Hugging Face's logo

Datasets:
ykorkmaz
/
aloha_stir_pot

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
Community
ykorkmaz commited on
Commit
4d180b5
·
verified ·
1 Parent(s): 6f2351c

Upload folder using huggingface_hub

Browse files
Files changed (9) 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 +20 -13
  4. meta/stats.json +517 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.cam_high/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.cam_left_wrist/chunk-000/file-000.mp4 +3 -0
  8. videos/observation.images.cam_low/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.images.cam_right_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 sha256:21b99f758ac5049936becd62dcc18c7977b8ea128d8984cba9d78619d58a8c73
3
+ size 115670
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc233b4a5777464a4aa87b2a70cf8452ada792a6b559a8e2be7f7b215d1c55cd
3
+ size 64732
meta/info.json CHANGED
@@ -1,19 +1,17 @@
1
  {
2
- "codebase_version": "v2.1",
3
  "trossen_subversion": "v1.0",
4
  "robot_type": "trossen_ai_stationary",
5
  "total_episodes": 3,
6
  "total_frames": 1242,
7
  "total_tasks": 1,
8
- "total_videos": 12,
9
- "total_chunks": 1,
10
  "chunks_size": 1000,
11
  "fps": 30,
12
  "splits": {
13
  "train": "0:3"
14
  },
15
- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
16
- "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
17
  "features": {
18
  "action": {
19
  "dtype": "float32",
@@ -35,7 +33,8 @@
35
  "right_joint_4",
36
  "right_joint_5",
37
  "right_joint_6"
38
- ]
 
39
  },
40
  "observation.state": {
41
  "dtype": "float32",
@@ -57,7 +56,8 @@
57
  "right_joint_4",
58
  "right_joint_5",
59
  "right_joint_6"
60
- ]
 
61
  },
62
  "observation.images.cam_high": {
63
  "dtype": "video",
@@ -156,35 +156,42 @@
156
  "shape": [
157
  1
158
  ],
159
- "names": null
 
160
  },
161
  "frame_index": {
162
  "dtype": "int64",
163
  "shape": [
164
  1
165
  ],
166
- "names": null
 
167
  },
168
  "episode_index": {
169
  "dtype": "int64",
170
  "shape": [
171
  1
172
  ],
173
- "names": null
 
174
  },
175
  "index": {
176
  "dtype": "int64",
177
  "shape": [
178
  1
179
  ],
180
- "names": null
 
181
  },
182
  "task_index": {
183
  "dtype": "int64",
184
  "shape": [
185
  1
186
  ],
187
- "names": null
 
188
  }
189
- }
 
 
190
  }
 
1
  {
2
+ "codebase_version": "v3.0",
3
  "trossen_subversion": "v1.0",
4
  "robot_type": "trossen_ai_stationary",
5
  "total_episodes": 3,
6
  "total_frames": 1242,
7
  "total_tasks": 1,
 
 
8
  "chunks_size": 1000,
9
  "fps": 30,
10
  "splits": {
11
  "train": "0:3"
12
  },
13
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
14
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
15
  "features": {
16
  "action": {
17
  "dtype": "float32",
 
33
  "right_joint_4",
34
  "right_joint_5",
35
  "right_joint_6"
36
+ ],
37
+ "fps": 30
38
  },
39
  "observation.state": {
40
  "dtype": "float32",
 
56
  "right_joint_4",
57
  "right_joint_5",
58
  "right_joint_6"
59
+ ],
60
+ "fps": 30
61
  },
62
  "observation.images.cam_high": {
63
  "dtype": "video",
 
