Hugging Face's logo

Datasets:
ssaito
/
koch_test

Tasks:
Robotics
Modalities:
Video
Tags:
LeRobot
tutorial
License:
Dataset card Data Studio Files
xet
 Community
ssaito commited on
Commit
15f4909
·
verified ·
1 Parent(s): 14fbffc

Upload folder using huggingface_hub

Browse files
Files changed (10) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. meta/episodes.jsonl +2 -0
  4. meta/episodes_stats.jsonl +2 -0
  5. meta/info.json +127 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.laptop/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.phone/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6e521eb5b177f3f1f8aade7a1315b3e48de82fbc1e6505f0eb3d9886c2e9dcf
3
+ size 40786
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ddb41b80227e376988bf1d4498f646de502bb179855ea0e41af1bcc6f5d3dc36
3
+ size 30711
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a toy banana and put it in the box."], "length": 883}
2
+ {"episode_index": 1, "tasks": ["Grasp a toy banana and put it in the box."], "length": 898}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-14.677734375, 59.765625, 38.935546875, 32.958984375, -26.279296875, -13.88671875], "max": [46.142578125, 136.845703125, 154.775390625, 84.990234375, 10.1953125, 34.62890625], "mean": [13.954900741577148, 93.30516815185547, 90.49798583984375, 65.74156188964844, -7.905577659606934, 15.978277206420898], "std": [15.64961051940918, 25.698230743408203, 29.614513397216797, 15.298249244689941, 8.435091972351074, 16.49419403076172], "count": [883]}, "observation.state": {"min": [-13.974609375, 58.53515625, 41.30859375, 30.9375, -25.13671875, 12.392578125], "max": [45.52734375, 129.7265625, 156.796875, 83.84765625, 9.84375, 34.365234375], "mean": [13.663956642150879, 91.17974853515625, 91.70709228515625, 66.55486297607422, -7.527836799621582, 20.495935440063477], "std": [15.289400100708008, 24.09137535095215, 29.183319091796875, 13.657066345214844, 7.987414360046387, 9.728066444396973], "count": [883]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9411764705882353]], [[0.9254901960784314]], [[0.8588235294117647]]], "mean": [[[0.2770710314923071]], [[0.24835262275199935]], [[0.21470369524621444]]], "std": [[[0.19198186230140857]], [[0.1413647760499843]], [[0.11095250975959943]]], "count": [161]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4113070132038323]], [[0.3873395698859254]], [[0.4057135803596801]]], "std": [[[0.29098765524197634]], [[0.2490361947219883]], [[0.22636365286121218]]], "count": [161]}, "timestamp": {"min": [0.0], "max": [29.4], "mean": [14.699999999999998], "std": [8.496666012815458], "count": [883]}, "frame_index": {"min": [0], "max": [882], "mean": [441.0], "std": [254.89998038446373], "count": [883]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [883]}, "index": {"min": [0], "max": [882], "mean": [441.0], "std": [254.89998038446373], "count": [883]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [883]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [4.39453125, 56.953125, 47.4609375, 4.306640625, -14.853515625, -14.0625], "max": [33.3984375, 111.97265625, 148.359375, 87.451171875, 4.5703125, 46.0546875], "mean": [10.694957733154297, 79.45478057861328, 106.59109497070312, 44.911109924316406, -9.370726585388184, 9.023763656616211], "std": [6.459780693054199, 10.839113235473633, 29.499666213989258, 22.251293182373047, 6.6261115074157715, 13.38166618347168], "count": [898]}, "observation.state": {"min": [4.39453125, 55.458984375, 50.361328125, 6.328125, -14.326171875, -2.197265625], "max": [32.080078125, 109.86328125, 148.88671875, 87.01171875, 3.779296875, 44.208984375], "mean": [10.471219062805176, 80.65040588378906, 106.36819458007812, 48.6211051940918, -9.059879302978516, 13.737853050231934], "std": [6.147256851196289, 11.49709415435791, 28.010629653930664, 20.06730842590332, 6.618747234344482, 8.059117317199707], "count": [898]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9686274509803922]]], "mean": [[[0.29686980661166906]], [[0.25829136278495135]], [[0.22339911874302565]]], "std": [[[0.19155643321807866]], [[0.14202268280214142]], [[0.11305835244239863]]], "count": [164]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3927607504383867]], [[0.379905581211143]], [[0.3882389705882353]]], "std": [[[0.29471385506278475]], [[0.25447697821057164]], [[0.23527480674117887]]], "count": [164]}, "timestamp": {"min": [0.0], "max": [29.9], "mean": [14.950000000000001], "std": [8.64100367112782], "count": [898]}, "frame_index": {"min": [0], "max": [897], "mean": [448.5], "std": [259.23011013383456], "count": [898]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [898]}, "index": {"min": [883], "max": [1780], "mean": [1331.5], "std": [259.23011013383456], "count": [898]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [898]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "koch",
4
+ "total_episodes": 2,
5
+ "total_frames": 1781,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
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
+ "observation.images.laptop": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.fps": 30.0,
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.channels": 3,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.phone": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.fps": 30.0,
82
+ "video.height": 480,
83
+ "video.width": 640,
84
+ "video.channels": 3,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a toy banana and put it in the box."}
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:e944a051aced93c0f16b54302e4429d2c575785f69ec62d80263c5b1213ce4d5
3
+ size 4662011
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:bffcc45e3309966166fcd2dbcb36cdfb4ffe594d0a28151a066f136ca93a35ca
3
+ size 4431472
videos/chunk-000/observation.images.phone/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a69db9df8098f0d19f7550f143d79437919c83436afc8c9df1937593505518d3
3
+ size 10631666
videos/chunk-000/observation.images.phone/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aef234ab0c1e6d326fa75274aea388d3de7833982595a37ef837d9a518c334f5
3
+ size 10656453