Hugging Face's logo

Datasets:
versag
/
WO_dataset_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
versag commited on
Commit
19467fc
·
verified ·
1 Parent(s): da3dd25

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.side/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.top/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 sha256:971bcca786be7760c29b555d0b81a7ffc98a08c317235cadba537bdc293e6b3a
3
+ size 142693
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:60f0fb00fb9a64f8dbc50e4fa0f4bbd20ba8af76521a6cedfcb5389bee80f403
3
+ size 64753
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 2673,
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": "0:10"
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.side": {
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
+ 9
8
+ ],
9
+ "mean": [
10
+ 4.502431724653947
11
+ ],
12
+ "std": [
13
+ 2.871889520473215
14
+ ],
15
+ "count": [
16
+ 2673
17
+ ],
18
+ "q01": [
19
+ 4.502431724653947
20
+ ],
21
+ "q10": [
22
+ 4.502431724653951
23
+ ],
24
+ "q50": [
25
+ 4.502431724653968
26
+ ],
27
+ "q90": [
28
+ 4.502431724653984
29
+ ],
30
+ "q99": [
31
+ 4.502431724653988
32
+ ]
33
+ },
34
+ "action": {
35
+ "min": [
36
+ -42.842159271240234,
37
+ -100.0,
38
+ -82.107177734375,
39
+ 45.40705108642578,
40
+ -18.372703552246094,
41
+ 0.0
42
+ ],
43
+ "max": [
44
+ 46.4079704284668,
45
+ 51.3398551940918,
46
+ 92.73387908935547,
47
+ 100.0,
48
+ 22.834646224975586,
49
+ 51.97368240356445
50
+ ],
51
+ "mean": [
52
+ -6.416337315214737,
53
+ -0.1486670718494544,
54
+ -8.214844919080551,
55
+ 80.34263778669398,
56
+ 0.9174067583415916,
57
+ 11.375522110821645
58
+ ],
59
+ "std": [
60
+ 30.84559525531503,
61
+ 57.24985552339871,
62
+ 55.947084487609125,
63
+ 12.532265482175477,
64
+ 12.484283238304064,
65
+ 13.277986034543403
66
+ ],
67
+ "count": [
68
+ 2673
69
+ ],
70
+ "q01": [
71
+ -39.80872503513546,
72
+ -98.00754898762015,
73
+ -59.15377528700095,
74
+ 57.879141711014086,
75
+ -12.702116244534091,
76
+ 0.5826060997263932
77
+ ],
78
+ "q10": [
79
+ -37.27072736260015,
80
+ -91.94485342151597,
81
+ -47.46734461904802,
82
+ 66.66983861616976,
83
+ -12.199080672672538,
84
+ 0.623656248862524
85
+ ],
86
+ "q50": [
87
+ -14.862097483439003,
88
+ 21.627267134936798,
89
+ -21.568053395721765,
90
+ 78.65539197718442,
91
+ -0.33439760249808326,
92
+ 6.339809985189061
93
+ ],
94
+ "q90": [
95
+ 36.68721582997379,
96
+ 30.45686510074052,
97
+ 76.65038342470812,
98
+ 96.03069582602842,
99
+ 17.5806231998668,
100
+ 30.72094883240345
101
+ ],
102
+ "q99": [
103
+ 38.65534086886111,
104
+ 32.85323729797024,
105
+ 91.24289819151166,
106
+ 97.48363290646031,
107
+ 18.03257908217019,
108
+ 31.32940383236514
109
+ ]
110
+ },
111
+ "observation.images.side": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.32608959232026147
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.31965819076797386
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.31518430065359476
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.031197804716796427
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.029667531100434266
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.03533567047205027
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 1000
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.007828825707746349
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.0003807195908344627
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ -3.9215686274509807e-13
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.025891185971892425
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.020005215337179996
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ -3.9215686274509807e-13
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.3235408455726474
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.3125440466609398
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.30787831585643755
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.6070364372724332
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.6200247753780421
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.6152793353077215
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.9717681213166811
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.9756870336734382
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.9724725823835334
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "observation.images.top": {
270
+ "min": [
271
+ [
272
+ [
273
+ 0.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.0
284
+ ]
285
+ ]
286
+ ],
287
+ "max": [
288
+ [
289
+ [
290
+ 1.0
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 1.0
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 1.0
301
+ ]
302
+ ]
303
+ ],
304
+ "mean": [
305
+ [
306
+ [
307
+ 0.47792221793300654
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.49335951736111117
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.4605723976715686
318
+ ]
319
+ ]
320
+ ],
321
+ "std": [
322
+ [
323
+ [
324
+ 0.009465896996027495
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.009287667399277482
