Hugging Face's logo

Datasets:
usagiovo
/
so101-stack-max

Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Libraries:
Datasets
Dask
Polars
Dataset card Data Studio Files
xet
 Community
1
usagiovo commited on
Commit
9a82f8d
·
verified ·
1 Parent(s): 80084dd

Upload folder using huggingface_hub

Browse files
Files changed (8) 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.top/chunk-000/file-001.mp4 +3 -0
  8. 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 sha256:9b961b8703659bed0bb9c4e8c126faf84941aaf3e58984ce70d615da88e09f3e
3
+ size 7399878
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:25022ec477cd881bc9031f819f676d6a467c630e6af838ddbf3f558e61671bde
3
+ size 1270801
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so100",
4
+ "total_episodes": 300,
5
+ "total_frames": 111267,
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": "0:300"
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
+ 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.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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 41.0
8
+ ],
9
+ "mean": [
10
+ 6.9311715662924795
11
+ ],
12
+ "std": [
13
+ 5.172557356348145
14
+ ],
15
+ "count": [
16
+ 111267
17
+ ],
18
+ "q01": [
19
+ 0.12180273196544347
20
+ ],
21
+ "q10": [
22
+ 1.3729506662629032
23
+ ],
24
+ "q50": [
25
+ 6.924165412086719
26
+ ],
27
+ "q90": [
28
+ 12.485769737810118
29
+ ],
30
+ "q99": [
31
+ 13.74033965826107
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 299
40
+ ],
41
+ "mean": [
42
+ 138.6173708287273
43
+ ],
44
+ "std": [
45
+ 86.61301451901097
46
+ ],
47
+ "count": [
48
+ 111267
49
+ ],
50
+ "q01": [
51
+ 138.6173708287273
52
+ ],
53
+ "q10": [
54
+ 138.6173708287273
55
+ ],
56
+ "q50": [
57
+ 138.6173708287273
58
+ ],
59
+ "q90": [
60
+ 138.6173708287273
61
+ ],
62
+ "q99": [
63
+ 138.6173708287273
64
+ ]
65
+ },
66
+ "observation.images.top": {
67
+ "min": [
68
+ [
69
+ [
70
+ 0.0
71
+ ]
72
+ ],
73
+ [
74
+ [
75
+ 0.0
76
+ ]
77
+ ],
78
+ [
79
+ [
80
+ 0.0
81
+ ]
82
+ ]
83
+ ],
84
+ "max": [
85
+ [
86
+ [
87
+ 1.0
88
+ ]
89
+ ],
90
+ [
91
+ [
92
+ 1.0
93
+ ]
94
+ ],
95
+ [
96
+ [
97
+ 1.0
98
+ ]
99
+ ]
100
+ ],
101
+ "mean": [
102
+ [
103
+ [
104
+ 0.18919161468552687
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.1836964773913697
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.18659518302299777
115
+ ]
116
+ ]
117
+ ],
118
+ "std": [
119
+ [
120
+ [
121
+ 0.021383107881475828
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 0.021160932817745486
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.021215359765179007
132
+ ]
133
+ ]
134
+ ],
135
+ "count": [
136
+ 30969
137
+ ],
138
+ "q01": [
139
+ [
140
+ [
141
+ 0.05924791427948811
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.01880831514709909
147
+ ]
148
+ ],
149
+ [
150
+ [
151
+ 0.025586825405149956
152
+ ]
153
+ ]
154
+ ],
155
+ "q10": [
156
+ [
157
+ [
158
+ 0.14127898801602307
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.14127790656395123
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.14127806666869258
169
+ ]
170
+ ]
171
+ ],
172
+ "q50": [
173
+ [
174
+ [
175
+ 0.14138148641145978
176
+ ]
177
+ ],
178
+ [
179
+ [
180
+ 0.14138041729712478
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.141380570623657
186
+ ]
187
+ ]
188
+ ],
189
+ "q90": [
190
+ [
191
+ [
192
+ 0.1456934442743951
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.14553714691600864
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.14556253395976054
203
+ ]
204
+ ]
205
+ ],
206
+ "q99": [
207
+ [
208
+ [
