Upload folder using huggingface_hub
Browse files- README.md +15 -0
- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- data/chunk-000/episode_000004.parquet +3 -0
- data/chunk-000/episode_000005.parquet +3 -0
- data/chunk-000/episode_000006.parquet +3 -0
- data/chunk-000/episode_000007.parquet +3 -0
- data/chunk-000/episode_000008.parquet +3 -0
- meta/episodes.jsonl +9 -0
- meta/episodes_stats.jsonl +9 -0
- meta/info.json +121 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000005.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000006.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000007.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000008.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000005.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000006.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000007.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000008.mp4 +3 -0
README.md
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
---
|
| 3 |
+
tags:
|
| 4 |
+
- phosphobot
|
| 5 |
+
- so100
|
| 6 |
+
- phospho-dk
|
| 7 |
+
task_categories:
|
| 8 |
+
- robotics
|
| 9 |
+
---
|
| 10 |
+
|
| 11 |
+
# stack_cubes_10_good
|
| 12 |
+
|
| 13 |
+
**This dataset was generated using a [phospho starter pack](https://robots.phospho.ai).**
|
| 14 |
+
|
| 15 |
+
This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.
|
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:50dce5c7e2dcebdd6cc996cd3719a6859efe13e204fb46461cc7665d44456bd6
|
| 3 |
+
size 39136
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:965bed16b3affd0cb4e2c9eda9e60204d6a28401c15c4a9f4721e50d0431540f
|
| 3 |
+
size 35225
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9ce6e533436be0cc23d45434a650621bc241b15507e13df44bcf411049ed268d
|
| 3 |
+
size 42391
|
data/chunk-000/episode_000003.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:10209ecca88c60c0cf6bf9a909ed3949a202b41c1a95cb1764b73c6f1c741bd9
|
| 3 |
+
size 39032
|
data/chunk-000/episode_000004.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7f298b906919335cf7d094bb7dfaf602c7e75a2a5189424a3446e0c3e462b863
|
| 3 |
+
size 31042
|
data/chunk-000/episode_000005.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:01c57f0bb161bf16eae6b7cb4a35da36ad6f7f8bdfe02afffda962c35aa24dcb
|
| 3 |
+
size 38014
|
data/chunk-000/episode_000006.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8ecefecc5f2ef96c5061c085dbd9cfadd5bed0d8a3b133f2f4e04c8ab5a478fa
|
| 3 |
+
size 43076
|
data/chunk-000/episode_000007.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d7ad75c417f59b99423fb843444e701480903c3bf599c96f4cba83ed427c5b18
|
| 3 |
+
size 41108
|
data/chunk-000/episode_000008.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a171bb1e8104d95ec7e24c1117e73d8e04809ac20dd322be3bd8552cf4bbb42b
|
| 3 |
+
size 43286
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index":0,"tasks":["Stack cubes from left to right."],"length":830}
|
| 2 |
+
{"episode_index":1,"tasks":["Stack cubes from left to right."],"length":704}
|
| 3 |
+
{"episode_index":2,"tasks":["Stack cubes from left to right."],"length":868}
|
| 4 |
+
{"episode_index":3,"tasks":["Stack cubes from left to right."],"length":771}
|
| 5 |
+
{"episode_index":4,"tasks":["Stack cubes from left to right."],"length":618}
|
| 6 |
+
{"episode_index":5,"tasks":["Stack cubes from left to right."],"length":769}
|
| 7 |
+
{"episode_index":6,"tasks":["Stack cubes from left to right."],"length":879}
|
| 8 |
+
{"episode_index":7,"tasks":["Stack cubes from left to right."],"length":848}
|
| 9 |
+
