Hugging Face's logo

Datasets:
wdther
/
koch

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
koch
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
wdther commited on
Commit
e890168
·
verified ·
1 Parent(s): bad6cf0

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. meta/episodes.jsonl +2 -0
  2. meta/info.json +132 -0
  3. meta/stats.json +304 -0
  4. meta/tasks.jsonl +1 -0
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Pick the block."], "length": 1800}
2
+ {"episode_index": 1, "tasks": ["Pick the block."], "length": 1800}
meta/info.json ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "koch",
4
+ "total_episodes": 2,
5
+ "total_frames": 3600,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 299.47881648723126,
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
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 15
21
+ ],
22
+ "names": {
23
+ "motors": [
24
+ "shoulder_pan",
25
+ "shoulder_lift",
26
+ "elbow_flex",
27
+ "wrist_flex",
28
+ "wrist_roll",
29
+ "gripper"
30
+ ]
31
+ }
32
+ },
33
+ "action": {
34
+ "dtype": "float32",
35
+ "shape": [
36
+ 3
37
+ ],
38
+ "names": {
39
+ "motors": [
40
+ "shoulder_pan",
41
+ "shoulder_lift",
42
+ "elbow_flex",
43
+ "wrist_flex",
44
+ "wrist_roll",
45
+ "gripper"
46
+ ]
47
+ }
48
+ },
49
+ "episode_index": {
50
+ "dtype": "int64",
51
+ "shape": [
52
+ 1
53
+ ],
54
+ "names": null
55
+ },
56
+ "frame_index": {
57
+ "dtype": "int64",
58
+ "shape": [
59
+ 1
60
+ ],
61
+ "names": null
62
+ },
63
+ "timestamp": {
64
+ "dtype": "float32",
65
+ "shape": [
66
+ 1
67
+ ],
68
+ "names": null
69
+ },
70
+ "next.done": {
71
+ "dtype": "bool",
72
+ "shape": [
73
+ 1
74
+ ],
75
+ "names": null
76
+ },
77
+ "index": {
78
+ "dtype": "int64",
79
+ "shape": [
80
+ 1
81
+ ],
82
+ "names": null
83
+ },
84
+ "observation.images.top": {
85
+ "dtype": "video",
86
+ "shape": [
87
+ 240,
88
+ 320,
89
+ 3
90
+ ],
91
+ "names": [
92
+ "height",
93
+ "width",
94
+ "channel"
95
+ ],
96
+ "video_info": {
97
+ "video.fps": 326.726112565445,
98
+ "video.codec": "h264",
99
+ "video.pix_fmt": "yuv444p",
100
+ "video.is_depth_map": false,
101
+ "has_audio": false
102
+ }
103
+ },
104
+ "observation.images.front": {
105
+ "dtype": "video",
106
+ "shape": [
107
+ 240,
108
+ 320,
109
+ 3
110
+ ],
111
+ "names": [
112
+ "height",
113
+ "width",
114
+ "channel"
115
+ ],
116
+ "video_info": {
117
+ "video.fps": 326.726112565445,
118
+ "video.codec": "h264",
119
+ "video.pix_fmt": "yuv444p",
120
+ "video.is_depth_map": false,
121
+ "has_audio": false
122
+ }
123
+ },
124
+ "task_index": {
125
+ "dtype": "int64",
126
+ "shape": [
127
+ 1
128
+ ],
129
+ "names": null
130
+ }
131
+ }
132
+ }
meta/stats.json ADDED
@@ -0,0 +1,304 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "max": [
4
+ 0.9995864033699036,
5
+ 0.9999105334281921,
6
+ 0.9978979825973511
7
+ ],
8
+ "mean": [
9
+ 0.018489815294742584,
10
+ 0.012779105454683304,
11
+ -0.01809028908610344
12
+ ],
13
+ "min": [
14
+ -0.999938428401947,
15
+ -0.9999575614929199,
16
+ -0.999277651309967
17
+ ],
18
+ "std": [
19
+ 0.5778393745422363,
20
+ 0.579059898853302,
21
+ 0.5820245146751404
22
+ ]
23
+ },
24
+ "episode_index": {
25
+ "max": [
26
+ 1.0
27
+ ],
28
+ "mean": [
29
+ 0.5000000596046448
30
+ ],
31
+ "min": [
32
+ 0.0
33
+ ],
34
+ "std": [
35
+ 0.5
36
+ ]
37
+ },
38
+ "frame_index": {
39
+ "max": [
40
+ 1799.0
41
+ ],
42
+ "mean": [
43
+ 899.4999389648438
44
+ ],
45
+ "min": [
46
+ 0.0
47
+ ],
48
+ "std": [
49
+ 519.6151733398438
50
+ ]
51
+ },
52
+ "index": {
53
+ "max": [
54
+ 3599.0
55
+ ],
56
+ "mean": [
57
+ 1799.5001220703125
58
+ ],
59
+ "min": [
60
+ 0.0
61
+ ],
62
+ "std": [
63
+ 1039.2303466796875
64
+ ]
65
+ },
66
+ "next.done": {
67
+ "max": [
68
+ 1.0
69
+ ],
70
+ "mean": [
71
