Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +21 -14
- meta/stats.json +307 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.top/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.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 sha256:38f317d0f3abc0a191136879f6cc01cf41b8c9c256b7bf0bf3a4b4b3cb8731d6
|
3 |
+
size 931766
|
meta/episodes/chunk-000/file-000.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:150e0ccd6cda05e0bb53ba0f98ffe23fc82483855315b7cfd4fbebb8f45273db
|
3 |
+
size 73218
|
meta/info.json
CHANGED
@@ -1,18 +1,16 @@
|
|
1 |
{
|
2 |
-
"codebase_version": "
|
3 |
"robot_type": "so100",
|
4 |
"total_episodes": 52,
|
5 |
"total_frames": 35713,
|
6 |
"total_tasks": 1,
|
7 |
-
"total_videos": 104,
|
8 |
-
"total_chunks": 1,
|
9 |
"chunks_size": 1000,
|
10 |
-
"fps": 30,
|
11 |
"splits": {
|
12 |
"train": "0:52"
|
13 |
},
|
14 |
-
"data_path": "data/chunk-{
|
15 |
-
"video_path": "videos/chunk-{
|
16 |
"features": {
|
17 |
"action": {
|
18 |
"dtype": "float32",
|
@@ -26,7 +24,8 @@
|
|
26 |
"main_wrist_flex",
|
27 |
"main_wrist_roll",
|
28 |
"main_gripper"
|
29 |
-
]
|
|
|
30 |
},
|
31 |
"observation.state": {
|
32 |
"dtype": "float32",
|
@@ -40,7 +39,8 @@
|
|
40 |
"main_wrist_flex",
|
41 |
"main_wrist_roll",
|
42 |
"main_gripper"
|
43 |
-
]
|
|
|
44 |
},
|
45 |
"observation.images.top": {
|
46 |
"dtype": "video",
|
@@ -93,35 +93,42 @@
|
|
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 |
}
|
|
|
1 |
{
|
2 |
+
"codebase_version": "v3.0",
|
3 |
"robot_type": "so100",
|
4 |
"total_episodes": 52,
|
5 |
"total_frames": 35713,
|
6 |
"total_tasks": 1,
|
|
|
|
|
7 |
"chunks_size": 1000,
|
8 |
+
"fps": 30.0,
|
9 |
"splits": {
|
10 |
"train": "0:52"
|
11 |
},
|
12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
14 |
"features": {
|
15 |
"action": {
|
16 |
"dtype": "float32",
|
|
|
24 |
"main_wrist_flex",
|
25 |
"main_wrist_roll",
|
26 |
"main_gripper"
|
27 |
+
],
|
28 |
+
"fps": 30.0
|
29 |
},
|
30 |
"observation.state": {
|
31 |
"dtype": "float32",
|
|
|
39 |
"main_wrist_flex",
|
40 |
"main_wrist_roll",
|
41 |
"main_gripper"
|
42 |
+
],
|
43 |
+
"fps": 30.0
|
44 |
},
|
45 |
"observation.images.top": {
|
46 |
"dtype": "video",
|
|
|
93 |
"shape": [
|
94 |
1
|
95 |
],
|
96 |
+
"names": null,
|
97 |
+
"fps": 30.0
|
98 |
},
|
99 |
"frame_index": {
|
100 |
"dtype": "int64",
|
101 |
"shape": [
|
102 |
1
|
103 |
],
|
104 |
+
"names": null,
|
105 |
+
"fps": 30.0
|
106 |
},
|
107 |
"episode_index": {
|
108 |
"dtype": "int64",
|
109 |
"shape": [
|
110 |
1
|
111 |
],
|
112 |
+
"names": null,
|
113 |
+
"fps": 30.0
|
114 |
},
|
115 |
"index": {
|
116 |
"dtype": "int64",
|
117 |
"shape": [
|
118 |
1
|
119 |
],
|
120 |
+
"names": null,
|
121 |
+
"fps": 30.0
|
122 |
},
|
123 |
"task_index": {
|
124 |
"dtype": "int64",
|
125 |
"shape": [
|
126 |
1
|
127 |
],
|
128 |
+
"names": null,
|
129 |
+
"fps": 30.0
|
130 |
}
|
131 |
+
},
|
132 |
+
"data_files_size_in_mb": 100,
|
133 |
+
"video_files_size_in_mb": 500
|
134 |
}
|
meta/stats.json