{"episode_index":8,"tasks":["Stack cubes from left to right."],"length":932}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"observation.state": {"max": [32.16796875, 159.609375, 153.80859375, 105.029296875, 0.0, 45.718231201171875], "min": [-13.623046875, 77.16796875, 57.392578125, 74.53125, -44.736328125, 0.06906077265739441], "mean": [14.867493629455566, 107.23651885986328, 91.84362030029297, 95.30309295654297, -20.610563278198242, 23.28790283203125], "std": [14.658560752868652, 20.88947105407715, 17.73660659790039, 9.314064025878906, 12.393892288208008, 11.627792358398438], "count": [830]}, "action": {"max": [32.783203125, 159.78515625, 153.544921875, 109.951171875, 0.3515625, 45.96050262451172], "min": [-13.447265625, 77.51953125, 54.4921875, 73.916015625, -45.52734375, 0.08976660668849945], "mean": [15.27856731414795, 108.67485809326172, 90.71014404296875, 96.45484924316406, -20.537179946899414, 13.439583778381348], "std": [14.456559181213379, 20.968761444091797, 18.57608413696289, 10.925046920776367, 12.424348831176758, 16.530811309814453], "count": [830]}, "timestamp": {"max": [27.633333333333333], "min": [0.0], "mean": [13.816666666666665], "std": [7.98667292709827], "count": [830]}, "frame_index": {"max": [829], "min": [0], "mean": [414.5], "std": [239.6001878129481], "count": [830]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [830]}, "index": {"max": [829], "min": [0], "mean": [414.5], "std": [239.6001878129481], "count": [830]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [830]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.6213953399541635]], [[0.6025829221840251]], [[0.5621696680566166]]], "std": [[[0.24442902636127747]], [[0.235758213428464]], [[0.2289032242315945]]], "count": [154]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5396581757703082]], [[0.5321123312961549]], [[0.5332144130379425]]], "std": [[[0.1788541427982926]], [[0.17782956758358187]], [[0.19818581053436457]]], "count": [154]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"observation.state": {"max": [31.9921875, 189.228515625, 153.984375, 105.029296875, 29.8828125, 44.47513961791992], "min": [-14.150390625, 98.349609375, 70.927734375, 60.556640625, -17.314453125, -0.13812154531478882], "mean": [12.356247901916504, 127.68708801269531, 111.63562774658203, 81.0516128540039, -0.48352327942848206, 18.36611557006836], "std": [14.695843696594238, 21.777189254760742, 20.774219512939453, 15.165448188781738, 12.176692008972168, 14.955831527709961], "count": [704]}, "action": {"max": [32.080078125, 189.404296875, 153.80859375, 109.423828125, 31.201171875, 44.79353713989258], "min": [-13.7109375, 98.26171875, 67.8515625, 60.029296875, -16.259765625, 0.08976660668849945], "mean": [12.519170761108398, 128.60877990722656, 110.29609680175781, 81.6456298828125, -0.4554332494735718, 11.878173828125], "std": [14.622477531433105, 21.829875946044922, 21.001596450805664, 16.3773136138916, 12.10202407836914, 17.09749412536621], "count": [704]}, "timestamp": {"max": [23.433333333333334], "min": [0.0], "mean": [11.716666666666667], "std": [6.774236324323043], "count": [704]}, "frame_index": {"max": [703], "min": [0], "mean": [351.5], "std": [203.2270897296913], "count": [704]}, "episode_index": {"max": [1], "min": [1], "mean": [1.0], "std": [0.0], "count": [704]}, "index": {"max": [1533], "min": [830], "mean": [1181.5], "std": [203.2270897296913], "count": [704]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [704]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.6178205407775855]], [[0.6034161965950595]], [[0.564760446703191]]], "std": [[[0.24027740077655424]], [[0.23288287535565244]], [[0.22738418997292253]]], "count": [136]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5373858912437525]], [[0.5365697943699539]], [[0.5363947475129758]]], "std": [[[0.17727664545362856]], [[0.17615120775435367]], [[0.1951128492378169]]], "count": [136]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"observation.state": {"max": [34.98046875, 189.755859375, 163.212890625, 105.1171875, 22.236328125, 46.546958923339844], "min": [-15.1171875, 94.21875, 82.880859375, 55.37109375, -33.134765625, -0.13812154531478882], "mean": [11.470536231994629, 