Hugging Face's logo

Datasets:
wmeddie
/
zenbot_flatten

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
 Community
wmeddie commited on
Commit
947d9ad
·
verified ·
1 Parent(s): 5d056a4

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.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 sha256:34b2efec08e5fa973dff66a9b8996de6bde98c700394f9adedb6f519b2caea6c
3
+ size 227976
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb7960a8c1d23cdf01817c02d63212d5939d9e5b4acbe90e12612cd9a2673fca
3
+ size 55406
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 3,
5
+ "total_frames": 4785,
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": "0:3"
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.top": {
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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 1594
8
+ ],
9
+ "mean": [
10
+ 797.0
11
+ ],
12
+ "std": [
13
+ 460.436749184945
14
+ ],
15
+ "count": [
16
+ 4785
17
+ ],
18
+ "q01": [
19
+ 15.286459999901917
20
+ ],
21
+ "q10": [
22
+ 158.92179999991993
23
+ ],
24
+ "q50": [
25
+ 797.1594
26
+ ],
27
+ "q90": [
28
+ 1435.07820000008
29
+ ],
30
+ "q99": [
31
+ 1578.713540000098
32
+ ]
33
+ },
34
+ "observation.images.front": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.5366187072051043
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.5329788370595152
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.528258849681848
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.001625680736161889
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.0024138083623290486
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.002062037912437486
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 756
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.001308903605201217
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.0038476997365721544
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ -3.9215686274509807e-13
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.05235226925026043
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.0574781732853228
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.020904539429173093
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.6091726186796333
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.6038571417992985
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.6000948486893706
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.8222509776623791
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.8105557907610691
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.8195997795633172
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.9868090326908251
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.9791112360492059
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.98689662520694
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 4784
198
+ ],
199
+ "mean": [
200
+ 2392.0
201
+ ],
202
+ "std": [
203
+ 1381.3104888715884
204
+ ],
205
+ "count": [
206
+ 4785
207
+ ],
208
+ "q01": [
209
+ 1610.286459999902
210
+ ],
211
+ "q10": [
212
+ 1753.92179999992
213
+ ],
214
+ "q50": [
215
+ 2392.1593999999996
216
+ ],
217
+ "q90": [
218
+ 3030.07820000008
219
+ ],
220
+ "q99": [
221
+ 3173.7135400000975
222
+ ]
223
+ },
224
+ "timestamp": {
225
+ "min": [
226
+ 0.0
227
+ ],
228
+ "max": [
229
+ 53.13333333333333
230
+ ],
231
+ "mean": [
232
+ 26.566666666666663
233
+ ],
234
+ "std": [
235
+ 15.347891639498172