+ 0.0005555555108003318
72
+ ],
73
+ "min": [
74
+ 0.0
75
+ ],
76
+ "std": [
77
+ 0.023563675582408905
78
+ ]
79
+ },
80
+ "observation.images.front": {
81
+ "max": [
82
+ [
83
+ [
84
+ 1.0
85
+ ]
86
+ ],
87
+ [
88
+ [
89
+ 1.0
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 1.0
95
+ ]
96
+ ]
97
+ ],
98
+ "mean": [
99
+ [
100
+ [
101
+ 0.18773379921913147
102
+ ]
103
+ ],
104
+ [
105
+ [
106
+ 0.27702948451042175
107
+ ]
108
+ ],
109
+ [
110
+ [
111
+ 0.36947184801101685
112
+ ]
113
+ ]
114
+ ],
115
+ "min": [
116
+ [
117
+ [
118
+ 0.0
119
+ ]
120
+ ],
121
+ [
122
+ [
123
+ 0.0
124
+ ]
125
+ ],
126
+ [
127
+ [
128
+ 0.0
129
+ ]
130
+ ]
131
+ ],
132
+ "std": [
133
+ [
134
+ [
135
+ 0.13215035200119019
136
+ ]
137
+ ],
138
+ [
139
+ [
140
+ 0.12809361517429352
141
+ ]
142
+ ],
143
+ [
144
+ [
145
+ 0.13443128764629364
146
+ ]
147
+ ]
148
+ ]
149
+ },
150
+ "observation.images.top": {
151
+ "max": [
152
+ [
153
+ [
154
+ 1.0
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 1.0
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ 1.0
165
+ ]
166
+ ]
167
+ ],
168
+ "mean": [
169
+ [
170
+ [
171
+ 0.27220281958580017
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.4173479378223419
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.5641970634460449
182
+ ]
183
+ ]
184
+ ],
185
+ "min": [
186
+ [
187
+ [
188
+ 0.0
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.0
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.0
199
+ ]
200
+ ]
201
+ ],
202
+ "std": [
203
+ [
204
+ [
205
+ 0.16890324652194977
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.14594975113868713
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.13202090561389923
216
+ ]
217
+ ]
218
+ ]
219
+ },
220
+ "observation.state": {
221
+ "max": [
222
+ 1.774854302406311,
223
+ 1.724712610244751,
224
+ 1.0324718952178955,
225
+ 0.875970721244812,
226
+ 0.11417534947395325,
227
+ 0.020547250285744667,
228
+ 2.7927255630493164,
229
+ 2.601149797439575,
230
+ 2.1998629570007324,
231
+ 1.4376393556594849,
232
+ 0.1622915267944336,
233
+ 0.38030800223350525,
234
+ 0.09605469554662704,
235
+ 0.11592695862054825,
236
+ 0.01935429871082306
237
+ ],
238
+ "mean": [
239
+ 0.30197542905807495,
240
+ 0.2675595283508301,
241
+ 0.08182935416698456,
242
+ -0.17502698302268982,
243
+ 0.04486234113574028,
244
+ 0.00015229776909109205,
245
+ 0.007083076052367687,
246
+ 0.006977491080760956,
247
+ -0.014414936304092407,
248
+ 0.007385968696326017,
249
+ 0.0008146248874254525,
250
+ 4.280346183804795e-05,
251
+ -0.013508981093764305,
252
+ 0.09019434452056885,
253
+ 0.014893860556185246
254
+ ],
255
+ "min": [
256
+ -0.7193180322647095,
257
+ -0.9506029486656189,
258
+ -1.3140437602996826,
259
+ -0.8164176940917969,
260
+ -0.013185359537601471,
261
+ -0.023709170520305634,
262
+ -2.6319141387939453,
263
+ -2.56368088722229,
264
+ -2.4411895275115967,
265
+ -1.3761119842529297,
266
+ -0.10853426903486252,
267
+ -0.3387020528316498,
268
+ -0.10887543857097626,
269
+ 0.059139855206012726,
270
+ 0.009250576607882977
271
+ ],
272
+ "std": [
273
+ 0.5436769723892212,
274
+ 0.6381186842918396,
275
+ 0.6013780236244202,
276
+ 0.3797776699066162,
277
+ 0.04683965444564819,
278
+ 0.0024013312067836523,
279
+ 1.002630352973938,
280
+ 0.9081816077232361,
281
+ 0.8862791061401367,
282
+ 0.5011376738548279,
283
+ 0.012054027989506721,
284
+ 0.025769954547286034,
285
+ 0.09094035625457764,
286
+ 0.024694625288248062,
287
+ 0.00024168635718524456
288
+ ]
289
+ },
290
+ "timestamp": {
291
+ "max": [
292
+ 6.612019062042236
293
+ ],
294
+ "mean": [
295
+ 2.9985759258270264
296
+ ],
297
+ "min": [
298
+ 0.005052804946899414
299
+ ],
300
+ "std": [
301
+ 1.675620436668396
302
+ ]
303
+ }
304
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Pick the block."}