591c62c48315cb1506be9086bd7b196c04155d916ecb7ac5ebf5ba05c4f9995c
3
+ size 8762399
meta/info.json ADDED
@@ -0,0 +1,118 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "xarm",
4
+ "total_episodes": 2000,
5
+ "total_frames": 426688,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:2000"
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
+ 8
21
+ ],
22
+ "names": {
23
+ "waypoint": [
24
+ "fingertip_pos_x",
25
+ "fingertip_pos_y",
26
+ "fingertip_pos_z",
27
+ "fingertip_quat_x",
28
+ "fingertip_quat_y",
29
+ "fingertip_quat_z",
30
+ "fingertip_quat_w",
31
+ "gripper"
32
+ ]
33
+ }
34
+ },
35
+ "observation.state": {
36
+ "dtype": "float32",
37
+ "shape": [
38
+ 14
39
+ ],
40
+ "names": {
41
+ "waypoint": [
42
+ "fingertip_pos_x",
43
+ "fingertip_pos_y",
44
+ "fingertip_pos_z",
45
+ "fingertip_quat_x",
46
+ "fingertip_quat_y",
47
+ "fingertip_quat_z",
48
+ "fingertip_quat_w",
49
+ "gripper",
50
+ "ee_linvel_x",
51
+ "ee_linvel_y",
52
+ "ee_linvel_z",
53
+ "ee_angvel_x",
54
+ "ee_angvel_y",
55
+ "ee_angvel_z"
56
+ ]
57
+ }
58
+ },
59
+ "observation.environment_state": {
60
+ "dtype": "float32",
61
+ "shape": [
62
+ 6
63
+ ],
64
+ "names": {
65
+ "relative_positions": [
66
+ "fingertip_to_fixed_x",
67
+ "fingertip_to_fixed_y",
68
+ "fingertip_to_fixed_z",
69
+ "fingertip_to_held_x",
70
+ "fingertip_to_held_y",
71
+ "fingertip_to_held_z"
72
+ ]
73
+ }
74
+ },
75
+ "next.done": {
76
+ "dtype": "bool",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "timestamp": {
83
+ "dtype": "float32",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "frame_index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "episode_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ },
103
+ "index": {
104
+ "dtype": "int64",
105
+ "shape": [
106
+ 1
107
+ ],
108
+ "names": null
109
+ },
110
+ "task_index": {
111
+ "dtype": "int64",
112
+ "shape": [
113
+ 1
114
+ ],
115
+ "names": null
116
+ }
117
+ }
118
+ }
meta/stats.json ADDED
@@ -0,0 +1,515 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ 0.2688629627227783,
5
+ -0.17489252984523773,
6
+ 0.0037651443853974342,
7
+ -0.12290351837873459,
8
+ 0.9799783229827881,
9
+ -0.16458067297935486,
10
+ -0.14795486629009247,
11
+ 0.0
12
+ ],
13
+ "max": [
14
+ 0.45889437198638916,
15
+ 0.0890660211443901,
16
+ 0.1343638300895691,
17
+ 0.11132203787565231,
18
+ 0.9999999403953552,
19
+ 0.1407821774482727,
20
+ 0.0778312012553215,
21
+ 1.0
22
+ ],
23
+ "mean": [
24
+ 0.37247101977436525,
25
+ -0.045215838365501644,
26
+ 0.06129610064612763,
27
+ 0.006988343637327384,
28
+ 0.9978585892798497,
29
+ -0.0032165892264988385,
30
+ -0.004828377716166225,
31
+ 0.7783025125583889
32
+ ],
33
+ "std": [
34
+ 0.023378584483440525,
35
+ 0.04514337310394988,
36
+ 0.02551988737240713,
37
+ 0.03405842795876246,
38
+ 0.002374107647474316,
39
+ 0.048645697378571565,
40
+ 0.02576509330317496,
41
+ 0.40567572573347277
42
+ ],
43
+ "count": [
44
+ 426688
45
+ ],
46
+ "q01": [
47
+ 0.34892930083883456,
48
+ -0.0914944518506643,
49
+ 0.017692219320679856,
50
+ -0.02048154445360751,
51
+ 0.9948586334609825,
52
+ -0.03744195966272265,
53
+ -0.03897002619670641,
54
+ 0.0003281237641742027
55
+ ],
56