236
+ ],
237
+ "count": [
238
+ 4785
239
+ ],
240
+ "q01": [
241
+ 0.5095486665685847
242
+ ],
243
+ "q10": [
244
+ 5.297393333253273
245
+ ],
246
+ "q50": [
247
+ 26.56135333333332
248
+ ],
249
+ "q90": [
250
+ 47.83594000008005
251
+ ],
252
+ "q99": [
253
+ 52.62378466676475
254
+ ]
255
+ },
256
+ "action": {
257
+ "min": [
258
+ -61.89729690551758,
259
+ -100.0,
260
+ -78.28260040283203,
261
+ 2.436901569366455,
262
+ -71.34595489501953,
263
+ 0.0
264
+ ],
265
+ "max": [
266
+ 63.8573112487793,
267
+ 68.4300308227539,
268
+ 79.55474853515625,
269
+ 100.0,
270
+ -1.6298632621765137,
271
+ 16.21160316467285
272
+ ],
273
+ "mean": [
274
+ -13.347209135691324,
275
+ -6.533924500147502,
276
+ 7.846398487687111,
277
+ 70.49137115478516,
278
+ -41.8231086730957,
279
+ 2.2669937213261924
280
+ ],
281
+ "std": [
282
+ 28.13978474046716,
283
+ 43.619229849146464,
284
+ 32.618921948459636,
285
+ 18.702105597467103,
286
+ 16.148447674715296,
287
+ 4.205246520676927
288
+ ],
289
+ "count": [
290
+ 4785
291
+ ],
292
+ "q01": [
293
+ -57.65351498921712,
294
+ -99.89719112331642,
295
+ -65.16415964762369,
296
+ 32.29688709841834,
297
+ -67.84411249160766,
298
+ 0.45427242831933307
299
+ ],
300
+ "q10": [
301
+ -51.36818838119507,
302
+ -90.87127536303036,
303
+ -40.18529887426467,
304
+ 49.1424522223296,
305
+ -63.123068652286555,
306
+ 0.483483854102778
307
+ ],
308
+ "q50": [
309
+ -11.435433409832141,
310
+ 2.2735091186934446,
311
+ 14.349201993794738,
312
+ 66.5222645789858,
313
+ -43.2314756665911,
314
+ 0.5129796998500972
315
+ ],
316
+ "q90": [
317
+ 25.769521713256836,
318
+ 38.36875915527344,
319
+ 42.21319580078125,
320
+ 98.02694498294245,
321
+ -19.48531150817871,
322
+ 10.154505879982658
323
+ ],
324
+ "q99": [
325
+ 42.0578431447347,
326
+ 60.52897885640462,
327
+ 62.33803767911849,
328
+ 99.73779609310093,
329
+ -9.693651146358915,
330
+ 13.025851402953775
331
+ ]
332
+ },
333
+ "observation.state": {
334
+ "min": [
335
+ -61.63643264770508,
336
+ -99.66043853759766,
337
+ -77.4266357421875,
338
+ 3.819444417953491,
339
+ -71.03784942626953,
340
+ 0.9090909361839294
341
+ ],
342
+ "max": [
343
+ 63.64337921142578,
344
+ 68.33616638183594,
345
+ 79.23250579833984,
346
+ 99.13194274902344,
347
+ -1.88034188747406,
348
+ 16.08391571044922
349
+ ],
350
+ "mean": [
351
+ -13.435773213704428,
352
+ -5.061797539393107,
353
+ 8.739235699176788,
354
+ 70.67334747314453,
355
+ -41.83610534667969,
356
+ 4.750677744547526
357
+ ],
358
+ "std": [
359
+ 28.026542045813486,
360
+ 44.11734335465809,
361
+ 32.23822606900384,
362
+ 18.557700962623507,
363
+ 16.078932018020094,
364
+ 3.333624919407113
365
+ ],
366
+ "count": [
367
+ 4785
368
+ ],
369
+ "q01": [
370
+ -57.67688751220703,
371
+ -99.57555135091145,
372
+ -63.7257506052653,
373
+ 32.583525745073956,
374
+ -67.64819272359212,
375
+ 1.002331018447876
376
+ ],
377
+ "q10": [
378
+ -51.36636223648534,
379
+ -90.5215555826823,
380
+ -38.08662255605062,
381
+ 49.58820386727651,
382
+ -63.04282922616678,
383
+ 1.1190382754191375
384
+ ],
385
+ "q50": [
386
+ -11.259045497204653,
387
+ 3.967649786727234,
388
+ 15.311315361888996,
389
+ 66.43420682386919,
390
+ -43.15084697414624,
391
+ 3.9158025443965356
392
+ ],
393
+ "q90": [
394
+ 25.532832270920878,
395
+ 39.631818983289925,
396
+ 43.563758850097656,
397
+ 98.17056935187249,
398
+ -19.448256839405406,
399
+ 9.697731724480693
400
+ ],
401
