Upload folder using huggingface_hub
Browse files- README.md +139 -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
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +127 -0
- meta/tasks.jsonl +1 -0
README.md
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---
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- LeRobot
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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## Dataset Description
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- **Homepage:** [More Information Needed]
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- **Paper:** [More Information Needed]
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- **License:** apache-2.0
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## Dataset Structure
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v2.1",
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"robot_type": "so101_follower",
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"total_episodes": 1,
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"total_frames": 1374,
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"total_tasks": 1,
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"total_videos": 1,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:1"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"action": {
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"dtype": "float32",
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"shape": [
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6
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],
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"names": [
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"shoulder_pan.pos",
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"shoulder_lift.pos",
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"elbow_flex.pos",
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"wrist_flex.pos",
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"wrist_roll.pos",
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"gripper.pos"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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6
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],
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"names": [
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"shoulder_pan.pos",
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"shoulder_lift.pos",
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"elbow_flex.pos",
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"wrist_flex.pos",
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"wrist_roll.pos",
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"gripper.pos"
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]
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},
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"observation.images.front": {
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"dtype": "video",
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"shape": [
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1080,
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1920,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.height": 1080,
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"video.width": 1920,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 30,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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1
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],
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"names": null
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},
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"frame_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"episode_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"task_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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}
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}
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}
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```
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## Citation
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**BibTeX:**
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```bibtex
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[More Information Needed]
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```
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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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oid sha256:a0f4ba91b5c76ba6fa30801c44a4042b11141346bf90c09e0c91f5c57c758848
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size 16489
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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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oid sha256:6c3c895d1c7b86b1c4c17be7dda7bf6dee18356c8a9b123e0c0290ee89865ba5
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size 16936
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data/chunk-000/episode_000002.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:80499e0b0365d3dbcfda38bd6f7c8e00d7f8d06fa923d98a2e58daf2d5c529c9
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size 18605
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Pick up the bolt and place it in the pink box"], "length": 272}
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{"episode_index": 1, "tasks": ["Pick up the bolt and place it in the pink box"], "length": 264}
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{"episode_index": 2, "tasks": ["Pick up the bolt and place it in the pink box"], "length": 351}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-6.107431888580322, -98.90572357177734, -14.518317222595215, 43.62934494018555, -7.5280022621154785, 0.715990424156189], "max": [6.254599094390869, 14.562289237976074, 99.45726013183594, 78.80738067626953, -3.256056308746338, 51.153541564941406], "mean": [-0.9457653164863586, -45.292659759521484, 50.613250732421875, 59.50236129760742, -6.570340633392334, 25.9625301361084], "std": [3.7075371742248535, 42.97725296020508, 38.054256439208984, 8.428750991821289, 1.3401827812194824, 18.02419090270996], "count": [272]}, "observation.state": {"min": [-6.088224411010742, -98.55931854248047, -11.801801681518555, 45.01070785522461, -7.594627380371094, 2.6417524814605713], "max": [6.088224411010742, 14.8305082321167, 99.1891860961914, 78.15845489501953, -3.492063522338867, 50.83762741088867], "mean": [-0.9237408638000488, -44.774444580078125, 51.7222785949707, 59.580867767333984, -6.620885848999023, 25.73056983947754], "std": [3.5994651317596436, 43.259620666503906, 37.649497985839844, 8.145215034484863, 1.2849172353744507, 