Hugging Face's logo

Datasets:
zding08
/
record-koch-merged

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
 Community
zding08 commited on
Commit
63f8948
·
verified ·
1 Parent(s): 71b960b

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 sha256:7336d5cf612fc05843cb596a8cdae7bf0f4bcec29fae55bdd264d1f8c3857aeb
3
+ size 394016
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a10cf0eada956e832fa10e1a92c996d3494a4cd6549b5e2af5c14ec889bdaaa3
3
+ size 257122
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "koch_follower",
4
+ "total_episodes": 57,
5
+ "total_frames": 14465,
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": "0:57"
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.top": {
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.front": {
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
+ "action": {
3
+ "min": [
4
+ -28.400487899780273,
5
+ -100.0,
6
+ -89.06666564941406,
7
+ -100.0,
8
+ -33.382171630859375,
9
+ 1.0498688220977783
10
+ ],
11
+ "max": [
12
+ 15.018315315246582,
13
+ 34.693878173828125,
14
+ 85.86666870117188,
15
+ -15.179153442382812,
16
+ 32.11233139038086,
17
+ 61.15485382080078
18
+ ],
19
+ "mean": [
20
+ -5.779715731899672,
21
+ -51.21807955119835,
22
+ 1.5101190818621137,
23
+ -79.32586547529826,
24
+ 4.252570591317384,
25
+ 36.201194979697
26
+ ],
27
+ "std": [
28
+ 8.34820736801636,
29
+ 28.62628969514969,
30
+ 40.29035862250528,
31
+ 14.374173673742364,
32
+ 12.308937393162307,
33
+ 18.012507158913685
34
+ ],
35
+ "count": [
36
+ 14465
37
+ ],
38
+ "q01": [
39
+ -21.500820435427176,
40
+ -86.73150853083602,
41
+ -49.99670618355775,
42
+ -95.95024066062491,
43
+ -7.338308965930057,
44
+ 6.443862175374197
45
+ ],
46
+ "q10": [
47
+ -19.95680363705307,
48
+ -81.45329158552907,
49
+ -46.23103871437749,
50
+ -93.8409271968861,
51
+ -5.728591724872919,
52
+ 6.558657159830203
53
+ ],
54
+ "q50": [
55
+ -3.914207978995693,
56
+ -56.86735542667126,
57
+ 4.976627847912736,
58
+ -79.23825108941438,
59
+ 5.71146217438976,
60
+ 46.79794518163082
61
+ ],
62
+ "q90": [
63
+ 2.183803790765486,
64
+ -13.2387850488917,
65
+ 50.809549498956834,
66
+ -64.36541671926507,
67
+ 12.386836477441552,
68
+ 49.391462881980644
69
+ ],
70
+ "q99": [
71
+ 3.6131648579659137,
72
+ -3.358094648933263,
73
+ 52.67955164045653,
74
+ -60.27072411049571,
75
+ 13.612529877524544,
76
+ 50.06898039325705
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -28.400487899780273,
82
+ -98.71794891357422,
83
+ -100.0,
84
+ -100.0,
85
+ -33.382171630859375,
86
+ 11.100000381469727
87
+ ],
88
+ "max": [
89
+ 14.822955131530762,
90
+ 30.769229888916016,
91
+ 78.62838745117188,
92
+ -17.981651306152344,
93
+ 32.014652252197266,
94
+ 57.79999923706055
95
+ ],
96
+ "mean": [
97
+ -5.802131575578808,
98
+ -48.666713423058106,
99
+ -2.185974677100216,
100
+ -84.76972069474928,
101
+ 4.238413246765326,
102
+ 38.91703201620957
103
+ ],
104
+ "std": [
105
+ 8.346021336649445,
106
+ 28.501883786875254,
107
+ 39.51831057393194,
108
+ 13.144355991782529,
109
+ 12.303272585917677,
110
+ 13.939165181362124
111
+ ],
112
+ "count": [
113
+ 14465
114
+ ],
115
+ "q01": [
116
+ -21.361549883853506,
117
+ -83.71614739087669,
118
+ -52.06220307405997,
119
+ -97.13318177766746,
120
+ -7.455983976556878,
121
+ 16.61410287065239
122
+ ],
123
+ "q10": [
124
+ -20.00756450391247,
125
+ -78.7550525372749,
126
+ -48.27152632676727,
127
+ -96.39694012941662,
128
+ -5.760629685296128,
129
+ 16.63638602539607
130
+ ],
131
+ "q50": [
132
