Hugging Face's logo

Datasets:
xghfcjgdf
/
grab_tissue_25

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
1
xghfcjgdf commited on
Commit
8e5c0cf
·
verified ·
1 Parent(s): bd76813

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.upper/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:c258ecb604441fc50348462f8521e38e3c3d946cc6216102fca141609bcd33fd
3
+ size 174048
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:90baf0b5382643ad2200572d957a2dd5d5985ca5f22452d0b1b3bd211953a695
3
+ size 64424
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": 3770,
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.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.upper": {
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
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 3769
8
+ ],
9
+ "mean": [
10
+ 1884.5
11
+ ],
12
+ "std": [
13
+ 1088.305219136617
14
+ ],
15
+ "count": [
16
+ 3770
17
+ ],
18
+ "q01": [
19
+ 1699.4907039999016
20
+ ],
21
+ "q10": [
22
+ 1733.5510399999198
23
+ ],
24
+ "q50": [
25
+ 1884.5376
26
+ ],
27
+ "q90": [
28
+ 2035.44896000008
29
+ ],
30
+ "q99": [
31
+ 2069.5092960000984
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 376
40
+ ],
41
+ "mean": [
42
+ 188.0
43
+ ],
44
+ "std": [
45
+ 108.83014288330233
46
+ ],
47
+ "count": [
48
+ 3770
49
+ ],
50
+ "q01": [
51
+ 2.9907039999015903
52
+ ],
53
+ "q10": [
54
+ 37.0510399999197
55
+ ],
56
+ "q50": [
57
+ 188.03760000000005
58
+ ],
59
+ "q90": [
60
+ 338.94896000008026
61
+ ],
62
+ "q99": [
63
+ 373.00929600009835
64
+ ]
65
+ },
66
+ "episode_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 9
72
+ ],
73
+ "mean": [
74
+ 4.5
75
+ ],
76
+ "std": [
77
+ 2.872281323269014
78
+ ],
79
+ "count": [
80
+ 3770
81
+ ],
82
+ "q01": [
83
+ 4.5
84
+ ],
85
+ "q10": [
86
+ 4.5000000000000036
87
+ ],
88
+ "q50": [
89
+ 4.50000000000002
90
+ ],
91
+ "q90": [
92
+ 4.5000000000000355
93
+ ],
94
+ "q99": [
95
+ 4.500000000000041
96
+ ]
97
+ },
98
+ "observation.images.upper": {
99
+ "min": [
100
+ [
101
+ [
102
+ 0.0
103
+ ]
104
+ ],
105
+ [
106
+ [
107
+ 0.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 0.0
113
+ ]
114
+ ]
115
+ ],
116
+ "max": [
117
+ [
118
+ [
119
+ 1.0
120
+ ]
121
+ ],
122
+ [
123
+ [
124
+ 1.0
125
+ ]
126
+ ],
127
+ [
128
+ [
129
+ 1.0
130
+ ]
131
+ ]
132
+ ],
133
+ "mean": [
134
+ [
135
+ [
136
+ 0.5515067212009803
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 0.524092141748366
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.4903060132761438
147
+ ]
148
+ ]
149
+ ],
150
+ "std": [
151
+ [
152
+ [
153
+ 0.007761154375444755
154
+ ]
155
+ ],
156
+ [
157
+ [
158
+ 0.00781502092614128
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.007983507375932666
164
+ ]
165
+ ]
166
+ ],
167
+ "count": [
168
+ 1000
169
+ ],
170
+ "q01": [
171
+ [
172
+ [
173
+ 0.002705999137720318
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ 0.012110989268614187
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 0.0086631407547401
184
+ ]
185
+ ]
186
+ ],
187
+ "q10": [
188
+ [
189
+ [
190
+ 0.26002399390894054
191
+ ]
192
+ ],
193
+ [
194
+ [
195
+ 0.20903693771312035
196
+ ]
197
+ ],
198
+ [
199
+ [
200
+ 0.14903705869844314
201
+ ]
202
+ ]
203
+ ],
204
+ "q50": [
205
+ [
206
+ [
207
+ 0.6306103041464681
208
+ ]
209
+ ],
210
+ [
211
+ [
212
+ 0.5662425558496339
213
+ ]
214
+ ],
215
+ [
216
+ [
217
+ 0.554541669387805