17.21834373474121], "count": [272]}, "observation.images.up": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5649786574074074]], [[0.5281737009803922]], [[0.369163022875817]]], "std": [[[0.14948853457404482]], [[0.12525996477820503]], [[0.1459751740489513]]], "count": [100]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9058823529411765]], [[0.8431372549019608]], [[0.8941176470588236]]], "mean": [[[0.4907709395424837]], [[0.4816371405228758]], [[0.44662529684095864]]], "std": [[[0.2033206059981084]], [[0.17423788230689471]], [[0.12636687022948764]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.033333333333333], "mean": [4.516666666666667], "std": [2.617303531839167], "count": [272]}, "frame_index": {"min": [0], "max": [271], "mean": [135.5], "std": [78.51910595517501], "count": [272]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [272]}, "index": {"min": [0], "max": [271], "mean": [135.5], "std": [78.51910595517501], "count": [272]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [272]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-10.522442817687988, -100.0, -7.7340569496154785, 49.463748931884766, -18.051576614379883, 0.0], "max": [6.107431888580322, 5.134680271148682, 97.10538482666016, 79.83698272705078, -1.7973430156707764, 29.27605438232422], "mean": [-1.8198012113571167, -39.29926681518555, 40.74496078491211, 60.51149368286133, -12.133644104003906, 6.674444675445557], "std": [5.006923198699951, 39.84821319580078, 32.097660064697266, 7.498305320739746, 6.132366180419922, 8.543562889099121], "count": [264]}, "observation.state": {"min": [-10.535909652709961, -98.81356048583984, -4.504504680633545, 50.920772552490234, -17.75335693359375, 1.2242268323898315], "max": [5.942399024963379, 5.423728942871094, 97.38739013671875, 79.18629455566406, -2.026862144470215, 26.610824584960938], "mean": [-1.8327676057815552, -38.63828659057617, 41.954036712646484, 60.74524688720703, -12.185985565185547, 7.136430263519287], "std": [4.938024997711182, 40.141883850097656, 31.640649795532227, 7.154740810394287, 6.024462699890137, 8.059937477111816], "count": [264]}, "observation.images.up": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.562870119825708]], [[0.5298697875816993]], [[0.3713700462962963]]], "std": [[[0.15254883221125085]], [[0.13030448608753276]], [[0.1461634583521175]]], "count": [100]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.8392156862745098]], [[0.8705882352941177]]], "mean": [[[0.4847788671023965]], [[0.48653516612200437]], [[0.4641276715686275]]], "std": [[[0.21166804265280914]], [[0.16822466693818855]], [[0.12641786427351248]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.766666666666667], "mean": [4.383333333333334], "std": [2.5403229599286665], "count": [264]}, "frame_index": {"min": [0], "max": [263], "mean": [131.5], "std": [76.20968879786], "count": [264]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [264]}, "index": {"min": [272], "max": [535], "mean": [403.5], "std": [76.20968879786], "count": [264]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [264]}}}
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{"episode_index": 2, "stats": {"action": {"min": [-6.622516632080078, -99.91582489013672, -16.14653968811035, 40.45473861694336, -3.9333159923553467, 0.0], "max": [7.137601375579834, 12.45791244506836, 96.92446899414062, 74.43157196044922, 4.089606761932373, 24.900556564331055], "mean": [-1.4152734279632568, -60.542335510253906, 61.50400161743164, 58.8983268737793, -1.9926681518554688, 4.856228828430176], "std": [3.7955574989318848, 42.89032745361328, 38.309444427490234, 8.221146583557129, 1.9497950077056885, 6.5133867263793945], "count": [351]}, "observation.state": {"min": [-6.74444055557251, -98.38983154296875, -13.153153419494629, 41.15631866455078, -3.7851037979125977, 1.2886598110198975], "max": [6.234050273895264, 12.96610164642334, 97.11711883544922, 73.96145629882812, 4.029304027557373, 22.358247756958008], "mean": [-1.4639701843261719, -60.23781204223633, 62.84116744995117, 59.152198791503906, -1.935163140296936, 5.0663628578186035], "std": [3.72705340385437, 43.28040313720703, 37.654090881347656, 8.17314624786377, 1.9268690347671509, 6.249067783355713], "count": [351]}, "observation.images.up": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5682372276688453]], [[0.5238738752723312]], [[0.35225708877995643]]], "std": [[[0.14993372885119843]], [[0.1266518195165059]], [[0.13525208408971395]]], "count": [100]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9254901960784314]], [[0.8705882352941177]], [[0.792156862745098]]], "mean": [[[0.48853602668845314]], [[0.484332644335512]], [[0.442444621459695]]], "std": [[[0.20876851883035308]], [[0.1754737918017087]], [[0.1292646131415811]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.666666666666666], "mean": [5.833333333333333], "std": [3.3774853674601473], "count": [351]}, "frame_index": {"min": [0], "max": [350], "mean": [175.0], "std": [101.32456102380442], "count": [351]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [351]}, "index": {"min": [536], "max": [886], "mean": [711.0], "std": [101.32456102380442], "count": [351]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [351]}}}
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meta/info.json
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{
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"codebase_version": "v2.1",
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"robot_type": "so101_follower",
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"total_episodes": 3,
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"total_frames": 887,
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"total_tasks": 1,
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"total_videos": 6,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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12 |
+
"train": "0:3"
|
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 |
+
"shoulder_pan.pos",
|
24 |
+
"shoulder_lift.pos",
|
25 |
+
"elbow_flex.pos",
|
26 |
+
"wrist_flex.pos",
|
27 |
+
"wrist_roll.pos",
|
28 |
+
"gripper.pos"
|
29 |
+
]
|
30 |
+
},
|
31 |
+
"observation.state": {
|
32 |
+
"dtype": "float32",
|
33 |
+
"shape": [
|
34 |
+
6
|
35 |
+
],
|
36 |
+
"names": [
|
37 |
+
"shoulder_pan.pos",
|
38 |
+
"shoulder_lift.pos",
|
39 |
+
"elbow_flex.pos",
|
40 |
+
"wrist_flex.pos",
|
41 |
+
"wrist_roll.pos",
|
42 |
+
"gripper.pos"
|
43 |
+
]
|
44 |
+
},
|
45 |
+
"observation.images.up": {
|
46 |
+
"dtype": "video",
|
47 |
+
"shape": [
|
48 |
+
1080,
|
49 |
+
1920,
|
50 |
+
3
|
51 |
+
],
|
52 |
+
"names": [
|
53 |
+
"height",
|
54 |
+
"width",
|
55 |
+
"channels"
|
56 |
+
],
|
57 |
+
"info": {
|
58 |
+
"video.height": 1080,
|
59 |
+
"video.width": 1920,
|
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 |
+
720,
|
72 |
+
1280,
|
73 |
+
3
|
74 |
+
],
|
75 |
+
"names": [
|
76 |
+
"height",
|
77 |
+
"width",
|
78 |
+
"channels"
|
79 |
+
],
|
80 |
+
"info": {
|
81 |
+
"video.height": 720,
|
82 |
+
"video.width": 1280,
|
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/tasks.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"task_index": 0, "task": "Pick up the bolt and place it in the pink box"}
|