209
+ 0.9999408591428939
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.9999342787853671
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.9999401222587538
220
+ ]
221
+ ]
222
+ ]
223
+ },
224
+ "index": {
225
+ "min": [
226
+ 0
227
+ ],
228
+ "max": [
229
+ 111266
230
+ ],
231
+ "mean": [
232
+ 55633.0
233
+ ],
234
+ "std": [
235
+ 32120.01619966382
236
+ ],
237
+ "count": [
238
+ 111267
239
+ ],
240
+ "q01": [
241
+ 55428.718934973
242
+ ],
243
+ "q10": [
244
+ 55466.25337300152
245
+ ],
246
+ "q50": [
247
+ 55632.79214089708
248
+ ],
249
+ "q90": [
250
+ 55799.63794514315
251
+ ],
252
+ "q99": [
253
+ 55837.27504275623
254
+ ]
255
+ },
256
+ "frame_index": {
257
+ "min": [
258
+ 0
259
+ ],
260
+ "max": [
261
+ 1230
262
+ ],
263
+ "mean": [
264
+ 207.93514698877476
265
+ ],
266
+ "std": [
267
+ 155.1767206904443
268
+ ],
269
+ "count": [
270
+ 111267
271
+ ],
272
+ "q01": [
273
+ 3.6540819618131706
274
+ ],
275
+ "q10": [
276
+ 41.18851999021342
277
+ ],
278
+ "q50": [
279
+ 207.7142147914476
280
+ ],
281
+ "q90": [
282
+ 374.5730921319787
283
+ ],
284
+ "q99": [
285
+ 412.21018974498173
286
+ ]
287
+ },
288
+ "observation.images.wrist": {
289
+ "min": [
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ]
305
+ ],
306
+ "max": [
307
+ [
308
+ [
309
+ 1.0
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 1.0
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 1.0
320
+ ]
321
+ ]
322
+ ],
323
+ "mean": [
324
+ [
325
+ [
326
+ 0.23227165274065942
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 0.16348139107376403
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.18715381195289754
337
+ ]
338
+ ]
339
+ ],
340
+ "std": [
341
+ [
342
+ [
343
+ 0.022816769525372625
344
+ ]
345
+ ],
346
+ [
347
+ [
348
+ 0.0177597652910107
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.023255671407390422
354
+ ]
355
+ ]
356
+ ],
357
+ "count": [
358
+ 30969
359
+ ],
360
+ "q01": [
361
+ [
362
+ [
363
+ 0.0032913463603550515
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 2.5439494498783184e-05
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ -3.921568627450985e-13
374
+ ]
375
+ ]
376
+ ],
377
+ "q10": [
378
+ [
379
+ [
380
+ 0.12195575351343434
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.046517921191036864
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.05587545027938206
391
+ ]
392
+ ]
393
+ ],
394
+ "q50": [
395
+ [
396
+ [
397
+ 0.15194602885219116
398
+ ]
399
+ ],
400
+ [
401
+ [
402
+ 0.15483905166490297
403
+ ]
404
+ ],
405
+ [
406
+ [
407
+ 0.15488083607203548
408
+ ]
409
+ ]
410
+ ],
411
+ "q90": [
412
+ [
413
+ [
414
+ 0.6842990456061757
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.15622847570109683
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.22432091421758657
425
+ ]
426
+ ]
427
+ ],
428
+ "q99": [
429
+ [
430
+ [
431
+ 0.9993143887287018
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 0.8103442334367963
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 0.9987634883302412
442
+ ]
443
+ ]
444
+ ]
445
+ },
446
+ "action": {
447
+ "min": [
448
+ -33.92005920410156,
449
+ -100.0,
450
+ -5.115872383117676,
451
+ 25.540361404418945,
452
+ -100.0,
453
+ 0.0
454
+ ],
455
+ "max": [
456
+ 22.845617294311523,
457
+ 18.046024322509766,
458
+ 98.60078430175781,
459
+ 97.8826675415039,
460
+ -8.976707458496094,
461
+ 91.78514862060547
462
+ ],
463
+ "mean": [
464
+ -2.101504499984517,
465
+ -30.474742885490546,
466
+ 46.68499204766125,
467
+ 69.32196821307578,
468
+ -56.07580534552823,
469
+ 16.37525815800123
470
+ ],
471
+ "std": [
472
+ 8.828422730363487,