130.1460723876953, 111.27327728271484, 85.35475158691406, -6.827218055725098, 23.00526237487793], "std": [17.0667724609375, 25.94086265563965, 18.507911682128906, 14.271595001220703, 12.59604263305664, 13.60645580291748], "count": [868]}, "action": {"max": [35.244140625, 189.931640625, 163.212890625, 110.21484375, 23.466796875, 46.85816955566406], "min": [-14.94140625, 94.130859375, 79.98046875, 54.404296875, -33.75, 0.08976660668849945], "mean": [11.687933921813965, 130.8411407470703, 109.81934356689453, 86.23977661132812, -6.813244819641113, 14.099308013916016], "std": [17.13300323486328, 25.71588706970215, 18.977291107177734, 15.86098861694336, 12.544431686401367, 18.510543823242188], "count": [868]}, "timestamp": {"max": [28.9], "min": [0.0], "mean": [14.450000000000003], "std": [8.352328351357416], "count": [868]}, "frame_index": {"max": [867], "min": [0], "mean": [433.5], "std": [250.56985054072248], "count": [868]}, "episode_index": {"max": [2], "min": [2], "mean": [2.0], "std": [0.0], "count": [868]}, "index": {"max": [2401], "min": [1534], "mean": [1967.5], "std": [250.56985054072248], "count": [868]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [868]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.6207914611337196]], [[0.6056295178710897]], [[0.5667172123566409]]], "std": [[[0.23478926098497624]], [[0.22701809413801913]], [[0.22207361629139144]]], "count": [159]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5390539485448267]], [[0.5355794179306943]], [[0.5344278450898179]]], "std": [[[0.19951345941024481]], [[0.19866154189972557]], [[0.21958652431892356]]], "count": [159]}}}
|
| 4 |
+
{"episode_index": 3, "stats": {"observation.state": {"max": [26.3671875, 189.931640625, 167.51953125, 92.724609375, 7.646484375, 45.580108642578125], "min": [-18.10546875, 87.626953125, 93.603515625, 58.974609375, -63.720703125, -0.20718231797218323], "mean": [2.902442455291748, 121.5552749633789, 111.2767105102539, 76.01586151123047, -18.645580291748047, 21.28305435180664], "std": [13.198904991149902, 31.01359748840332, 19.640554428100586, 11.475546836853027, 20.34173011779785, 15.712013244628906], "count": [771]}, "action": {"max": [27.158203125, 190.01953125, 167.16796875, 93.515625, 7.998046875, 45.87073516845703], "min": [-18.369140625, 87.890625, 90.791015625, 58.359375, -64.6875, 0.0], "mean": [3.1116244792938232, 122.40772247314453, 109.79499053955078, 75.7828598022461, -18.671457290649414, 15.676924705505371], "std": [13.20041561126709, 30.709440231323242, 20.012758255004883, 11.561405181884766, 20.37151527404785, 18.646512985229492], "count": [771]}, "timestamp": {"max": [25.666666666666668], "min": [0.0], "mean": [12.833333333333334], "std": [7.418944718808784], "count": [771]}, "frame_index": {"max": [770], "min": [0], "mean": [385.0], "std": [222.5683415642635], "count": [771]}, "episode_index": {"max": [3], "min": [3], "mean": [3.0], "std": [0.0], "count": [771]}, "index": {"max": [3172], "min": [2402], "mean": [2787.0], "std": [222.5683415642635], "count": [771]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [771]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6166645416442832]], [[0.6037910819007969]], [[0.5690697144439968]]], "std": [[[0.25120337085546623]], [[0.2444892863255941]], [[0.2384454047540105]]], "count": [146]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5187546305622707]], [[0.5088715501611604]], [[0.5093344706889605]]], "std": [[[0.18322508368608945]], [[0.18126213204063746]], [[0.20134001597285983]]], "count": [146]}}}
|
| 5 |
+
