Upload folder using huggingface_hub
Browse files- README.md +140 -0
- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- data/chunk-000/episode_000004.parquet +3 -0
- meta/episodes.jsonl +5 -0
- meta/info.json +104 -0
- meta/stats.json +210 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_high/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_high/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.cam_high/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.cam_high/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.cam_high/episode_000004.mp4 +3 -0
README.md
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| 1 |
+
---
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| 2 |
+
license: apache-2.0
|
| 3 |
+
task_categories:
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| 4 |
+
- robotics
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| 5 |
+
tags:
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| 6 |
+
- LeRobot
|
| 7 |
+
- so100
|
| 8 |
+
configs:
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| 9 |
+
- config_name: default
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| 10 |
+
data_files: data/*/*.parquet
|
| 11 |
+
---
|
| 12 |
+
|
| 13 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
|
| 14 |
+
|
| 15 |
+
## Dataset Description
|
| 16 |
+
|
| 17 |
+
|
| 18 |
+
|
| 19 |
+
- **Homepage:** [More Information Needed]
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| 20 |
+
- **Paper:** [More Information Needed]
|
| 21 |
+
- **License:** apache-2.0
|
| 22 |
+
|
| 23 |
+
## Dataset Structure
|
| 24 |
+
|
| 25 |
+
[meta/info.json](meta/info.json):
|
| 26 |
+
```json
|
| 27 |
+
{
|
| 28 |
+
"codebase_version": "v2.0",
|
| 29 |
+
"robot_type": "so100",
|
| 30 |
+
"total_episodes": 50,
|
| 31 |
+
"total_frames": 13690,
|
| 32 |
+
"total_tasks": 1,
|
| 33 |
+
"total_videos": 50,
|
| 34 |
+
"total_chunks": 1,
|
| 35 |
+
"chunks_size": 1000,
|
| 36 |
+
"fps": 30,
|
| 37 |
+
"splits": {
|
| 38 |
+
"train": "0:50"
|
| 39 |
+
},
|
| 40 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 41 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 42 |
+
"features": {
|
| 43 |
+
"action": {
|
| 44 |
+
"dtype": "float32",
|
| 45 |
+
"shape": [
|
| 46 |
+
6
|
| 47 |
+
],
|
| 48 |
+
"names": [
|
| 49 |
+
"main_shoulder_pan",
|
| 50 |
+
"main_shoulder_lift",
|
| 51 |
+
"main_elbow_flex",
|
| 52 |
+
"main_wrist_flex",
|
| 53 |
+
"main_wrist_roll",
|
| 54 |
+
"main_gripper"
|
| 55 |
+
]
|
| 56 |
+
},
|
| 57 |
+
"observation.state": {
|
| 58 |
+
"dtype": "float32",
|
| 59 |
+
"shape": [
|
| 60 |
+
6
|
| 61 |
+
],
|
| 62 |
+
"names": [
|
| 63 |
+
"main_shoulder_pan",
|
| 64 |
+
"main_shoulder_lift",
|
| 65 |
+
"main_elbow_flex",
|
| 66 |
+
"main_wrist_flex",
|
| 67 |
+
"main_wrist_roll",
|
| 68 |
+
"main_gripper"
|
| 69 |
+
]
|
| 70 |
+
},
|
| 71 |
+
"observation.images.cam_high": {
|
| 72 |
+
"dtype": "video",
|
| 73 |
+
"shape": [
|
| 74 |
+
480,
|
| 75 |
+
640,
|
| 76 |
+
3
|
| 77 |
+
],
|
| 78 |
+
"names": [
|
| 79 |
+
"height",
|
| 80 |
+
"width",
|
| 81 |
+
"channels"
|
| 82 |
+
],
|
| 83 |
+
"info": {
|
| 84 |
+
"video.fps": 30.0,
|
| 85 |
+
"video.height": 480,
|
| 86 |
+
"video.width": 640,
|
| 87 |
+
"video.channels": 3,
|
| 88 |
+
"video.codec": "av1",
|
| 89 |
+
"video.pix_fmt": "yuv420p",
|
| 90 |
+
"video.is_depth_map": false,
|
| 91 |
+
"has_audio": false
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"timestamp": {
|
| 95 |
+
"dtype": "float32",
|
| 96 |
+
"shape": [
|
| 97 |
+
1
|
| 98 |
+
],
|
| 99 |
+
"names": null
|
| 100 |
+
},
|
| 101 |
+
"frame_index": {
|
| 102 |
+
"dtype": "int64",
|
| 103 |
+
"shape": [
|
| 104 |
+
1
|
| 105 |
+
],
|
| 106 |
+
"names": null
|
| 107 |
+
},
|
| 108 |
+
"episode_index": {
|
| 109 |
+
"dtype": "int64",
|
| 110 |
+
"shape": [
|
| 111 |
+
1
|
| 112 |
+
],
|
| 113 |
+
"names": null
|
| 114 |
+
},
|
| 115 |
+
"index": {
|
| 116 |
+
"dtype": "int64",
|
| 117 |
+
"shape": [
|
| 118 |
+
1
|
| 119 |
+
],
|
| 120 |
+
"names": null
|
| 121 |
+
},
|
| 122 |
+
"task_index": {
|
| 123 |
+
"dtype": "int64",
|
| 124 |
+
"shape": [
|
| 125 |
+
1
|
| 126 |
+
],
|
| 127 |
+
"names": null
|
| 128 |
+
}
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
```
|
| 132 |
+
|
| 133 |
+
|
| 134 |
+
## Citation
|
| 135 |
+
|
| 136 |
+
**BibTeX:**
|
| 137 |
+
|
| 138 |
+
```bibtex
|
| 139 |
+
[More Information Needed]
|
| 140 |
+
```
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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:446780f0e5ebcc2cfb96a0f93c517745b264e91f52e422351b8f245c488f075a
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| 3 |
