Hugging Face's logo

Datasets:
tyrleng
/
mat-v30-final

Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Libraries:
Datasets
Dask
Dataset card Data Studio Files
xet
Community
1
tyrleng commited on
Commit
4b8ef09
·
verified ·
1 Parent(s): 0fa59cb

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.front/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 sha256:7bed7b6983b2114250ea1fc7d5113b75407999e54a5acbf34e5957eb848e4cbf
3
+ size 480001
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:494b031359248071c8777db1208d5bf196a68da648a0ca60e293a7869d362577
3
+ size 181635
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 70,
5
+ "total_frames": 15265,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 3000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:70"
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.front": {
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
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 34
8
+ ],
9
+ "mean": [
10
+ 17.57641663937111
11
+ ],
12
+ "std": [
13
+ 9.832621861378668
14
+ ],
15
+ "count": [
16
+ 15265
17
+ ],
18
+ "q01": [
19
+ 17.57641663937111
20
+ ],
21
+ "q10": [
22
+ 17.576416639371114
23
+ ],
24
+ "q50": [
25
+ 17.576416639371125
26
+ ],
27
+ "q90": [
28
+ 17.57641663937114
29
+ ],
30
+ "q99": [
31
+ 17.57641663937115
32
+ ]
33
+ },
34
+ "task_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 0
40
+ ],
41
+ "mean": [
42
+ 0.0
43
+ ],
44
+ "std": [
45
+ 0.0
46
+ ],
47
+ "count": [
48
+ 15265
49
+ ],
50
+ "q01": [
51
+ 3.9999999999994176e-16
52
+ ],
53
+ "q10": [
54
+ 3.999999999999419e-15
55
+ ],
56
+ "q50": [
57
+ 1.9999999999997084e-14
58
+ ],
59
+ "q90": [
60
+ 3.599999999999476e-14
61
+ ],
62
+ "q99": [
63
+ 3.9599999999994235e-14
64
+ ]
65
+ },
66
+ "frame_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 472
72
+ ],
73
+ "mean": [
74
+ 114.60563380281687
75
+ ],
76
+ "std": [
77
+ 76.30219709200607
78
+ ],
79
+ "count": [
80
+ 15265
81
+ ],
82
+ "q01": [
83
+ 1.7897858236814186
84
+ ],
85
+ "q10": [
86
+ 22.488288896087298
87
+ ],
88
+ "q50": [
89
+ 114.38835445791001
90
+ ],
91
+ "q90": [
92
+ 206.5941146414167
93
+ ],
94
+ "q99": [
95
+ 227.38393707183113
96
+ ]
97
+ },
98
+ "timestamp": {
99
+ "min": [
100
+ 0.0
101
+ ],
102
+ "max": [
103
+ 15.733333333333333
104
+ ],
105
+ "mean": [
106
+ 3.8201877934272304
107
+ ],
108
+ "std": [
109
+ 2.543406569733536
110
+ ],
111
+ "count": [
112
+ 15265
113
+ ],
114
+ "q01": [
115
+ 0.05965952736085913
116
+ ],
117
+ "q10": [
118
+ 0.7496096297918587
119
+ ],
120
+ "q50": [
121
+ 3.812925797139216
122
+ ],
123
+ "q90": [
124
+ 6.88647048812482
125
+ ],
126
+ "q99": [
127
+ 7.5794645691561895
128
+ ]
129
+ },
130
+ "action": {
131
+ "min": [
132
+ -23.380281448364258,
133
+ -100.0,
134
+ -66.78571319580078,
135
+ -43.627662658691406,
136
+ -37.321197509765625,
137
+ 0.0
138
+ ],
139
+ "max": [
140
+ 47.793426513671875,
141
+ 56.77799606323242,
142
+ 100.0,
143
+ 100.0,
144
+ 100.0,
145
+ 100.0
146
+ ],
147
+ "mean": [
148
+ 8.091806148943885,
149
+ -32.466636805029886,
150
+ 28.725857205957887,
151
+ 61.82106334212722,
152
+ 59.06827976915277,
153
+ 20.495608098929416
154
+ ],
155
+ "std": [
156
+ 18.477014450067653,
157
+ 48.35832160380312,
158
+ 62.85820892058261,
159
+ 30.46562190610501,
160
+ 28.440327049670888,
161
+ 28.729379580213603
162
+ ],
163
+ "count": [
164
+ 15265
165
+ ],
166
+ "q01": [
167
+ -14.7448994252316,
168
+ -97.28066502705987,
169
+ -50.093524946027394,
170
+ -8.754486876203922,
171
+ -14.462313487386863,
172
+ 1.6025137595406325
173
+ ],
174
+ "q10": [
175
+ -11.55835538804381,
176
+ -96.80091817463904,
177
+ -46.997312982362864,
178
+ 9.612733060721318,
179
+ 10.969455288506865,
180
+ 1.6994211174436535
181
+ ],
182
+ "q50": [
183
+ 1.556053852576392,
184
+ -15.885543816045661,
185
+ 44.08807591543473,
186
+ 67.00889048210762,
187
+ 67.29401727914069,
188
+ 3.6408773748963434
189
+ ],
190
+ "q90": [
191
+ 34.39325166476827,
192
+ 30.458273037429727,
193
+ 99.80420490210962,
194
+ 93.5763789907164,
195
+ 84.56692102079117,
196
+ 67.24762729674642
197
+ ],
198
+ "q99": [
199
+ 38.70806962576436,
200
+ 34.08156141265711,
201
+ 99.89486587369309,
202
+ 99.35632678555983,
203
+ 91.13734458597087,
204
+ 86.02233775027676
205
+ ]
206
+ },
207
+ "observation.state": {
208
+ "min": [
209
+ -22.980850219726562,
210
+ -98.93946075439453,
211
+ -64.60018157958984,
212
+ -41.76313400268555,
213
+ -36.89839553833008,
214
+ 2.1081576347351074
215
+ ],
216
+ "max": [
217
+ 47.293922424316406,
218
+ 56.87141036987305,
219
+ 98.92182922363281,
220
+ 99.82190704345703,
221
+ 99.90277099609375,
222
+ 96.97525024414062
223
+ ],
224
+ "mean": [
225
+ 7.950885025759115,
226
+ -31.77024493450186,
227
+ 29.726039719261422,
228
+ 62.051025955894914,
229
+ 58.90216195349845,
230
+ 20.933521115002854
231
+ ],
232
+ "std": [
233
+ 18.429859919914104,
234
+ 48.93194784939538,
235
+ 62.068658802471546,
236
+ 30.305965147954517,
237
+ 28.363057713697504,
238
+ 27.813404416741395
239
+ ],
240
+ "count": [
241
+ 15265
242
+ ],
243
+ "q01": [
244
+ -14.566688771636619,
245
+ -97.12516719636884,
246
+ -47.47606442387259,
247
+ -8.387239707863948,
248
+ -14.096664665754455,
249
+ 2.498072239751458
250
+ ],
251