+ "q10": [
57
+ 0.35839599199871697,
58
+ -0.08275103020201359,
59
+ 0.028250696786251427,
60
+ -0.01635859770204073,
61
+ 0.9960163764588202,
62
+ -0.03187443090720912,
63
+ -0.026007711800072934,
64
+ 0.0003281237641742027
65
+ ],
66
+ "q50": [
67
+ 0.37269973000262835,
68
+ -0.06616038642342845,
69
+ 0.06099249493801407,
70
+ 0.007823622720094,
71
+ 0.9979765643252415,
72
+ -0.00939156607410744,
73
+ -0.0035632203108689224,
74
+ 0.9998677652253347
75
+ ],
76
+ "q90": [
77
+ 0.38545300705703595,
78
+ 0.013205200006917914,
79
+ 0.09680556437587386,
80
+ 0.028876244781726304,
81
+ 0.9994017829443083,
82
+ 0.03300851667240366,
83
+ 0.0136200885052557,
84
+ 0.9999735530450689
85
+ ],
86
+ "q99": [
87
+ 0.3939807350124182,
88
+ 0.021249396594161144,
89
+ 0.10483349398819,
90
+ 0.035268072087767346,
91
+ 0.9995939388198225,
92
+ 0.040262881120035156,
93
+ 0.028200759440303407,
94
+ 0.9999973553045136
95
+ ]
96
+ },
97
+ "timestamp": {
98
+ "min": [
99
+ 0.0
100
+ ],
101
+ "max": [
102
+ 16.133333333333333
103
+ ],
104
+ "mean": [
105
+ 7.13324536898152
106
+ ],
107
+ "std": [
108
+ 4.199224677340325
109
+ ],
110
+ "count": [
111
+ 426688
112
+ ],
113
+ "q01": [
114
+ 0.11383408387862987
115
+ ],
116
+ "q10": [
117
+ 1.3909924220483747
118
+ ],
119
+ "q50": [
120
+ 7.114543656754441
121
+ ],
122
+ "q90": [
123
+ 12.863508941008325
124
+ ],
125
+ "q99": [
126
+ 14.14859725705424
127
+ ]
128
+ },
129
+ "frame_index": {
130
+ "min": [
131
+ 0
132
+ ],
133
+ "max": [
134
+ 242
135
+ ],
136
+ "mean": [
137
+ 106.99868053472323
138
+ ],
139
+ "std": [
140
+ 62.9883701601049
141
+ ],
142
+ "count": [
143
+ 426688
144
+ ],
145
+ "q01": [
146
+ 1.7075112595573534
147
+ ],
148
+ "q10": [
149
+ 20.86488633185292
150
+ ],
151
+ "q50": [
152
+ 106.71815485131953
153
+ ],
154
+ "q90": [
155
+ 192.95263411399955
156
+ ],
157
+ "q99": [
158
+ 212.22895885443782
159
+ ]
160
+ },
161
+ "observation.state": {
162
+ "min": [
163
+ 0.28347620368003845,
164
+ -0.1462266445159912,
165
+ 0.026823733001947403,
166
+ -0.12823593616485596,
167
+ 0.9884889125823975,
168
+ -0.09908802807331085,
169
+ -0.1405782401561737,
170
+ 0.0,
171
+ -0.05548669025301933,
172
+ -0.10661928355693817,
173
+ -0.06390861421823502,
174
+ -0.3587433099746704,
175
+ -0.35250839591026306,
176
+ -0.2744773328304291
177
+ ],
178
+ "max": [
179
+ 0.45719754695892334,
180
+ 0.08806431293487549,
181
+ 0.13214421272277832,
182
+ 0.11149003356695175,
183
+ 0.9999997615814209,
184
+ 0.13982829451560974,
185
+ 0.06741319596767426,
186
+ 0.9464285969734192,
187
+ 0.10190588235855103,
188
+ 0.046231694519519806,
189
+ 0.10050271451473236,
190
+ 0.3588651716709137,
191
+ 0.2581113278865814,
192
+ 0.1468742936849594
193
+ ],
194
+ "mean": [
195
+ 0.3743815865401598,
196
+ -0.041347834440988655,
197
+ 0.06712982986371081,
198
+ 0.007068109618527359,
199
+ 0.9984472561401326,
200
+ 0.012303028342863969,
201
+ -0.004108099701356977,
202
+ 0.7211527988987663,
203
+ 0.00018757929199772762,
204
+ -0.006603662441066995,
205
+ -0.00403524932532718,
206
+ -0.0005872277724269242,
207
+ 0.002030941815750142,
208
+ -0.007790070911617633
209
+ ],
210
+ "std": [
211
+ 0.02243866110338032,