{"episode_index": 4, "stats": {"observation.state": {"max": [29.970703125, 193.359375, 159.345703125, 96.15234375, 17.138671875, 41.98895263671875], "min": [-17.2265625, 97.3828125, 90.17578125, 45.439453125, -16.611328125, -0.41436463594436646], "mean": [5.341986656188965, 132.0584259033203, 118.54241180419922, 73.12902069091797, 0.4634879529476166, 20.510208129882812], "std": [16.43851089477539, 27.0389461517334, 19.774188995361328, 16.12515640258789, 6.199021816253662, 13.847637176513672], "count": [618]}, "action": {"max": [30.76171875, 193.271484375, 158.994140625, 96.240234375, 18.369140625, 42.54936981201172], "min": [-17.314453125, 97.646484375, 87.36328125, 44.560546875, -17.2265625, 0.08976660668849945], "mean": [5.808318614959717, 132.62326049804688, 117.30065155029297, 72.83499908447266, 0.4610702395439148, 12.556463241577148], "std": [16.374828338623047, 26.763195037841797, 20.228422164916992, 16.151899337768555, 6.276031494140625, 17.396129608154297], "count": [618]}, "timestamp": {"max": [20.566666666666666], "min": [0.0], "mean": [10.283333333333333], "std": [5.946699987450244], "count": [618]}, "frame_index": {"max": [617], "min": [0], "mean": [308.5], "std": [178.40099962350735], "count": [618]}, "episode_index": {"max": [4], "min": [4], "mean": [4.0], "std": [0.0], "count": [618]}, "index": {"max": [3790], "min": [3173], "mean": [3481.5], "std": [178.40099962350735], "count": [618]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [618]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.6136982155667146]], [[0.5988311513629843]], [[0.5600593499256071]]], "std": [[[0.24279170769706987]], [[0.2350858708501636]], [[0.22867393977307304]]], "count": [123]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5360988645119295]], [[0.5272093877862798]], [[0.5253239478718317]]], "std": [[[0.172016984582656]], [[0.17083389131706841]], [[0.19090755429749628]]], "count": [123]}}}
|
| 6 |
+
{"episode_index": 5, "stats": {"observation.state": {"max": [28.65234375, 193.095703125, 165.234375, 105.205078125, 9.4921875, 41.781768798828125], "min": [-23.642578125, 102.65625, 70.6640625, 49.306640625, -23.818359375, -0.27624309062957764], "mean": [1.7822710275650024, 131.05479431152344, 119.08280944824219, 74.74279022216797, -7.326581001281738, 24.552085876464844], "std": [16.90496063232422, 26.659801483154297, 23.061969757080078, 18.451650619506836, 7.471656799316406, 14.549232482910156], "count": [769]}, "action": {"max": [29.091796875, 193.447265625, 164.794921875, 110.21484375, 10.01953125, 42.10054016113281], "min": [-23.466796875, 102.744140625, 67.8515625, 48.955078125, -24.697265625, -0.08976660668849945], "mean": [1.9014776945114136, 131.62936401367188, 117.88651275634766, 74.94477844238281, -7.377326488494873, 18.172115325927734], "std": [16.84064292907715, 26.424646377563477, 23.108179092407227, 19.143539428710938, 7.517198085784912, 18.965700149536133], "count": [769]}, "timestamp": {"max": [25.6], "min": [0.0], "mean": [12.8], "std": [7.39969969360619], "count": [769]}, "frame_index": {"max": [768], "min": [0], "mean": [384.0], "std": [221.99099080818573], "count": [769]}, "episode_index": {"max": [5], "min": [5], "mean": [5.0], "std": [0.0], "count": [769]}, "index": {"max": [4559], "min": [3791], "mean": [4175.0], "std": [221.99099080818573], "count": [769]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [769]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.6129025385553765]], [[0.5997338601822008]], [[0.563871273166801]]], "std": [[[0.24272260875242063]], [[0.23531016475139357]], [[0.23005251397530044]]], "count": [146]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5210964094256424]], [[0.5165677293177545]], [[0.5147809702077177]]], "std": [[[0.1844365615126706]], [[0.18393881729252315]], [[0.20440943654281896]]], "count": [146]}}}
|
| 7 |
+