218
+ ]
219
+ ]
220
+ ],
221
+ "q90": [
222
+ [
223
+ [
224
+ 0.7262856717728959
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.7211602472524121
230
+ ]
231
+ ],
232
+ [
233
+ [
234
+ 0.7239369331727102
235
+ ]
236
+ ]
237
+ ],
238
+ "q99": [
239
+ [
240
+ [
241
+ 0.7815613839475419
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.7752760457526332
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.7933325267395368
252
+ ]
253
+ ]
254
+ ]
255
+ },
256
+ "observation.state": {
257
+ "min": [
258
+ -68.46929168701172,
259
+ -99.66499328613281,
260
+ -41.112125396728516,
261
+ 25.417917251586914,
262
+ -14.596126556396484,
263
+ 1.5161957740783691
264
+ ],
265
+ "max": [
266
+ -2.7497708797454834,
267
+ 47.152427673339844,
268
+ 99.90884399414062,
269
+ 80.19717407226562,
270
+ 4.487482070922852,
271
+ 71.46795654296875
272
+ ],
273
+ "mean": [
274
+ -22.82398624420166,
275
+ -29.989075183868408,
276
+ 33.3775797367096,
277
+ 64.82772216796874,
278
+ -3.256772720813751,
279
+ 11.263998413085938
280
+ ],
281
+ "std": [
282
+ 17.84793487958345,
283
+ 59.83508291970822,
284
+ 56.50803066714904,
285
+ 10.757245802129557,
286
+ 4.3709834631507105,
287
+ 16.389487303701085
288
+ ],
289
+ "count": [
290
+ 3770
291
+ ],
292
+ "q01": [
293
+ -62.56592855785204,
294
+ -99.58123931884765,
295
+ -27.211148993492124,
296
+ 36.588084030151364,
297
+ -6.528202623135568,
298
+ 1.5437629699707032
299
+ ],
300
+ "q10": [
301
+ -56.89419308471679,
302
+ -99.57258584796259,
303
+ -25.926874779642308,
304
+ 50.89039132436117,
305
+ -5.989884288992799,
306
+ 1.5437629699707032
307
+ ],
308
+ "q50": [
309
+ -17.095401612953186,
310
+ -26.748819160461426,
311
+ 30.055067539215088,
312
+ 66.98785222100034,
313
+ -3.4007224569492394,
314
+ 2.5175071604292296
315
+ ],
316
+ "q90": [
317
+ -5.940179049735344,
318
+ 37.02486271674963,
319
+ 98.39699917489448,
320
+ 73.22862331088278,
321
+ 0.3303710822434487,
322
+ 38.15760018298501
323
+ ],
324
+ "q99": [
325
+ -5.145265298214188,
326
+ 40.01057476910364,
327
+ 99.34504176618252,
328
+ 74.5214840637157,
329
+ 0.9825542354585561,
330
+ 59.57407708968538
331
+ ]
332
+ },
333
+ "action": {
334
+ "min": [
335
+ -68.58800506591797,
336
+ -100.0,
337
+ -43.218807220458984,
338
+ 23.634811401367188,
339
+ -14.885310173034668,
340
+ 0.0
341
+ ],
342
+ "max": [
343
+ -3.1334621906280518,
344
+ 47.470489501953125,
345
+ 99.90958404541016,
346
+ 80.46075439453125,
347
+ 4.734016418457031,
348
+ 72.06840515136719
349
+ ],
350
+ "mean": [
351
+ -22.5976713180542,
352
+ -31.980910778045654,
353
+ 29.00290803909302,
354
+ 64.75515556335449,
355
+ -3.361435979604721,
356
+ 9.218300819396973
357
+ ],
358
+ "std": [
359
+ 17.89017114561711,
360
+ 58.33913238165297,
361
+ 56.371711168201685,
362
+ 11.506306598944551,
363
+ 4.314378269145848,
364
+ 17.359115955656435
365
+ ],
366
+ "count": [
367
+ 3770
368
+ ],
369
+ "q01": [
370
+ -63.88615363830175,
371
+ -99.73746444768095,
372
+ -31.409699535051985,
373
+ 34.981422878828496,
374
+ -7.0863836169242855,
375
+ 0.3396611791982462
376
+ ],
377
+ "q10": [
378
+ -56.50140279994291,
379
+ -99.68389118823784,
380
+ -29.537090038703266,
381
+ 49.79770619328816,
382
+ -6.35452628346501,
383
+ 0.552521020964788
384
+ ],
385
+ "q50": [
386
+ -16.688831882645385,
387
+ -29.084751478830977,
388
+ 25.930050230026247,
389
+ 66.35641346802001,
390
+ -3.4059176948525014,