212
+ 0.04564206688668972,
213
+ 0.020469515173590587,
214
+ 0.0341332467039088,
215
+ 0.0017025368034324106,
216
+ 0.03289498950754491,
217
+ 0.025198101613013762,
218
+ 0.3863494222826955,
219
+ 0.011759572883663394,
220
+ 0.015573442713942143,
221
+ 0.019185066506656027,
222
+ 0.037627173192895984,
223
+ 0.057787115345824244,
224
+ 0.03954420160124386
225
+ ],
226
+ "count": [
227
+ 426688
228
+ ],
229
+ "q01": [
230
+ 0.3577915615887249,
231
+ -0.08221945349446814,
232
+ 0.03496142761022912,
233
+ -0.019616804989994508,
234
+ 0.9958523977440666,
235
+ -0.022112840309058628,
236
+ -0.037344221824327783,
237
+ -1.000000013351432e-10,
238
+ -0.025865875989636154,
239
+ -0.062072558493495814,
240
+ -0.046031259869986095,
241
+ -0.1165733142420401,
242
+ -0.18367414549932093,
243
+ -0.13215813897388748
244
+ ],
245
+ "q10": [
246
+ 0.36414697851140854,
247
+ -0.07881194840422008,
248
+ 0.03928563377582878,
249
+ -0.016307214473319308,
250
+ 0.9969384700310159,
251
+ -0.016593337504828182,
252
+ -0.024961706247314943,
253
+ -1.000000013351432e-10,
254
+ -0.012867772023131692,
255
+ -0.027881064217735122,
256
+ -0.024201095266480847,
257
+ -0.02778175616370169,
258
+ -0.06386986070722651,
259
+ -0.05341906230767578
260
+ ],
261
+ "q50": [
262
+ 0.3743625447334844,
263
+ -0.06578222085418513,
264
+ 0.06651698850936623,
265
+ 0.007907935282716706,
266
+ 0.9987465132635696,
267
+ 0.006026857725806055,
268
+ -0.0027286909005474736,
269
+ 0.9410948886449496,
270
+ -0.00020748531697287949,
271
+ -0.001963910819853548,
272
+ -0.005119262968995828,
273
+ 0.0008825384985387653,
274
+ 0.004196110935814904,
275
+ -0.0039053357892553913
276
+ ],
277
+ "q90": [
278
+ 0.3843709265978631,
279
+ 0.016288428349648162,
280
+ 0.09401315346813373,
281
+ 0.02828966604972865,
282
+ 0.9995652944432575,
283
+ 0.04823049032463587,
284
+ 0.01384773691376296,
285
+ 0.9416363011634737,
286
+ 0.012181253574521309,
287
+ 0.005062604246468984,
288
+ 0.017236362618084557,
289
+ 0.024662453434547642,
290
+ 0.06374442098707693,
291
+ 0.0327655523146964
292
+ ],
293
+ "q99": [
294
+ 0.3894572099760216,
295
+ 0.021295118892154574,
296
+ 0.1016965515633621,
297
+ 0.03438924747864762,
298
+ 0.9997170272273667,
299
+ 0.05507219704921083,
300
+ 0.027614623276424385,
301
+ 0.9420560049624047,
302
+ 0.03909487740877888,
303
+ 0.014661651660975083,
304
+ 0.05755443335718062,
305
+ 0.08184148471579744,
306
+ 0.1347488658733799,
307
+ 0.08918706690956041
308
+ ]
309
+ },
310
+ "next.done": {
311
+ "min": [
312
+ false
313
+ ],
314
+ "max": [
315
+ true
316
+ ],
317
+ "mean": [
318
+ 0.004687265636718168
319
+ ],
320
+ "std": [
321
+ 0.06830296609642236
322
+ ],
323
+ "count": [
324
+ 426688
325
+ ],
326
+ "q01": [
327
+ -9.999999999999968e-11
328
+ ],
329
+ "q10": [
330
+ -9.999999999999968e-11
331
+ ],
332
+ "q50": [
333
+ -9.999999999999968e-11
334
+ ],
335
+ "q90": [
336
+ -9.999999999999968e-11
337
+ ],
338
+ "q99": [
339
+ -9.999999999999968e-11
340
+ ]
341
+ },
342
+ "task_index": {
343
+ "min": [
344
+ 0
345
+ ],
346
+ "max": [
347
+ 0
348
+ ],
349
+ "mean": [
350
+ 0.0
351
+ ],
352
+ "std": [
353
+ 0.0
354
+ ],
355
+ "count": [
356
+ 426688
357