+ -3.928072751642623,
133
+ -54.06711720873235,
134
+ 0.7460428912810408,
135
+ -85.44473015796461,
136
+ 5.661346582796752,
137
+ 47.29838367890965
138
+ ],
139
+ "q90": [
140
+ 2.248814807435279,
141
+ -10.617738269248786,
142
+ 45.78985338099057,
143
+ -71.34657806413655,
144
+ 12.397754532750293,
145
+ 49.47681423911072
146
+ ],
147
+ "q99": [
148
+ 3.546327118800702,
149
+ -2.298495293192125,
150
+ 46.82966305093788,
151
+ -68.01140444897183,
152
+ 13.606515161419702,
153
+ 49.60096603893722
154
+ ]
155
+ },
156
+ "index": {
157
+ "min": [
158
+ 0
159
+ ],
160
+ "max": [
161
+ 13813
162
+ ],
163
+ "mean": [
164
+ 6621.594676806084
165
+ ],
166
+ "std": [
167
+ 4112.243378655361
168
+ ],
169
+ "count": [
170
+ 14465
171
+ ],
172
+ "q01": [
173
+ 6496.989905544043
174
+ ],
175
+ "q10": [
176
+ 6520.0356453065215
177
+ ],
178
+ "q50": [
179
+ 6621.308959502247
180
+ ],
181
+ "q90": [
182
+ 6722.993523030845
183
+ ],
184
+ "q99": [
185
+ 6746.15976054652
186
+ ]
187
+ },
188
+ "task_index": {
189
+ "min": [
190
+ 0
191
+ ],
192
+ "max": [
193
+ 0
194
+ ],
195
+ "mean": [
196
+ 0.0
197
+ ],
198
+ "std": [
199
+ 0.0
200
+ ],
201
+ "count": [
202
+ 14465
203
+ ],
204
+ "q01": [
205
+ 3.999999999999417e-16
206
+ ],
207
+ "q10": [
208
+ 3.999999999999417e-15
209
+ ],
210
+ "q50": [
211
+ 1.9999999999997088e-14
212
+ ],
213
+ "q90": [
214
+ 3.599999999999476e-14
215
+ ],
216
+ "q99": [
217
+ 3.9599999999994235e-14
218
+ ]
219
+ },
220
+ "observation.images.top": {
221
+ "min": [
222
+ [
223
+ [
224
+ 0.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.0
230
+ ]
231
+ ],
232
+ [
233
+ [
234
+ 0.0
235
+ ]
236
+ ]
237
+ ],
238
+ "max": [
239
+ [
240
+ [
241
+ 1.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 1.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 1.0
252
+ ]
253
+ ]
254
+ ],
255
+ "mean": [
256
+ [
257
+ [
258
+ 0.5669082054451898
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 0.5591066034213393
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 0.5595645373595344
269
+ ]
270
+ ]
271
+ ],
272
+ "std": [
273
+ [
274
+ [
275
+ 0.00437165560508632
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.00930994661240241
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.016140693065275317
286
+ ]
287
+ ]
288
+ ],
289
+ "count": [
290
+ 5700
291
+ ],
292
+ "q01": [
293
+ [
294
+ [
295
+ -3.9215686274509827e-13
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ -3.9215686274509827e-13
301
+ ]
302
+ ],
303
+ [
304
+ [
305
+ -3.9215686274509827e-13
306
+ ]
307
+ ]
308
+ ],
309
+ "q10": [
310
+ [
311
+ [
312
+ 0.003989849284812509
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.0043331362358372295
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.003920457209958217
323
+ ]
324
+ ]
325
+ ],
326
+ "q50": [
327
+ [
328
+ [
329
+ 0.7977447467220391
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.7940032866066702
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.790472410105125
340
+ ]
341
+ ]
342
+ ],
343
+ "q90": [
344
+ [
345
+ [
346
+ 0.8709675017554943
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.8700043193205212
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.8731819236542522
357
+ ]
358
+ ]
359
+ ],
360
+ "q99": [
361
+ [
362
+ [
363
+ 0.9038463804884415
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9027121137046529
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9336598703193372
374
+ ]
375
+ ]
376
+ ]
377
+ },
378
+ "timestamp": {
379
+ "min": [
380
+ 0.0