391
+ 1.1804931618825663
392
+ ],
393
+ "q90": [
394
+ -5.867790144139151,
395
+ 33.604798954010015,
396
+ 93.290844498045,
397
+ 74.37417642317317,
398
+ 0.019733307200063162,
399
+ 39.74607215499878
400
+ ],
401
+ "q99": [
402
+ -5.093275695968371,
403
+ 38.766840029274526,
404
+ 98.39239950639826,
405
+ 75.528323169463,
406
+ 1.1902935782479034,
407
+ 60.08600618117939
408
+ ]
409
+ },
410
+ "timestamp": {
411
+ "min": [
412
+ 0.0
413
+ ],
414
+ "max": [
415
+ 12.533333333333333
416
+ ],
417
+ "mean": [
418
+ 6.266666666666667
419
+ ],
420
+ "std": [
421
+ 3.6276714294434105
422
+ ],
423
+ "count": [
424
+ 3770
425
+ ],
426
+ "q01": [
427
+ 0.09969013323492414
428
+ ],
429
+ "q10": [
430
+ 1.2350346665863747
431
+ ],
432
+ "q50": [
433
+ 6.267920000000021
434
+ ],
435
+ "q90": [
436
+ 11.298298666746959
437
+ ],
438
+ "q99": [
439
+ 12.433643200098407
440
+ ]
441
+ },
442
+ "task_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 0
448
+ ],
449
+ "mean": [
450
+ 0.0
451
+ ],
452
+ "std": [
453
+ 0.0
454
+ ],
455
+ "count": [
456
+ 3770
457
+ ],
458
+ "q01": [
459
+ 3.9999999999994176e-16
460
+ ],
461
+ "q10": [
462
+ 3.9999999999994166e-15
463
+ ],
464
+ "q50": [
465
+ 1.9999999999997084e-14
466
+ ],
467
+ "q90": [
468
+ 3.5999999999994766e-14
469
+ ],
470
+ "q99": [
471
+ 3.9599999999994235e-14
472
+ ]
473
+ },
474
+ "observation.images.front": {
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
+ 0.6045190277777778
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.58867991748366
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.5817418180147058
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.004736382799370235
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.005153233036861964
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.005626244330959004
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 1000
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.042722406164834754
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.044698796035934546
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.06782441774491016
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.3113736482693167
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.27576209201096114
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.26194719441641184
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.6435149936417117
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.6196242043725696
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.6305810047040288
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.8129196499125889
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.8094400761226891
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.8141477882690924
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.8901272085357873
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.8897629592247426
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.8905453799038016
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:e20905db81c58e0ffcf4c18711f6097b0ad2f58237d1e072a138ae81923b2042
3
+ size 2171
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 sha256:851c78a94d4ac1e523323aaa934ecd0c9532178cc5f710a0d1111c3f5f70f7bc
3
+ size 21886591
videos/observation.images.upper/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f06f6f19f0cb200c863a634b17f3c7ac6d3ec85380cd7d327466b003c2469eb3
3
+ size 39950096