Hugging Face's logo

Datasets:
thewisp
/
pick_cube_no_place_nov_16

Modalities:
Tabular
Video
Formats:
parquet
Size:
10K - 100K
Libraries:
Datasets
Dask
Dataset card Data Studio Files
xet
Community
1
thewisp commited on
Commit
37a0bf5
·
verified ·
1 Parent(s): dc84107

Upload folder using huggingface_hub

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 +127 -0
  4. meta/stats.json +632 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.wrist/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:bac5007b36c71acec4c04a703d12b5878bf292129a5fa13442c2294d61b5455a
3
+ size 731468
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7c89d4ac08698621c57c586373d5399ebb72181df6ad551a7045492945f43ca6
3
+ size 225685
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 101,
5
+ "total_frames": 28269,
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": "0:101"
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
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "names": [
34
+ "shoulder_pan.pos",
35
+ "shoulder_lift.pos",
36
+ "elbow_flex.pos",
37
+ "wrist_flex.pos",
38
+ "wrist_roll.pos",
39
+ "gripper.pos"
40
+ ],
41
+ "shape": [
42
+ 6
43
+ ]
44
+ },
45
+ "observation.images.top": {
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.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.wrist": {
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.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 30,
87
+ "video.channels": 3,
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/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -91.37931060791016,
5
+ -99.68516540527344,
6
+ -62.84403610229492,
7
+ -4.340352535247803,
8
+ -61.00217819213867,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 56.417625427246094,
13
+ 52.223533630371094,
14
+ 99.90825653076172,
15
+ 100.0,
16
+ 58.1699333190918,
17
+ 64.06858825683594
18
+ ],
19
+ "mean": [
20
+ -14.492459300392973,
21
+ -3.63303669422866,
22
+ 11.829177852359077,
23
+ 70.18540122816086,
24
+ -11.126073293385785,
25
+ 25.179267285133207
26
+ ],
27
+ "std": [
28
+ 22.67668463240376,
29
+ 29.490247293179657,
30
+ 33.299981968054574,
31
+ 13.082385529062314,
32
+ 21.613820673748442,
33
+ 11.92666780686555
34
+ ],
35
+ "count": [
36
+ 28269
37
+ ],
38
+ "q01": [
39
+ -23.9523891695771,
40
+ -61.0096746299339,
41
+ -0.28289141579758764,
42
+ 49.70172901519058,
43
+ -22.65979611065617,
44
+ 14.867548728375182
45
+ ],
46
+ "q10": [
47
+ -20.38511032331522,
48
+ -42.736088874617785,
49
+ 0.6015042358193422,
50
+ 59.45756425234677,
51
+ -19.57505169633539,
52
+ 16.33536690383423
53
+ ],
54
+ "q50": [
55
+ -14.898164452089649,
56
+ 1.7228617263518657,
57
+ 4.553190654776972,
58
+ 71.23031497560812,
59
+ -11.481303732530533,
60
+ 20.837005389431297
61
+ ],
62
+ "q90": [
63
+ -7.459388584661681,
64
+ 14.4863234151347,
65
+ 45.13430076209985,
66
+ 79.03114000401054,
67
+ -2.393884583011925,
68
+ 40.31799190641715
69
+ ],
70
+ "q99": [
71
+ -3.3243104029551267,
72
+ 17.55979096147723,
73
+ 58.97417352466241,
74
+ 81.51794261486816,
75
+ 0.918443173471125,
76
+ 41.35462582223132
77
+ ]
78
+ },
79
+ "observation.images.wrist": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.5646822551244096
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.5166999787864816
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.46968860302206716
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.017574304754647455
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.020149263921764995
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.018971762888147524
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 10100