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.00821909553782273
335
+ ]
336
+ ]
337
+ ],
338
+ "count": [
339
+ 1000
340
+ ],
341
+ "q01": [
342
+ [
343
+ [
344
+ 0.05689977680807886
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.05017604878801941
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.015286257801927735
355
+ ]
356
+ ]
357
+ ],
358
+ "q10": [
359
+ [
360
+ [
361
+ 0.19256081291236787
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.19955590078002663
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.1352990881326933
372
+ ]
373
+ ]
374
+ ],
375
+ "q50": [
376
+ [
377
+ [
378
+ 0.4463075893575299
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.4627169350367648
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.4662766616988592
389
+ ]
390
+ ]
391
+ ],
392
+ "q90": [
393
+ [
394
+ [
395
+ 0.8082216662343894
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.8227589058109375
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.7176876446576246
406
+ ]
407
+ ]
408
+ ],
409
+ "q99": [
410
+ [
411
+ [
412
+ 0.8667104784592391
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.8921485999703993
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.804701454238814
423
+ ]
424
+ ]
425
+ ]
426
+ },
427
+ "frame_index": {
428
+ "min": [
429
+ 0
430
+ ],
431
+ "max": [
432
+ 267
433
+ ],
434
+ "mean": [
435
+ 133.1503928170595
436
+ ],
437
+ "std": [
438
+ 77.16300455052004
439
+ ],
440
+ "count": [
441
+ 2673
442
+ ],
443
+ "q01": [
444
+ 2.0064707383975784
445
+ ],
446
+ "q10": [
447
+ 25.997721077360602
448
+ ],
449
+ "q50": [
450
+ 133.02443434343425
451
+ ],
452
+ "q90": [
453
+ 240.30306455675833
454
+ ],
455
+ "q99": [
456
+ 264.29431489572136
457
+ ]
458
+ },
459
+ "timestamp": {
460
+ "min": [
461
+ 0.0
462
+ ],
463
+ "max": [
464
+ 8.9
465
+ ],
466
+ "mean": [
467
+ 4.438346427235317
468
+ ],
469
+ "std": [
470
+ 2.5721001516840007
471
+ ],
472
+ "count": [
473
+ 2673
474
+ ],
475
+ "q01": [
476
+ 0.06688235785137599
477
+ ],
478
+ "q10": [
479
+ 0.8665907025008943
480
+ ],
481
+ "q50": [
482
+ 4.434147811447717
483
+ ],
484
+ "q90": [
485
+ 8.010102151969738
486
+ ],
487
+ "q99": [
488
+ 8.80981049661926
489
+ ]
490
+ },
491
+ "observation.state": {
492
+ "min": [
493
+ -42.23057556152344,
494
+ -99.40953063964844,
495
+ -78.08094787597656,
496
+ 46.83982849121094,
497
+ -18.179452896118164,
498
+ 0.8837525248527527
499
+ ],
500
+ "max": [
501
+ 45.614036560058594,
502
+ 51.83466720581055,
503
+ 94.81582641601562,
504
+ 98.78787994384766,
505
+ 22.288686752319336,
506
+ 48.26648712158203
507
+ ],
508
+ "mean": [
509
+ -6.978679827701899,
510
+ -0.37979204744780615,
511
+ -5.6028436613671575,
512
+ 80.34997814904872,
513
+ 0.8115758400172094,
514
+ 15.518488335600516
515
+ ],
516
+ "std": [
517
+ 30.43885294126796,
518
+ 58.80930836460405,
519
+ 56.6058642566776,
520
+ 12.185140399833072,
521
+ 12.295195886414234,
522
+ 10.74204272807793
523
+ ],
524
+ "count": [
525
+ 2673
526
+ ],
527
+ "q01": [
528
+ -39.32366447862596,
529
+ -97.86472627628983,
530
+ -55.10003217098465,
531
+ 59.15552801927822,
532
+ -12.47716296639016,
533
+ 3.387222208804599
534
+ ],
535
+ "q10": [
536
+ -37.34604857053071,
537
+ -96.48196960819784,
538
+ -44.83966136763224,
539
+ 66.64087162322299,
540
+ -12.082572138872427,
541
+ 3.393802596502851
542
+ ],
543
+ "q50": [
544
+ -14.456400460670128,
545
+ 24.13718574420964,
546
+ -20.57219151337059,
547
+ 78.69801870097406,
548
+ -0.2319746339842927,
549
+ 14.37831661367978
550
+ ],
551
+ "q90": [
552
+ 36.301562927772466,
553
+ 30.872847536444834,
554
+ 83.87640510174317,
555
+ 95.53276056185503,
556
+ 17.234693688533444,
557
+ 30.35010980400623
558
+ ],
559
+ "q99": [
560
+ 37.786680458473946,
561
+ 32.8363694688864,
562
+ 92.0270481471106,
563
+ 96.65832364666832,
564
+ 17.717590090454138,
565
+ 30.827736241501846
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
+ 2673
583
+ ],
584
+ "q01": [
585
+ 3.999999999999417e-16
586
+ ],
587
+ "q10": [
588
+ 3.999999999999417e-15
589
+ ],
590
+ "q50": [
591
+ 1.9999999999997088e-14
592
+ ],
593
+ "q90": [
594
+ 3.5999999999994766e-14
595
+ ],
596
+ "q99": [
597
+ 3.9599999999994235e-14
598
+ ]
599
+ },
600
+ "index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 2672
606
+ ],
607
+ "mean": [
608
+ 1336.0
609
+ ],
610
+ "std": [
611
+ 771.6285807735912
612
+ ],
613
+ "count": [
614
+ 2673
615
+ ],
616
+ "q01": [
617
+ 1204.856077921338
618
+ ],
619
+ "q10": [
620
+ 1228.8473282603009
621
+ ],
622
+ "q50": [
623
+ 1335.8740415263746
624
+ ],
625
+ "q90": [
626
+ 1443.1526717396991
627
+ ],
628
+ "q99": [
629
+ 1467.143922078662
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2bd9ada2041a4d0319c18f63b9fdef37cc54accb50e16bd7310a0264437c2720
3
+ size 2383
videos/observation.images.side/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8e5ce342c1fab0176c88db5d6025b1a0c13a8a82fc76e5ee3da8ecae4c0f2733
3
+ size 24628195
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 sha256:15162e8750637db368b3710e5e24e38eb5ef68e4bce6be62ee5aeb3d58a935ec
3
+ size 23689193