156
  "shape": [
157
  1
158
  ],
159
+ "names": null,
160
+ "fps": 30
161
  },
162
  "frame_index": {
163
  "dtype": "int64",
164
  "shape": [
165
  1
166
  ],
167
+ "names": null,
168
+ "fps": 30
169
  },
170
  "episode_index": {
171
  "dtype": "int64",
172
  "shape": [
173
  1
174
  ],
175
+ "names": null,
176
+ "fps": 30
177
  },
178
  "index": {
179
  "dtype": "int64",
180
  "shape": [
181
  1
182
  ],
183
+ "names": null,
184
+ "fps": 30
185
  },
186
  "task_index": {
187
  "dtype": "int64",
188
  "shape": [
189
  1
190
  ],
191
+ "names": null,
192
+ "fps": 30
193
  }
194
+ },
195
+ "data_files_size_in_mb": 100,
196
+ "video_files_size_in_mb": 200
197
  }
meta/stats.json ADDED
@@ -0,0 +1,517 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 1242
17
+ ]
18
+ },
19
+ "observation.state": {
20
+ "min": [
21
+ -0.7696269154548645,
22
+ 1.046196699142456,
23
+ 0.5163271427154541,
24
+ -1.5165560245513916,
25
+ -1.0290303230285645,
26
+ -1.875143051147461,
27
+ 0.0001955842599272728,
28
+ -0.02040894143283367,
29
+ 1.0450522899627686,
30
+ 0.47703516483306885,
31
+ 0.49343863129615784,
32
+ -0.5167086124420166,
33
+ -0.0009536888683214784,
34
+ -1.7546117305755615e-06
35
+ ],
36
+ "max": [
37
+ -0.00019073777366429567,
38
+ 2.1799421310424805,
39
+ 1.8480583429336548,
40
+ 0.6300068497657776,
41
+ 0.6620507836341858,
42
+ 0.0013351644156500697,
43
+ 0.03129156306385994,
44
+ 0.06046387553215027,
45
+ 2.1494240760803223,
46
+ 0.8451590538024902,
47
+ 1.2472343444824219,
48
+ -0.00019073777366429567,
49
+ 0.23556114733219147,
50
+ 0.023644007742404938
51
+ ],
52
+ "mean": [
53
+ -0.437804132004099,
54
+ 1.7911280649871641,
55
+ 1.4379716977213124,
56
+ -0.8667537125604357,
57
+ -0.20998873976741628,
58
+ -1.1008387030418751,
59
+ 0.013451899533818406,
60
+ 0.018670509801052764,
61
+ 1.9218621034169159,
62
+ 0.7258105739687184,
63
+ 1.0866582480509692,
64
+ -0.38538319685896816,
65
+ 0.1289809339120384,
66
+ 0.01853625680171493
67
+ ],
68
+ "std": [
69
+ 0.21742902307638087,
70
+ 0.30779049953565435,
71
+ 0.378854120301847,
72
+ 0.6495770647286323,
73
+ 0.39854965187748037,
74
+ 0.5412698352237303,
75
+ 0.007703846278759887,
76
+ 0.022082114409804142,
77
+ 0.35279101327770174,
78
+ 0.10850086529630083,
79
+ 0.20525665232486187,
80
+ 0.13874649445756157,
81
+ 0.06086093624064963,
82
+ 0.006050359079488254
83
+ ],
84
+ "count": [
85
+ 1242
86
+ ]
87
+ },
88
+ "observation.images.cam_high": {
89
+ "min": [
90
+ [
91
+ [
92
+ 0.0
93
+ ]
94
+ ],
95
+ [
96
+ [
97
+ 0.0
98
+ ]
99
+ ],
100
+ [
101
+ [
102
+ 0.0
103
+ ]
104
+ ]
105
+ ],
106
+ "max": [
107
+ [
108
+ [
109
+ 1.0
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 1.0
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 1.0
120
+ ]
121
+ ]
122
+ ],
123
+ "mean": [
124
+ [
125
+ [
126
+ 0.22026576048474947
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.29202422930283223
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.3187193865740741
137
+ ]
138
+ ]
139
+ ],
140
+ "std": [
141
+ [
142
+ [
143
+ 0.3011779265620499
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.26714607482146757
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.2449181073952198
154
+ ]
155
+ ]
156
+ ],
157
+ "count": [
158
+ 300
159
+ ]
160
+ },
161
+ "observation.images.cam_right_wrist": {
162
+ "min": [
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ],
173
+ [
174
+ [
175
+ 0.0
176
+ ]
177
+ ]
178
+ ],
179
+ "max": [
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ],
190
+ [
191
+ [
192
+ 1.0
193
+ ]
194
+ ]
195
+ ],
196
+ "mean": [
197
+ [
198
+ [
199
+ 0.2799156869553377
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.3240295588235294
205
+ ]
206
+ ],
207
+ [
208
+ [
209
+ 0.33373204861111117
210
+ ]
211
+ ]
212
+ ],
213
+ "std": [
214
+ [
215
+ [
216
+ 0.26759142547125836
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.2503491040618407
222
+ ]
223
+ ],
224
+ [
225
+ [
226
+ 0.25650703119723
227
+ ]
228
+ ]
229
+ ],
230
+ "count": [
231
+ 300
232
+ ]
233
+ },
234
+ "observation.images.cam_left_wrist": {
235
+ "min": [
236
+ [
237
+ [
238
+ 0.0
239
+ ]
240
+ ],
241
+ [
242
+ [
243
+ 0.0
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.0
249
+ ]
250
+ ]
251
+ ],
252
+ "max": [
253
+ [
254
+ [
255
+ 1.0
256
+ ]
257
+ ],
258
+ [
259
+ [
260
+ 1.0
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 1.0
266
+ ]
267
+ ]
268
+ ],
269
+ "mean": [
270
+ [
271
+ [
272
+ 0.3368579758986928
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 0.34639360089869276
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 0.35170984409041395