ADDED
@@ -0,0 +1,307 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"episode_index": {
|
3 |
+
"min": [
|
4 |
+
0
|
5 |
+
],
|
6 |
+
"max": [
|
7 |
+
51
|
8 |
+
],
|
9 |
+
"mean": [
|
10 |
+
24.698513146473275
|
11 |
+
],
|
12 |
+
"std": [
|
13 |
+
15.162741891361408
|
14 |
+
],
|
15 |
+
"count": [
|
16 |
+
35713
|
17 |
+
]
|
18 |
+
},
|
19 |
+
"observation.images.top": {
|
20 |
+
"min": [
|
21 |
+
[
|
22 |
+
[
|
23 |
+
0.0
|
24 |
+
]
|
25 |
+
],
|
26 |
+
[
|
27 |
+
[
|
28 |
+
0.0
|
29 |
+
]
|
30 |
+
],
|
31 |
+
[
|
32 |
+
[
|
33 |
+
0.0
|
34 |
+
]
|
35 |
+
]
|
36 |
+
],
|
37 |
+
"max": [
|
38 |
+
[
|
39 |
+
[
|
40 |
+
1.0
|
41 |
+
]
|
42 |
+
],
|
43 |
+
[
|
44 |
+
[
|
45 |
+
1.0
|
46 |
+
]
|
47 |
+
],
|
48 |
+
[
|
49 |
+
[
|
50 |
+
1.0
|
51 |
+
]
|
52 |
+
]
|
53 |
+
],
|
54 |
+
"mean": [
|
55 |
+
[
|
56 |
+
[
|
57 |
+
0.48210320530487977
|
58 |
+
]
|
59 |
+
],
|
60 |
+
[
|
61 |
+
[
|
62 |
+
0.49225238436237945
|
63 |
+
]
|
64 |
+
],
|
65 |
+
[
|
66 |
+
[
|
67 |
+
0.5006246583849403
|
68 |
+
]
|
69 |
+
]
|
70 |
+
],
|
71 |
+
"std": [
|
72 |
+
[
|
73 |
+
[
|
74 |
+
0.24272963752375967
|
75 |
+
]
|
76 |
+
],
|
77 |
+
[
|
78 |
+
[
|
79 |
+
0.22050252707063905
|
80 |
+
]
|
81 |
+
],
|
82 |
+
[
|
83 |
+
[
|
84 |
+
0.19369029682647146
|
85 |
+
]
|
86 |
+
]
|
87 |
+
],
|
88 |
+
"count": [
|
89 |
+
6972
|
90 |
+
]
|
91 |
+
},
|
92 |
+
"observation.state": {
|
93 |
+
"min": [
|
94 |
+
-79.365234375,
|
95 |
+
42.099609375,
|
96 |
+
44.033203125,
|
97 |
+
21.005859375,
|
98 |
+
50.80078125,
|
99 |
+
-0.27624309062957764
|
100 |
+
],
|
101 |
+
"max": [
|
102 |
+
76.11328125,
|
103 |
+
179.560546875,
|
104 |
+
165.234375,
|
105 |
+
97.91015625,
|
106 |
+
135.87890625,
|
107 |
+
28.936464309692383
|
108 |
+
],
|
109 |
+
"mean": [
|
110 |
+
-3.293288550270611,
|
111 |
+
130.15529711120382,
|
112 |
+
132.1111414412164,
|
113 |
+
67.1279285303691,
|
114 |
+
88.30874437697409,
|
115 |
+
10.057755148730951
|
116 |
+
],
|
117 |
+
"std": [
|
118 |
+
37.679880092412446,
|
119 |
+
34.13738360072491,
|
120 |
+
24.19078732223473,
|
121 |
+
16.437249294610606,
|
122 |
+
15.819372357176578,
|
123 |
+
8.00808539308905
|
124 |
+
],
|
125 |
+
"count": [
|
126 |
+
35713
|
127 |
+
]
|
128 |
+
},
|
129 |
+
"observation.images.wrist": {
|
130 |
+
"min": [
|
131 |
+
[
|
132 |
+
[
|
133 |
+
0.0
|
134 |
+
]
|
135 |
+
],
|
136 |
+
[
|
137 |
+
[
|
138 |
+
0.0
|
139 |
+
]
|
140 |
+
],
|
141 |
+
[
|
142 |
+
[
|
143 |
+
0.0
|
144 |
+
]
|
145 |
+
]
|
146 |
+
],
|
147 |
+
"max": [
|
148 |
+
[
|
149 |
+
[
|
150 |
+
1.0
|
151 |
+
]
|
152 |
+
],
|
153 |
+
[
|
154 |
+
[
|
155 |
+
1.0
|
156 |
+
]
|
157 |
+
],
|
158 |
+
[
|
159 |
+
[
|
160 |
+
1.0
|
161 |
+
]
|
162 |
+
]
|
163 |
+
],
|
164 |
+
"mean": [
|
165 |
+
[
|
166 |
+
[
|
167 |
+
0.5538782034651211
|
168 |
+
]
|
169 |
+
],
|
170 |
+
[
|
171 |
+
[
|
172 |
+
0.5324466436298415
|
173 |
+
]
|
174 |
+
],
|
175 |
+
[
|
176 |
+
[
|
177 |
+
0.5441952267227173
|
178 |
+
]
|
179 |
+
]
|
180 |
+
],
|
181 |
+
"std": [
|
182 |
+
[
|
183 |
+
[
|