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.109766093764039
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.018134066369621466
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ 0.007065319945585901
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.27269199596813737
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.08701477839756709
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.05507693694112753
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.5818629821637957
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.5821787875423808
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.5441203944785293
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.8222127721427104
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.821969020706731
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.7504968601647848
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.8883987643873562
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.8862862112721557
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.8225173777165476
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "episode_index": {
238
+ "min": [
239
+ 0
240
+ ],
241
+ "max": [
242
+ 100
243
+ ],
244
+ "mean": [
245
+ 49.765184477696415
246
+ ],
247
+ "std": [
248
+ 29.264352443002604
249
+ ],
250
+ "count": [
251
+ 28269
252
+ ],
253
+ "q01": [
254
+ 49.765184477696415
255
+ ],
256
+ "q10": [
257
+ 49.76518447769642
258
+ ],
259
+ "q50": [
260
+ 49.76518447769642
261
+ ],
262
+ "q90": [
263
+ 49.76518447769642
264
+ ],
265
+ "q99": [
266
+ 49.76518447769642
267
+ ]
268
+ },
269
+ "observation.state": {
270
+ "min": [
271
+ -91.13018798828125,
272
+ -99.51179504394531,
273
+ -60.402976989746094,
274
+ -3.2855939865112305,
275
+ -60.73126220703125,
276
+ 5.94059419631958
277
+ ],
278
+ "max": [
279
+ 55.93705368041992,
280
+ 52.96989440917969,
281
+ 98.86114501953125,
282
+ 99.07329559326172,
283
+ 57.87934112548828,
284
+ 63.932106018066406
285
+ ],
286
+ "mean": [
287
+ -14.516279603184934,
288
+ -2.1662124932479627,
289
+ 13.950099724109053,
290
+ 70.11932006731222,
291
+ -11.07955792328822,
292
+ 28.629192084366046
293
+ ],
294
+ "std": [
295
+ 22.663918948937297,
296
+ 30.793843934227635,
297
+ 33.493924403769846,
298
+ 13.164265483015665,
299
+ 21.580950231196315,
300
+ 8.816190541640717
301
+ ],
302
+ "count": [
303
+ 28269
304
+ ],
305
+ "q01": [
306
+ -23.927087963722677,
307
+ -59.89621859964597,
308
+ 1.4845354671369093,
309
+ 50.267865539484234,
310
+ -22.45369315394684,
311
+ 18.644047546250967
312
+ ],
313
+ "q10": [
314
+ -20.778675674405708,
315
+ -45.91320431124414,
316
+ 2.35495269535291,
317
+ 57.6394540894075,
318
+ -19.974136898317663,
319
+ 20.142569533324966
320
+ ],
321
+ "q50": [
322
+ -14.942754241749395,
323
+ 4.659697001644619,
324
+ 5.954874455419967,
325
+ 71.36576923216558,
326
+ -11.457131043859542,
327
+ 25.972775786675285
328
+ ],
329
+ "q90": [
330
+ -6.963672944137775,
331
+ 15.702955937666248,
332
+ 50.64913136777153,
333
+ 79.07022574556106,
334
+ -1.832352369207217,
335
+ 40.21188581861706
336
+ ],
337
+ "q99": [
338
+ -3.578740401140923,
339
+ 18.14698640096093,
340
+ 59.24907457402554,
341
+ 81.21340979950305,
342
+ 1.1603132861081644,
343
+ 41.09099288889994
344
+ ]
345
+ },
346
+ "observation.images.top": {
347
+ "min": [
348
+ [
349
+ [
350
+ 0.0
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.0
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.0
361
+ ]
362
+ ]
363
+ ],
364
+ "max": [
365
+ [
366
+ [
367
+ 1.0
368
+ ]
369
+ ],
370
+ [
371
+ [
372
+ 1.0
373
+ ]
374
+ ],
375
+ [
376
+ [
377
+ 1.0
378
+ ]
379
+ ]
380
+ ],
381
+ "mean": [
382
+ [
383
+ [
384