+ ],
358
+ "q01": [
359
+ 3.9999999999993945e-16
360
+ ],
361
+ "q10": [
362
+ 3.999999999999418e-15
363
+ ],
364
+ "q50": [
365
+ 1.9999999999997236e-14
366
+ ],
367
+ "q90": [
368
+ 3.599999999999467e-14
369
+ ],
370
+ "q99": [
371
+ 3.959999999999409e-14
372
+ ]
373
+ },
374
+ "observation.environment_state": {
375
+ "min": [
376
+ -0.03332728520035744,
377
+ -0.01710444502532482,
378
+ -0.00046331825433298945,
379
+ -0.023006167262792587,
380
+ -0.016725454479455948,
381
+ -0.017238931730389595
382
+ ],
383
+ "max": [
384
+ 0.034926410764455795,
385
+ 0.11078260838985443,
386
+ 0.10504806041717529,
387
+ 0.09491722285747528,
388
+ 0.02509535849094391,
389
+ 0.10694274306297302
390
+ ],
391
+ "mean": [
392
+ 0.004394522637893275,
393
+ 0.03390352199508114,
394
+ 0.03982957594395749,
395
+ 0.008895179162245019,
396
+ -0.0006702178605863152,
397
+ 0.017778979198059545
398
+ ],
399
+ "std": [
400
+ 0.010109737374864036,
401
+ 0.040989321597771806,
402
+ 0.020472555277952408,
403
+ 0.013142308335017311,
404
+ 0.005553847947357422,
405
+ 0.01963138364556294
406
+ ],
407
+ "count": [
408
+ 426688
409
+ ],
410
+ "q01": [
411
+ -0.012195494862892052,
412
+ -0.006968099150665518,
413
+ 0.007661174608839446,
414
+ -0.007695699628709607,
415
+ -0.010860034580634947,
416
+ -0.0022717049963036987
417
+ ],
418
+ "q10": [
419
+ -0.005840082082077123,
420
+ -0.0035605942457071723,
421
+ 0.011985380558298071,
422
+ -0.0017148878699086404,
423
+ -0.006485379173767443,
424
+ 0.0036802584804685704
425
+ ],
426
+ "q50": [
427
+ 0.004375488328772605,
428
+ 0.009469133660348577,
429
+ 0.03921673421290003,
430
+ 0.007658596710515873,
431
+ -0.0008181033769060552,
432
+ 0.010599503351161776
433
+ ],
434
+ "q90": [
435
+ 0.014383867774720657,
436
+ 0.09153978268596374,
437
+ 0.06671225936216654,
438
+ 0.02013139853459596,
439
+ 0.005790145228790847,
440
+ 0.04948737623133499
441
+ ],
442
+ "q99": [
443
+ 0.019469753754071135,
444
+ 0.09654647321724454,
445
+ 0.07439629607331302,
446
+ 0.04234654541093681,
447
+ 0.010728199176484656,
448
+ 0.07248302233113568
449
+ ]
450
+ },
451
+ "episode_index": {
452
+ "min": [
453
+ 0
454
+ ],
455
+ "max": [
456
+ 1999
457
+ ],
458
+ "mean": [
459
+ 1000.940645155241
460
+ ],
461
+ "std": [
462
+ 577.2605497363384
463
+ ],
464
+ "count": [
465
+ 426688
466
+ ],
467
+ "q01": [
468
+ 1000.940645155241
469
+ ],
470
+ "q10": [
471
+ 1000.940645155241
472
+ ],
473
+ "q50": [
474
+ 1000.940645155241
475
+ ],
476
+ "q90": [
477
+ 1000.940645155241
478
+ ],
479
+ "q99": [
480
+ 1000.940645155241
481
+ ]
482
+ },
483
+ "index": {
484
+ "min": [
485
+ 0
486
+ ],
487
+ "max": [
488
+ 426687
489
+ ],
490
+ "mean": [
491
+ 213343.5
492
+ ],
493
+ "std": [
494
+ 123174.2158296533
495
+ ],
496
+ "count": [
497
+ 426688
498
+ ],
499
+ "q01": [
500
+ 213238.20883072692
501
+ ],
502
+ "q10": [
503
+ 213257.3662057973
504
+ ],
505
+ "q50": [
506
+ 213343.21947431803
507
+ ],
508
+ "q90": [
509
+ 213429.45395358006
510
+ ],
511
+ "q99": [
512
+ 213448.73027831822
513
+ ]
514
+ }
515
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:42381bbfb278851bb0db4f1772e70eb1920b232e906ddd99068fa658247df911
3
+ size 2141