+ "q10": [
252
+ -11.568004598425908,
253
+ -96.62910335910216,
254
+ -45.23724052837981,
255
+ 10.009488154483693,
256
+ 10.766161947503388,
257
+ 2.601309254490135
258
+ ],
259
+ "q50": [
260
+ 1.4146671509903816,
261
+ -15.240147335826192,
262
+ 45.55703176049514,
263
+ 67.33850464118599,
264
+ 67.14120692965427,
265
+ 4.393153227033992
266
+ ],
267
+ "q90": [
268
+ 34.34604762043636,
269
+ 32.01315763158141,
270
+ 98.74453950490991,
271
+ 93.49203970538912,
272
+ 83.82349279005301,
273
+ 65.6496344871246
274
+ ],
275
+ "q99": [
276
+ 38.13649331531497,
277
+ 34.86054704864195,
278
+ 98.81202729127469,
279
+ 98.83935725251838,
280
+ 90.54530280046643,
281
+ 84.17894798151922
282
+ ]
283
+ },
284
+ "observation.images.front": {
285
+ "min": [
286
+ [
287
+ [
288
+ 0.0
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.0
294
+ ]
295
+ ],
296
+ [
297
+ [
298
+ 0.0
299
+ ]
300
+ ]
301
+ ],
302
+ "max": [
303
+ [
304
+ [
305
+ 1.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 1.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 1.0
316
+ ]
317
+ ]
318
+ ],
319
+ "mean": [
320
+ [
321
+ [
322
+ 0.6088416461338856
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 0.6011008923911898
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.5848795352414641
333
+ ]
334
+ ]
335
+ ],
336
+ "std": [
337
+ [
338
+ [
339
+ 0.005312770915022336
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.004889972336435324
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.005908817421443903
350
+ ]
351
+ ]
352
+ ],
353
+ "count": [
354
+ 7001
355
+ ],
356
+ "q01": [
357
+ [
358
+ [
359
+ -3.9215686274509807e-13
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ -3.9215686274509807e-13
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ -3.9215686274509807e-13
370
+ ]
371
+ ]
372
+ ],
373
+ "q10": [
374
+ [
375
+ [
376
+ 0.05308677984186504
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.03999455020644175
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.05693225253655651
387
+ ]
388
+ ]
389
+ ],
390
+ "q50": [
391
+ [
392
+ [
393
+ 0.716529730972942
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.7098334214191424
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.6904095690751278
404
+ ]
405
+ ]
406
+ ],
407
+ "q90": [
408
+ [
409
+ [
410
+ 0.8490867591068726
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.8416626066314892
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.8331069282380104
421
+ ]
422
+ ]
423
+ ],
424
+ "q99": [
425
+ [
426
+ [
427
+ 0.8915957560689578
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.8890809535664127
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.9355355611095068
438
+ ]
439
+ ]
440
+ ]
441
+ },
442
+ "index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 8383
448
+ ],
449
+ "mean": [
450
+ 3852.7465443825745
451
+ ],
452
+ "std": [
453
+ 2266.1851906240468
454
+ ],
455
+ "count": [
456
+ 15265
457
+ ],
458
+ "q01": [
459
+ 3739.9306964034386
460
+ ],
461
+ "q10": [
462
+ 3760.6291994758444
463
+ ],
464
+ "q50": [
465
+ 3852.529265037668
466
+ ],
467
+ "q90": [
468
+ 3944.7350252211754
469
+ ],
470
+ "q99": [
471
+ 3965.52484765159
472
+ ]
473
+ },
474
+ "observation.images.wrist": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.5293238245668449
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.5001921423981914
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.4958514738324031
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.01698536226605375
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.022335045145470675
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.020369998969403533
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 7001
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.00633331451836234
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.0010894346703707327
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ -3.9215686274509807e-13
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.03212742434964667
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.02746868558793852
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ -3.9215686274509807e-13
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.634667271131172
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.5727022252687476
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.5728190742652116
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.9156427453526583
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.9179994480703937
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.9275704797156092
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9947267148032234
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9955614084156276
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9973083942854254
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2f5ec5900636ef2ddb95212427f69b608caca86cb46d1478733e38077a0c4d79
3
+ size 2181
videos/observation.images.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3aa6059b65cff1381dc47604117180a3e0372045d3b28a25bd6aa7a6b7dcf15c
3
+ size 164609613
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 sha256:375e8c721996552b5219f3a5aef946c2e886e4a1d90509f1e00f76eae5898c25
3
+ size 126332652