473
+ 19.80982070210142,
474
+ 16.78569170807333,
475
+ 12.51904154079623,
476
+ 8.085160888004136,
477
+ 11.786246333639923
478
+ ],
479
+ "count": [
480
+ 111267
481
+ ],
482
+ "q01": [
483
+ -13.738847272542317,
484
+ -57.03373190965798,
485
+ 31.5383459639731,
486
+ 52.09714536662006,
487
+ -64.97820230994316,
488
+ 3.628270772694626
489
+ ],
490
+ "q10": [
491
+ -11.883481338692247,
492
+ -50.29218792699514,
493
+ 34.39829081951656,
494
+ 54.46198986896606,
495
+ -63.611598819738006,
496
+ 3.7877260100558274
497
+ ],
498
+ "q50": [
499
+ -1.6905059567234113,
500
+ -30.65843185609704,
501
+ 45.295058257052204,
502
+ 71.19059448407265,
503
+ -55.97155574011927,
504
+ 17.55014543933665
505
+ ],
506
+ "q90": [
507
+ 6.947640440273491,
508
+ -11.131525380977584,
509
+ 61.690074322969025,
510
+ 81.55408778139125,
511
+ -48.931456809632905,
512
+ 30.031637693922903
513
+ ],
514
+ "q99": [
515
+ 9.250741677143852,
516
+ -8.678302387404965,
517
+ 64.7201968145483,
518
+ 86.94603272977902,
519
+ -47.30702542584376,
520
+ 32.13620869811739
521
+ ]
522
+ },
523
+ "observation.state": {
524
+ "min": [
525
+ -31.833425521850586,
526
+ -101.11661529541016,
527
+ -1.70183527469635,
528
+ 28.760517120361328,
529
+ -99.86414337158203,
530
+ -1.260184407234192
531
+ ],
532
+ "max": [
533
+ 17.701942443847656,
534
+ 18.033645629882812,
535
+ 98.94293212890625,
536
+ 97.73767852783203,
537
+ -9.48497200012207,
538
+ 90.1573257446289
539
+ ],
540
+ "mean": [
541
+ -2.1702976663830604,
542
+ -33.39653397399693,
543
+ 50.32367054755515,
544
+ 69.4127631077001,
545
+ -55.97881758410284,
546
+ 20.733910999231057
547
+ ],
548
+ "std": [
549
+ 8.384334248905896,
550
+ 22.92038536233377,
551
+ 18.958404769590917,
552
+ 11.820943224272135,
553
+ 7.8828644664234355,
554
+ 6.5457566658526005
555
+ ],
556
+ "count": [
557
+ 111267
558
+ ],
559
+ "q01": [
560
+ -12.736848550754628,
561
+ -92.56089189025118,
562
+ 33.6924523892624,
563
+ 53.0846483776027,
564
+ -64.38389729251759,
565
+ 13.625325348896475
566
+ ],
567
+ "q10": [
568
+ -11.469189493113912,
569
+ -54.61367946051684,
570
+ 35.810488821086985,
571
+ 55.07969029832188,
572
+ -63.40750661780769,
573
+ 14.948481364956095
574
+ ],
575
+ "q50": [
576
+ -2.0861785374811435,
577
+ -31.50475677236877,
578
+ 48.53863703844357,
579
+ 71.17264748170702,
580
+ -55.73743566761775,
581
+ 19.035649148114935
582
+ ],
583
+ "q90": [
584
+ 6.6393991044038625,
585
+ -11.795703936755523,
586
+ 65.18011695456478,
587
+ 80.90053960536491,
588
+ -49.078853535663384,
589
+ 29.39776113934016
590
+ ],
591
+ "q99": [
592
+ 7.79364108309559,
593
+ -9.354830566731826,
594
+ 96.65217701384702,
595
+ 84.9898758717369,
596
+ -47.91784539234669,
597
+ 31.187895302231638
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 111267
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994186e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999421e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997097e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.959999999999427e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7e3c50372892162aa19b9c3a7e54ef83a187a9376712447f5757c02571f47b51
3
+ size 2414
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 sha256:3e5b17c43abf9e618b10b69c28a2496dbfbfab4ca431d546da2b117353c3cb52
3
+ size 523246480
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:686df3aff7c7ba2b67f7cd28d9d08f6e4b6cf136dac3ebde88ee8c563a683b09
3
+ size 4222304
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 sha256:85d578563fa00c356b48a1b6e1c1ea48e08285254aab3684fa6900b37f022df6
3
+ size 308884300