{"episode_index": 6, "stats": {"observation.state": {"max": [28.828125, 192.041015625, 160.13671875, 105.029296875, 7.294921875, 43.85358810424805], "min": [-30.146484375, 90.87890625, 66.005859375, 54.31640625, -66.357421875, -0.48342543840408325], "mean": [7.6987786293029785, 126.19488525390625, 113.90139770507812, 76.30586242675781, -19.5941104888916, 24.784875869750977], "std": [15.84628963470459, 25.837337493896484, 19.615568161010742, 13.812573432922363, 19.702486038208008, 13.68880558013916], "count": [879]}, "action": {"max": [29.267578125, 192.216796875, 160.224609375, 109.6875, 7.822265625, 44.075401306152344], "min": [-30.41015625, 91.0546875, 62.841796875, 53.96484375, -67.236328125, 0.0], "mean": [7.812666416168213, 126.78864288330078, 112.88004302978516, 76.34030151367188, -19.540916442871094, 16.78217887878418], "std": [15.884012222290039, 25.78342056274414, 19.842004776000977, 14.393144607543945, 19.755287170410156, 19.0865478515625], "count": [879]}, "timestamp": {"max": [29.266666666666666], "min": [0.0], "mean": [14.633333333333335], "std": [8.458175970074207], "count": [879]}, "frame_index": {"max": [878], "min": [0], "mean": [439.0], "std": [253.7452791022262], "count": [879]}, "episode_index": {"max": [6], "min": [6], "mean": [6.0], "std": [0.0], "count": [879]}, "index": {"max": [5438], "min": [4560], "mean": [4999.0], "std": [253.7452791022262], "count": [879]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [879]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.6128162881094468]], [[0.6003287282304226]], [[0.5637176095075711]]], "std": [[[0.24783931464735814]], [[0.2404102855205738]], [[0.23456882475080135]]], "count": [161]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5209294696139326]], [[0.5139708584520765]], [[0.5083620968314863]]], "std": [[[0.1771797770916068]], [[0.1761710496828774]], [[0.19501141502427813]]], "count": [161]}}}
|
| 8 |
+
{"episode_index": 7, "stats": {"observation.state": {"max": [25.48828125, 192.041015625, 164.267578125, 105.029296875, 6.591796875, 44.751380920410156], "min": [-29.8828125, 76.2890625, 73.125, 66.181640625, -63.28125, -0.41436463594436646], "mean": [6.290812969207764, 128.41622924804688, 108.60540771484375, 89.05828094482422, -22.549957275390625, 19.60466766357422], "std": [13.721822738647461, 31.249755859375, 23.849714279174805, 12.734227180480957, 16.568225860595703, 14.973001480102539], "count": [848]}, "action": {"max": [26.015625, 192.392578125, 164.267578125, 109.599609375, 7.470703125, 44.97306823730469], "min": [-30.498046875, 76.552734375, 70.48828125, 63.984375, -63.984375, 0.0], "mean": [6.571275234222412, 129.11935424804688, 107.53419494628906, 89.99903869628906, -22.489221572875977, 11.962992668151855], "std": [13.776467323303223, 30.865325927734375, 24.353870391845703, 14.257468223571777, 16.596439361572266, 17.83074378967285], "count": [848]}, "timestamp": {"max": [28.233333333333334], "min": [0.0], "mean": [14.116666666666667], "std": [8.159878130898225], "count": [848]}, "frame_index": {"max": [847], "min": [0], "mean": [423.5], "std": [244.79634392694675], "count": [848]}, "episode_index": {"max": [7], "min": [7], "mean": [7.0], "std": [0.0], "count": [848]}, "index": {"max": [6286], "min": [5439], "mean": [5862.5], "std": [244.79634392694675], "count": [848]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [848]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6261063171287624]], [[0.611096990654011]], [[0.568217939511261]]], "std": [[[0.22618916027216626]], [[0.21818289253613382]], [[0.2137180662658147]]], "count": [157]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5240718563964865]], [[0.5196279193205945]], [[0.514485873038175]]], "std": [[[0.1949387426776048]], [[0.19336845530200314]], [[0.21133107276340868]]], "count": [157]}}}
|
| 9 |
+