283
+ ]
284
+ ]
285
+ ],
286
+ "std": [
287
+ [
288
+ [
289
+ 0.2830819318705217
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.26850286644913557
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.267173191617327
300
+ ]
301
+ ]
302
+ ],
303
+ "count": [
304
+ 300
305
+ ]
306
+ },
307
+ "frame_index": {
308
+ "min": [
309
+ 0
310
+ ],
311
+ "max": [
312
+ 464
313
+ ],
314
+ "mean": [
315
+ 208.40901771336553
316
+ ],
317
+ "std": [
318
+ 122.79678373562763
319
+ ],
320
+ "count": [
321
+ 1242
322
+ ]
323
+ },
324
+ "action": {
325
+ "min": [
326
+ -0.769245445728302,
327
+ 1.046959638595581,
328
+ 0.5159456729888916,
329
+ -1.516174554824829,
330
+ -1.0282673835754395,
331
+ -1.8762874603271484,
332
+ -0.0006024930626153946,
333
+ -0.020027466118335724,
334
+ 1.0450522899627686,
335
+ 0.47779813408851624,
336
+ 0.4953460097312927,
337
+ -0.5132753252983093,
338
+ -0.00019073777366429567,
339
+ -8.344650268554688e-06
340
+ ],
341
+ "max": [
342
+ -0.00019073777366429567,
343
+ 2.179560422897339,
344
+ 1.8484398126602173,
345
+ 0.6280995011329651,
346
+ 0.6593804955482483,
347
+ 0.0020981156267225742,
348
+ 0.031428102403879166,
349
+ 0.06008239835500717,
350
+ 2.1528573036193848,
351
+ 0.8447775840759277,
352
+ 1.2434195280075073,
353
+ 0.00019073777366429567,
354
+ 0.23556114733219147,
355
+ 0.0236741341650486
356
+ ],
357
+ "mean": [
358
+ -0.4392981093958764,
359
+ 1.795352790378718,
360
+ 1.4434658655605839,
361
+ -0.8757926796753434,
362
+ -0.20957623765280473,
363
+ -1.1057869898524262,
364
+ 0.009776751255097645,
365
+ 0.019041845655022264,
366
+ 1.92758017912771,
367
+ 0.7271802030899674,
368
+ 1.0893704226051553,
369
+ -0.3877752471757204,
370
+ 0.13041162643215698,
371
+ 0.018644395903736687
372
+ ],
373
+ "std": [
374
+ 0.21532224761361235,
375
+ 0.3030229809773295,
376
+ 0.3731390730556966,
377
+ 0.6408841059402606,
378
+ 0.39849057225636825,
379
+ 0.5351998926040384,
380
+ 0.010700820412289721,
381
+ 0.022106645125573164,
382
+ 0.3474018750037735,
383
+ 0.10764658904495555,
384
+ 0.2023856239914332,
385
+ 0.13586094531440485,
386
+ 0.060312882002822886,
387
+ 0.005903708274710098
388
+ ],
389
+ "count": [
390
+ 1242
391
+ ]
392
+ },
393
+ "timestamp": {
394
+ "min": [
395
+ 0.0
396
+ ],
397
+ "max": [
398
+ 15.466666666666667
399
+ ],
400
+ "mean": [
401
+ 6.946967257112185
402
+ ],
403
+ "std": [
404
+ 4.093226124520921
405
+ ],
406
+ "count": [
407
+ 1242
408
+ ]
409
+ },
410
+ "index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 1241
416
+ ],
417
+ "mean": [
418
+ 620.5
419
+ ],
420
+ "std": [
421
+ 358.5344009529165
422
+ ],
423
+ "count": [
424
+ 1242
425
+ ]
426
+ },
427
+ "observation.images.cam_low": {
428
+ "min": [
429
+ [
430
+ [
431
+ 0.0
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 0.0
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 0.0
442
+ ]
443
+ ]
444
+ ],
445
+ "max": [
446
+ [
447
+ [
448
+ 1.0
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 1.0
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 1.0
459
+ ]
460
+ ]
461
+ ],
462
+ "mean": [
463
+ [
464
+ [
465
+ 0.30265449959150326
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.3745095860566449
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.40253100762527233
476
+ ]
477
+ ]
478
+ ],
479
+ "std": [
480
+ [
481
+ [
482
+ 0.2887761739505709
483
+ ]
484
+ ],
485
+ [
486
+ [
487
+ 0.24557714631698613
488
+ ]
489
+ ],
490
+ [
491
+ [
492
+ 0.23169398201063343
493
+ ]
494
+ ]
495
+ ],
496
+ "count": [
497
+ 300
498
+ ]
499
+ },
500
+ "episode_index": {
501
+ "min": [
502
+ 0
503
+ ],
504
+ "max": [
505
+ 2
506
+ ],
507
+ "mean": [
508
+ 1.0330112721417068
509
+ ],
510
+ "std": [
511
+ 0.7902620582097344
512
+ ],
513
+ "count": [
514
+ 1242
515
+ ]
516
+ }
517
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d558df85cafcc5214b6c7f264e9ef434ece919e506dc6eb732b476a768a81993
3
+ size 2161
videos/observation.images.cam_high/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:11bfb12a66255d785a65148ecb55a3654930672cea48996df0942f1627cf391a
3
+ size 29717147
videos/observation.images.cam_left_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4f0fbc473d74c3972908a06735693e39413c0728e6104c7eaf29014b4b009341
3
+ size 28022526
videos/observation.images.cam_low/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a63597fc02d7b693e416a21461d6856ce22862ddaa77bd30fb732ff90ef53a2f
3
+ size 28579625
videos/observation.images.cam_right_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ecb32f69405f2149b3dd60796c354531ed70a5495e4d6084f8972194b6d4919c
3
+ size 26366068