184 |
+
0.26599934208362835
|
185 |
+
]
|
186 |
+
],
|
187 |
+
[
|
188 |
+
[
|
189 |
+
0.25658119531118845
|
190 |
+
]
|
191 |
+
],
|
192 |
+
[
|
193 |
+
[
|
194 |
+
0.2527723530684142
|
195 |
+
]
|
196 |
+
]
|
197 |
+
],
|
198 |
+
"count": [
|
199 |
+
6972
|
200 |
+
]
|
201 |
+
},
|
202 |
+
"frame_index": {
|
203 |
+
"min": [
|
204 |
+
0
|
205 |
+
],
|
206 |
+
"max": [
|
207 |
+
961
|
208 |
+
],
|
209 |
+
"mean": [
|
210 |
+
354.31977151177443
|
211 |
+
],
|
212 |
+
"std": [
|
213 |
+
210.9743176116901
|
214 |
+
],
|
215 |
+
"count": [
|
216 |
+
35713
|
217 |
+
]
|
218 |
+
},
|
219 |
+
"timestamp": {
|
220 |
+
"min": [
|
221 |
+
0.0
|
222 |
+
],
|
223 |
+
"max": [
|
224 |
+
32.03333333333333
|
225 |
+
],
|
226 |
+
"mean": [
|
227 |
+
11.81065905039248
|
228 |
+
],
|
229 |
+
"std": [
|
230 |
+
7.032477253723004
|
231 |
+
],
|
232 |
+
"count": [
|
233 |
+
35713
|
234 |
+
]
|
235 |
+
},
|
236 |
+
"action": {
|
237 |
+
"min": [
|
238 |
+
-79.716796875,
|
239 |
+
42.890625,
|
240 |
+
40.78125,
|
241 |
+
20.478515625,
|
242 |
+
50.625,
|
243 |
+
-0.10649627447128296
|
244 |
+
],
|
245 |
+
"max": [
|
246 |
+
76.46484375,
|
247 |
+
179.47265625,
|
248 |
+
164.619140625,
|
249 |
+
98.96484375,
|
250 |
+
136.40625,
|
251 |
+
28.860488891601562
|
252 |
+
],
|
253 |
+
"mean": [
|
254 |
+
-3.2638989587160334,
|
255 |
+
131.25246456489012,
|
256 |
+
130.49389867515822,
|
257 |
+
66.80036592354007,
|
258 |
+
88.27061925959681,
|
259 |
+
8.795904640652333
|
260 |
+
],
|
261 |
+
"std": [
|
262 |
+
37.742633960677445,
|
263 |
+
33.72359735994015,
|
264 |
+
24.68149860129283,
|
265 |
+
16.549987597558253,
|
266 |
+
15.852437536496444,
|
267 |
+
7.700381476115018
|
268 |
+
],
|
269 |
+
"count": [
|
270 |
+
35713
|
271 |
+
]
|
272 |
+
},
|
273 |
+
"task_index": {
|
274 |
+
"min": [
|
275 |
+
0
|
276 |
+
],
|
277 |
+
"max": [
|
278 |
+
0
|
279 |
+
],
|
280 |
+
"mean": [
|
281 |
+
0.0
|
282 |
+
],
|
283 |
+
"std": [
|
284 |
+
0.0
|
285 |
+
],
|
286 |
+
"count": [
|
287 |
+
35713
|
288 |
+
]
|
289 |
+
},
|
290 |
+
"index": {
|
291 |
+
"min": [
|
292 |
+
0
|
293 |
+
],
|
294 |
+
"max": [
|
295 |
+
35712
|
296 |
+
],
|
297 |
+
"mean": [
|
298 |
+
17856.0
|
299 |
+
],
|
300 |
+
"std": [
|
301 |
+
10309.455077742956
|
302 |
+
],
|
303 |
+
"count": [
|
304 |
+
35713
|
305 |
+
]
|
306 |
+
}
|
307 |
+
}
|
meta/tasks.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:e448b453fc73b2e3624e7fd65fa118720b07c43357b88ac54bd065ebe06603af
|
3 |
+
size 2374
|
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 sha256:339ce76315c75e0081b876ac0aac8974c65ced73c74f43de58a4ea5710033ae3
|
3 |
+
size 524012810
|
videos/observation.images.top/chunk-000/file-001.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:1fe704bc368c3923bcf510e291fae10c5b3a52e395158f97890da9ecf36f1a35
|
3 |
+
size 64082916
|
videos/observation.images.wrist/chunk-000/file-000.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:cf8dbca4fbf440ea8fb6f605e2d60cb27516e0296039840e69b1787aad80a486
|
3 |
+
size 242711573
|