{"episode_index": 8, "stats": {"observation.state": {"max": [24.345703125, 193.623046875, 167.958984375, 104.677734375, 7.55859375, 43.9917106628418], "min": [-22.587890625, 94.833984375, 76.46484375, 60.556640625, -55.72265625, -0.34530386328697205], "mean": [8.342819213867188, 129.69577026367188, 113.7636947631836, 81.0917739868164, -9.921173095703125, 17.766223907470703], "std": [13.281170845031738, 30.75965118408203, 27.503156661987305, 12.189094543457031, 12.748635292053223, 13.589446067810059], "count": [932]}, "action": {"max": [25.13671875, 193.7109375, 169.27734375, 107.75390625, 8.0859375, 44.16516876220703], "min": [-22.32421875, 95.09765625, 73.212890625, 59.94140625, -56.77734375, 0.08976660668849945], "mean": [8.62572956085205, 130.3542022705078, 112.38893127441406, 80.98497772216797, -9.787734031677246, 9.186556816101074], "std": [13.268048286437988, 30.56475830078125, 28.33623695373535, 12.419565200805664, 12.787311553955078, 15.741129875183105], "count": [932]}, "timestamp": {"max": [31.033333333333335], "min": [0.0], "mean": [15.516666666666666], "std": [8.968169019122886], "count": [932]}, "frame_index": {"max": [931], "min": [0], "mean": [465.5], "std": [269.0450705736866], "count": [932]}, "episode_index": {"max": [8], "min": [8], "mean": [8.0], "std": [0.0], "count": [932]}, "index": {"max": [7218], "min": [6287], "mean": [6752.5], "std": [269.0450705736866], "count": [932]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [932]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6226635421529723]], [[0.6088770740935263]], [[0.569766121031746]]], "std": [[[0.2385666688222443]], [[0.23038996317575633]], [[0.22492210266064938]]], "count": [168]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5365928442557578]], [[0.5288863722572362]], [[0.5230224077478214]]], "std": [[[0.17485658923019273]], [[0.17447610264677954]], [[0.19453061747953646]]], "count": [168]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,121 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_type": "so101",
|
| 3 |
+
"codebase_version": "v2.1",
|
| 4 |
+
"total_episodes": 9,
|
| 5 |
+
"total_frames": 7219,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 18,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:9"
|
| 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": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"main_shoulder_pan",
|
| 24 |
+
"main_shoulder_lift",
|
| 25 |
+
"main_elbow_flex",
|
| 26 |
+
"main_wrist_flex",
|
| 27 |
+
"main_wrist_roll",
|
| 28 |
+
"main_gripper"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"main_shoulder_pan",
|
| 38 |
+
"main_shoulder_lift",
|
| 39 |
+
"main_elbow_flex",
|
| 40 |
+
"main_wrist_flex",
|
| 41 |
+
"main_wrist_roll",
|
| 42 |
+
"main_gripper"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"timestamp": {
|
| 46 |
+
"dtype": "float32",
|
| 47 |
+
"shape": [
|
| 48 |
+
1
|
| 49 |
+
],
|
| 50 |
+
"names": null
|
| 51 |
+
},
|
| 52 |
+
"episode_index": {
|
| 53 |
+
"dtype": "int64",
|
| 54 |
+
"shape": [
|
| 55 |
+
1
|
| 56 |
+
],
|
| 57 |
+
"names": null
|
| 58 |
+
},
|
| 59 |
+
"frame_index": {
|
| 60 |
+
"dtype": "int64",
|
| 61 |
+
"shape": [
|
| 62 |
+
1
|
| 63 |
+
],
|
| 64 |
+
"names": null
|
| 65 |
+
},
|
| 66 |
+
"task_index": {
|
| 67 |
+
"dtype": "int64",
|
| 68 |
+
"shape": [
|
| 69 |
+
1
|
| 70 |
+
],
|
| 71 |
+
"names": null
|
| 72 |
+
},
|
| 73 |
+
"index": {
|
| 74 |
+
"dtype": "int64",
|
| 75 |
+
"shape": [
|
| 76 |
+
1
|
| 77 |
+
],
|
| 78 |
+
"names": null
|
| 79 |
+
},
|
| 80 |
+
"observation.images.laptop": {
|
| 81 |
+
"dtype": "video",
|
| 82 |
+
"shape": [
|
| 83 |
+
480,
|
| 84 |
+
640,
|
| 85 |
+
3
|
| 86 |
+
],
|
| 87 |
+
"names": [
|
| 88 |
+
"height",
|
| 89 |
+
"width",
|
| 90 |
+
"channels"
|
| 91 |
+
],
|
| 92 |
+
"info": {
|
| 93 |
+
"video.fps": 30,
|
| 94 |
+
"video.codec": "av1",
|
| 95 |
+
"video.pix_fmt": "yuv420p",
|
| 96 |
+
"video.is_depth_map": false,
|
| 97 |
+
"has_audio": false
|
| 98 |
+
}
|
| 99 |
+
},
|
| 100 |
+
"observation.images.wrist": {
|
| 101 |
+
"dtype": "video",
|
| 102 |
+
"shape": [
|
| 103 |
+
480,
|
| 104 |
+
640,
|
| 105 |
+
3
|
| 106 |
+
],
|
| 107 |
+
"names": [
|
| 108 |
+
"height",
|
| 109 |
+
"width",
|
| 110 |
+
"channels"
|
| 111 |
+
],
|