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size 18341
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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:ba9a2dcc2e5a4570b88e7735a8c4dcf2b6975c75f2ed69cb8f1ec5a2699cbbf6
|
| 3 |
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size 17795
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data/chunk-000/episode_000002.parquet
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| 1 |
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b5ff750236078c11f9c8d2cf28c7efaaae52ad98bb114d4d56cf79ea2d7484c1
|
| 3 |
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size 17344
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data/chunk-000/episode_000003.parquet
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| 1 |
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cc293d384f6165a802a2d10b624d8fadec987db75e25ded909e55569f751d75b
|
| 3 |
+
size 16814
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data/chunk-000/episode_000004.parquet
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4e19b6a409e0f8099165dbe651cea5f6f0e44128657c788a8702a808caa5d925
|
| 3 |
+
size 18743
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meta/episodes.jsonl
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| 1 |
+
{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 268}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 269}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 268}
|
| 4 |
+
{"episode_index": 3, "tasks": ["Grasp a lego block and put it in the bin."], "length": 269}
|
| 5 |
+
{"episode_index": 4, "tasks": ["Grasp a lego block and put it in the bin."], "length": 269}
|
meta/info.json
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| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "so100",
|
| 4 |
+
"total_episodes": 5,
|
| 5 |
+
"total_frames": 13690,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 5,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:5"
|
| 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 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"main_shoulder_pan",
|
| 24 |
+
"main_shoulder_lift",
|
| 25 |
+
"main_elbow_flex",
|
| 26 |
+
"main_wrist_flex",
|
| 27 |
+
"main_wrist_roll",
|
| 28 |
+
"main_gripper"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"main_shoulder_pan",
|
| 38 |
+
"main_shoulder_lift",
|
| 39 |
+
"main_elbow_flex",
|
| 40 |
+
"main_wrist_flex",
|
| 41 |
+
"main_wrist_roll",
|
| 42 |
+
"main_gripper"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.cam_high": {
|
| 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.fps": 30.0,
|
| 59 |
+
"video.height": 480,
|
| 60 |
+
"video.width": 640,
|
| 61 |
+
"video.channels": 3,
|
| 62 |
+
"video.codec": "av1",
|
| 63 |
+
"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"timestamp": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"names": null
|
| 74 |
+
},
|
| 75 |
+
"frame_index": {
|
| 76 |
+
"dtype": "int64",
|
| 77 |
+
"shape": [
|
| 78 |
+
1
|
| 79 |
+
],
|
| 80 |
+
"names": null
|
| 81 |
+
},
|
| 82 |
+
"episode_index": {
|
| 83 |
+
"dtype": "int64",
|
| 84 |
+
"shape": [
|
| 85 |
+
1
|
| 86 |
+
],
|
| 87 |
+
"names": null
|
| 88 |
+
},
|
| 89 |
+
"index": {
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"task_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
}
|
meta/stats.json
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meta/tasks.jsonl
ADDED
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@@ -0,0 +1 @@
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|
| 1 |
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{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
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videos/chunk-000/observation.images.cam_high/episode_000000.mp4
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 3562217
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videos/chunk-000/observation.images.cam_high/episode_000001.mp4
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 3504349
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videos/chunk-000/observation.images.cam_high/episode_000002.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3434326
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videos/chunk-000/observation.images.cam_high/episode_000003.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3433453
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videos/chunk-000/observation.images.cam_high/episode_000004.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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