+ "q99": [
402
+ 41.71034283108181,
403
+ 61.17529008653428,
404
+ 62.225801047929835,
405
+ 99.07405482850248,
406
+ -9.816179266214371,
407
+ 12.750275405462508
408
+ ]
409
+ },
410
+ "task_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 0
416
+ ],
417
+ "mean": [
418
+ 0.0
419
+ ],
420
+ "std": [
421
+ 0.0
422
+ ],
423
+ "count": [
424
+ 4785
425
+ ],
426
+ "q01": [
427
+ 3.9999999999994176e-16
428
+ ],
429
+ "q10": [
430
+ 3.999999999999417e-15
431
+ ],
432
+ "q50": [
433
+ 1.9999999999997088e-14
434
+ ],
435
+ "q90": [
436
+ 3.599999999999476e-14
437
+ ],
438
+ "q99": [
439
+ 3.9599999999994235e-14
440
+ ]
441
+ },
442
+ "observation.images.top": {
443
+ "min": [
444
+ [
445
+ [
446
+ 0.0
447
+ ]
448
+ ],
449
+ [
450
+ [
451
+ 0.0
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.0
457
+ ]
458
+ ]
459
+ ],
460
+ "max": [
461
+ [
462
+ [
463
+ 1.0
464
+ ]
465
+ ],
466
+ [
467
+ [
468
+ 0.9764705882352941
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 1.0
474
+ ]
475
+ ]
476
+ ],
477
+ "mean": [
478
+ [
479
+ [
480
+ 0.4556256130152678
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.47015977625618155
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.47583453099604034
491
+ ]
492
+ ]
493
+ ],
494
+ "std": [
495
+ [
496
+ [
497
+ 0.005641436705024343
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.005366862841941821
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.004425383918289249
508
+ ]
509
+ ]
510
+ ],
511
+ "count": [
512
+ 756
513
+ ],
514
+ "q01": [
515
+ [
516
+ [
517
+ 0.058857891193091476
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.0744545716919318
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.05752171915351168
528
+ ]
529
+ ]
530
+ ],
531
+ "q10": [
532
+ [
533
+ [
534
+ 0.1334149505523123
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.15551695826454745
540
+ ]
541
+ ],
542
+ [
543
+ [
544
+ 0.1516750628123641
545
+ ]
546
+ ]
547
+ ],
548
+ "q50": [
549
+ [
550
+ [
551
+ 0.50983563546626
552
+ ]
553
+ ],
554
+ [
555
+ [
556
+ 0.5385719760203155
557
+ ]
558
+ ],
559
+ [
560
+ [
561
+ 0.5607560776501247
562
+ ]
563
+ ]
564
+ ],
565
+ "q90": [
566
+ [
567
+ [
568
+ 0.7385265874235368
569
+ ]
570
+ ],
571
+ [
572
+ [
573
+ 0.7215947693597536
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.7333241923349739
579
+ ]
580
+ ]
581
+ ],
582
+ "q99": [
583
+ [
584
+ [
585
+ 0.7908356743273321
586
+ ]
587
+ ],
588
+ [
589
+ [
590
+ 0.7699207699748208
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.7973304472899211
596
+ ]
597
+ ]
598
+ ]
599
+ },
600
+ "episode_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 2
606
+ ],
607
+ "mean": [
608
+ 1.0
609
+ ],
610
+ "std": [
611
+ 0.816496580927726
612
+ ],
613
+ "count": [
614
+ 4785
615
+ ],
616
+ "q01": [
617
+ 1.0000000000000004
618
+ ],
619
+ "q10": [
620
+ 1.000000000000004
621
+ ],
622
+ "q50": [
623
+ 1.00000000000002
624
+ ],
625
+ "q90": [
626
+ 1.000000000000036
627
+ ],
628
+ "q99": [
629
+ 1.0000000000000395
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:12a15a7654b326fe114e0652f5e7bfbbce363c20cb08c0d2ff1134fb85b5e4a3
3
+ size 2156
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:cce13e97e2156f6a87002de96318399a58a24773f098a1c1823b273894eec75c
3
+ size 69159674
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:d7f61e557c27ce726e0c93dbba80c3972d0d2754d332aa1c5145e65f7a362e55
3
+ size 127472759