| 112 |
+
"info": {
|
| 113 |
+
"video.fps": 30,
|
| 114 |
+
"video.codec": "av1",
|
| 115 |
+
"video.pix_fmt": "yuv420p",
|
| 116 |
+
"video.is_depth_map": false,
|
| 117 |
+
"has_audio": false
|
| 118 |
+
}
|
| 119 |
+
}
|
| 120 |
+
}
|
| 121 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index":0,"task":"Stack cubes from left to right."}
|
videos/chunk-000/observation.images.laptop/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4b241e87d260ecb6267f5bca3bd2c7ec9a832a5f7d56add775613a827de662e6
|
| 3 |
+
size 7277429
|
videos/chunk-000/observation.images.laptop/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:51ec0c84b4908467b4f451a89021deec62a16c88c404b84c8b9060cc579c0a1a
|
| 3 |
+
size 6924963
|
videos/chunk-000/observation.images.laptop/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fcf2c748ee8c48107c8e6e6ec1a11656e3bc4178911ad76e4ee4234e4ca6607d
|
| 3 |
+
size 8651728
|
videos/chunk-000/observation.images.laptop/episode_000003.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3d73956262399c55e931845449f5eff6680dc0745a5c237b5082f4b806787772
|
| 3 |
+
size 7626460
|
videos/chunk-000/observation.images.laptop/episode_000004.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:07dae87720fba08b4b7751168aff437e552b76c28f3447bfd3424caf0d71fa85
|
| 3 |
+
size 6054959
|
videos/chunk-000/observation.images.laptop/episode_000005.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:57f255e227e3ee9d729071ec0021bd97bb61150f73ed57d540212fa2aee37d23
|
| 3 |
+
size 8065722
|
videos/chunk-000/observation.images.laptop/episode_000006.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:55d83855e080877e4ceaa8b9639f5eff0cf620dce4e0a843dac33d2d66eaca48
|
| 3 |
+
size 8417668
|
videos/chunk-000/observation.images.laptop/episode_000007.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:33989da3272e39aa2d37d1cedc74f558ff29085ef631d65cde6d572fc3760fd6
|
| 3 |
+
size 7896147
|
videos/chunk-000/observation.images.laptop/episode_000008.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:599c3c69eeacd7e2ca98540ec6b4461e735b71c4d6400086ac42f266b0546e30
|
| 3 |
+
size 8526606
|
videos/chunk-000/observation.images.wrist/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3092e3ee11e07485bd601a083fc4875c7001166eefd538a8df35841d9600d139
|
| 3 |
+
size 3362618
|
videos/chunk-000/observation.images.wrist/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:56f9659e4aff41fabf07fd0d7570a2be2c76ccefe871000e198d5b6409471551
|
| 3 |
+
size 2743355
|
videos/chunk-000/observation.images.wrist/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cd854ce3b8b5b4a5e7399a6d9c3e181d4d51889f895bc3b74631bfb5fd4bfacb
|
| 3 |
+
size 3751825
|
videos/chunk-000/observation.images.wrist/episode_000003.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d029a203874cf66e58eb77f675340da80d26a5f5f5725de1aee0c163800f35cc
|
| 3 |
+
size 3126751
|
videos/chunk-000/observation.images.wrist/episode_000004.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:598a52f893da578933fc777d5119b86c54b2e72e5610a4e882a6db8cbbe93234
|
| 3 |
+
size 2342605
|
videos/chunk-000/observation.images.wrist/episode_000005.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a803329b1ebc5370fce6524c4d9845ace8565ce962a239f0439c0da1920a05f7
|
| 3 |
+
size 3081073
|
videos/chunk-000/observation.images.wrist/episode_000006.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ce633fffc8b37461bfee3be65f872a38dad2f8b1403c0c8a30959f386a4a67ef
|
| 3 |
+
size 3534200
|
videos/chunk-000/observation.images.wrist/episode_000007.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9e76cc90a1d0919989c109b439426acf3d47a47e0327ef83fe1ba46f83c9c202
|
| 3 |
+
size 3501870
|
videos/chunk-000/observation.images.wrist/episode_000008.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:02d00d1499945c3d6e1ae858b9543e0c8806f60623caf3b0ed580177fd00ca16
|
| 3 |
+
size 3596725
|