381
+ ],
382
+ "max": [
383
+ 10.033333333333333
384
+ ],
385
+ "mean": [
386
+ 4.220951722548681
387
+ ],
388
+ "std": [
389
+ 2.45746209750699
390
+ ],
391
+ "count": [
392
+ 14465
393
+ ],
394
+ "q01": [
395
+ 0.06745934705219205
396
+ ],
397
+ "q10": [
398
+ 0.8356506724857635
399
+ ],
400
+ "q50": [
401
+ 4.2114278124205615
402
+ ],
403
+ "q90": [
404
+ 7.600913263451433
405
+ ],
406
+ "q99": [
407
+ 8.373121180658346
408
+ ]
409
+ },
410
+ "episode_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 54
416
+ ],
417
+ "mean": [
418
+ 25.85288627722088
419
+ ],
420
+ "std": [
421
+ 16.394853344169796
422
+ ],
423
+ "count": [
424
+ 14465
425
+ ],
426
+ "q01": [
427
+ 25.85288627722088
428
+ ],
429
+ "q10": [
430
+ 25.852886277220883
431
+ ],
432
+ "q50": [
433
+ 25.852886277220904
434
+ ],
435
+ "q90": [
436
+ 25.85288627722091
437
+ ],
438
+ "q99": [
439
+ 25.852886277220918
440
+ ]
441
+ },
442
+ "observation.images.front": {
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
+ 1.0
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 1.0
474
+ ]
475
+ ]
476
+ ],
477
+ "mean": [
478
+ [
479
+ [
480
+ 0.5443633035919048
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.5196074279397432
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.47790411295292967
491
+ ]
492
+ ]
493
+ ],
494
+ "std": [
495
+ [
496
+ [
497
+ 0.008192301146913602
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.012547128030149905
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.02163067951327371
508
+ ]
509
+ ]
510
+ ],
511
+ "count": [
512
+ 5700
513
+ ],
514
+ "q01": [
515
+ [
516
+ [
517
+ -3.9215686274509827e-13
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ -3.9215686274509827e-13
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ -3.9215686274509827e-13
528
+ ]
529
+ ]
530
+ ],
531
+ "q10": [
532
+ [
533
+ [
534
+ 0.06209646488807828
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.0720425862526561
540
+ ]
541
+ ],
542
+ [
543
+ [
544
+ 0.05348864359446494
545
+ ]
546
+ ]
547
+ ],
548
+ "q50": [
549
+ [
550
+ [
551
+ 0.6353710296161852
552
+ ]
553
+ ],
554
+ [
555
+ [
556
+ 0.5846512830011433
557
+ ]
558
+ ],
559
+ [
560
+ [
561
+ 0.4836591148600162
562
+ ]
563
+ ]
564
+ ],
565
+ "q90": [
566
+ [
567
+ [
568
+ 0.8315057141831029
569
+ ]
570
+ ],
571
+ [
572
+ [
573
+ 0.8241950129144489
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.8352703506097122
579
+ ]
580
+ ]
581
+ ],
582
+ "q99": [
583
+ [
584
+ [
585
+ 0.9307946742751563
586
+ ]
587
+ ],
588
+ [
589
+ [
590
+ 0.9280721875558996
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.9317071975106702
596
+ ]
597
+ ]
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 301
606
+ ],
607
+ "mean": [
608
+ 126.62855167646042
609
+ ],
610
+ "std": [
611
+ 73.72386292520973
612
+ ],
613
+ "count": [
614
+ 14465
615
+ ],
616
+ "q01": [
617
+ 2.0237804144194
618
+ ],
619
+ "q10": [
620
+ 25.069520176898706
621
+ ],
622
+ "q50": [
623
+ 126.34283437262334
624
+ ],
625
+ "q90": [
626
+ 228.02739790122075
627
+ ],
628
+ "q99": [
629
+ 251.1936354168975
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b551fe9c8644dfcbe066609ed2e1f6d9cea2c7cbbafa646a194ff3fe255725ac
3
+ size 2116
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:a2c02f7e6806a906613f3433a0c17795d62728383a112d7d609f0a7eedcf5075
3
+ size 215782568
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 sha256:1bf294b9dfe44bd0ae72f578533b0eaa86e2d95baad2a8f6ad40a7d2a0ff32c0
3
+ size 148342130