+ 0.4822140248657218
385
+ ]
386
+ ],
387
+ [
388
+ [
389
+ 0.47109145950624476
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.46890626013152786
395
+ ]
396
+ ]
397
+ ],
398
+ "std": [
399
+ [
400
+ [
401
+ 0.013087598492996224
402
+ ]
403
+ ],
404
+ [
405
+ [
406
+ 0.012805252184008294
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.01332873331982417
412
+ ]
413
+ ]
414
+ ],
415
+ "count": [
416
+ 10100
417
+ ],
418
+ "q01": [
419
+ [
420
+ [
421
+ 0.022657727895519123
422
+ ]
423
+ ],
424
+ [
425
+ [
426
+ 0.023547426104927122
427
+ ]
428
+ ],
429
+ [
430
+ [
431
+ 0.02334645762304557
432
+ ]
433
+ ]
434
+ ],
435
+ "q10": [
436
+ [
437
+ [
438
+ 0.0653363216799877
439
+ ]
440
+ ],
441
+ [
442
+ [
443
+ 0.0661286014953474
444
+ ]
445
+ ],
446
+ [
447
+ [
448
+ 0.06573781648690555
449
+ ]
450
+ ]
451
+ ],
452
+ "q50": [
453
+ [
454
+ [
455
+ 0.5820979009662091
456
+ ]
457
+ ],
458
+ [
459
+ [
460
+ 0.5712556099855994
461
+ ]
462
+ ],
463
+ [
464
+ [
465
+ 0.5699405772975936
466
+ ]
467
+ ]
468
+ ],
469
+ "q90": [
470
+ [
471
+ [
472
+ 0.6792843382385684
473
+ ]
474
+ ],
475
+ [
476
+ [
477
+ 0.6707873340035965
478
+ ]
479
+ ],
480
+ [
481
+ [
482
+ 0.6764947771306636
483
+ ]
484
+ ]
485
+ ],
486
+ "q99": [
487
+ [
488
+ [
489
+ 0.7183008959096144
490
+ ]
491
+ ],
492
+ [
493
+ [
494
+ 0.7127897893018983
495
+ ]
496
+ ],
497
+ [
498
+ [
499
+ 0.7141192191590423
500
+ ]
501
+ ]
502
+ ]
503
+ },
504
+ "index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 28268
510
+ ],
511
+ "mean": [
512
+ 14134.0
513
+ ],
514
+ "std": [
515
+ 8160.557374754905
516
+ ],
517
+ "count": [
518
+ 28269
519
+ ],
520
+ "q01": [
521
+ 13996.499238125203
522
+ ],
523
+ "q10": [
524
+ 14021.588269611157
525
+ ],
526
+ "q50": [
527
+ 14133.915284085046
528
+ ],
529
+ "q90": [
530
+ 14246.214419978143
531
+ ],
532
+ "q99": [
533
+ 14271.500761874797
534
+ ]
535
+ },
536
+ "timestamp": {
537
+ "min": [
538
+ 0.0
539
+ ],
540
+ "max": [
541
+ 10.133333333333333
542
+ ],
543
+ "mean": [
544
+ 4.651891942882069
545
+ ],
546
+ "std": [
547
+ 2.699684968471851
548
+ ],
549
+ "count": [
550
+ 28269
551
+ ],
552
+ "q01": [
553
+ 0.06853321362675284
554
+ ],
555
+ "q10": [
556
+ 0.9048342631760218
557
+ ],
558
+ "q50": [
559
+ 4.64895874845231
560
+ ],
561
+ "q90": [
562
+ 8.39237260889808
563
+ ],
564
+ "q99": [
565
+ 9.23525067213741
566
+ ]
567
+ },
568
+ "task_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 0
574
+ ],
575
+ "mean": [
576
+ 0.0
577
+ ],
578
+ "std": [
579
+ 0.0
580
+ ],
581
+ "count": [
582
+ 28269
583
+ ],
584
+ "q01": [
585
+ 3.9999999999994117e-16
586
+ ],
587
+ "q10": [
588
+ 3.9999999999994205e-15
589
+ ],
590
+ "q50": [
591
+ 1.9999999999997062e-14
592
+ ],
593
+ "q90": [
594
+ 3.599999999999479e-14
595
+ ],
596
+ "q99": [
597
+ 3.959999999999423e-14
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 304
606
+ ],
607
+ "mean": [
608
+ 139.55675828646216
609
+ ],
610
+ "std": [
611
+ 80.99054905415552
612
+ ],
613
+ "count": [
614
+ 28269
615
+ ],
616
+ "q01": [
617
+ 2.055996411659933
618
+ ],
619
+ "q10": [
620
+ 27.145027897616608
621
+ ],
622
+ "q50": [
623
+ 139.47204237150237
624
+ ],
625
+ "q90": [
626
+ 251.7711782646104
627
+ ],
628
+ "q99": [
629
+ 277.0575201612641
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d360071b0401cb3322be4f037e27f33f4fe4c29c78af2d3398a4ff8a4fb7d51f
3
+ size 2126
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 sha256:0412d9068acf1fa4e6029d066844516f9840094a6a7a369f9a357d9ca5e12c7a
3
+ size 197574339
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e1bab83efcb56c1b5f9a56b2305771a8352a0de0319ee81253a39c953d968738
3
+ size 57805913