Hugging Face's logo

Datasets:
yuz1wan
/
so100_pick_wahaha_4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
yuz1wan commited on
Commit
2b2788d
·
verified ·
1 Parent(s): 83e54f0

Upload folder using huggingface_hub

Browse files
Files changed (13) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. data/chunk-000/episode_000002.parquet +3 -0
  4. meta/episodes.jsonl +3 -0
  5. meta/info.json +127 -0
  6. meta/stats.json +280 -0
  7. meta/tasks.jsonl +1 -0
  8. videos/chunk-000/observation.images.side/episode_000000.mp4 +3 -0
  9. videos/chunk-000/observation.images.side/episode_000001.mp4 +3 -0
  10. videos/chunk-000/observation.images.side/episode_000002.mp4 +3 -0
  11. videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
  12. videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
  13. videos/chunk-000/observation.images.wrist/episode_000002.mp4 +3 -0
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:021c6a42bb16cfed23bd503019797908a7f7b161b844d3b6136c2ec987289218
3
+ size 12671
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e228599de70169c8ec28cfe4d53933ef9c78f4fb507961ac1ea9319558083c6d
3
+ size 16539
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:75ef23fcc8a70fdb77091c0ff8625881995dc1215149c9682f83a0274f4faf15
3
+ size 15839
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Pick the bottle."], "length": 166}
2
+ {"episode_index": 1, "tasks": ["Pick the bottle."], "length": 231}
3
+ {"episode_index": 2, "tasks": ["Pick the bottle."], "length": 216}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "so100",
4
+ "total_episodes": 3,
5
+ "total_frames": 613,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
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
+ "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.wrist": {
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
+ "observation.images.side": {
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.fps": 30.0,
82
+ "video.height": 480,
83
+ "video.width": 640,
84
+ "video.channels": 3,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
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 +1,280 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ -6.365976333618164,
5
+ 116.30480194091797,
6
+ 97.68004608154297,
7
+ 71.79946899414062,
8
+ -30.344205856323242,
9
+ 31.683208465576172
10
+ ],
11
+ "std": [
12
+ 8.1228666305542,
13
+ 51.499305725097656,
14
+ 59.032562255859375,
15
+ 18.435468673706055,
16
+ 18.089710235595703,
17
+ 22.12526512145996
18
+ ],
19
+ "max": [
20
+ 7.294921875,
21
+ 189.84375,
22
+ 175.693359375,
23
+ 101.689453125,
24
+ -3.33984375,
25
+ 60.19503402709961
26
+ ],
27
+ "min": [
28
+ -23.642578125,
29
+ 20.7421875,
30
+ -15.64453125,
31
+ 46.23046875,
32
+ -61.259765625,
33
+ 0.08865248411893845
34
+ ]
35
+ },
36
+ "observation.state": {
37
+ "mean": [
38
+ -6.250700950622559,
39
+ 109.84678649902344,
40
+ 98.67577362060547,
41
+ 71.99490356445312,
42
+ -30.17788314819336,
43
+ 34.28944778442383
44
+ ],
45
+ "std": [
46
+ 7.643556594848633,
47
+ 51.21694564819336,
48
+ 56.18021774291992,
49
+ 18.03986930847168,
50
+ 18.081663131713867,
51
+ 18.638153076171875
52
+ ],
53
+ "max": [
54
+ 6.328125,
55
+ 188.876953125,
56
+ 175.95703125,
57
+ 100.810546875,
58
+ -2.8125,
59
+ 59.664695739746094
60
+ ],
61
+ "min": [
62
+ -22.939453125,
63
+ 17.490234375,
64
+ -10.1953125,
65
+ 47.021484375,
66
+ -60.732421875,
67
+ 0.5917159914970398
68
+ ]
69
+ },
70
+ "observation.images.wrist": {
71
+ "mean": [
72
+ [
73
+ [
74
+ 0.5989617705345154
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.6160745620727539
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.5884239673614502
85
+ ]
86
+ ]
87
+ ],
88
+ "std": [
89
+ [
90
+ [
91
+ 0.10588296502828598
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.11634249985218048
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.11372211575508118
102
+ ]
103
+ ]
104
+ ],
105
+ "max": [
106
+ [
107
+ [
108
+ 0.9215686321258545
109
+ ]
110
+ ],
111
+ [
112
+ [
113
+ 0.9529411792755127
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 0.9372549057006836
119
+ ]
120
+ ]
121
+ ],
122
+ "min": [
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ],
128
+ [
129
+ [
130
+ 0.0
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 0.0
136
+ ]
137
+ ]
138
+ ]
139
+ },
140
+ "observation.images.side": {
141
+ "mean": [
142
+ [
143
+ [
144
+ 0.586033821105957
145
+ ]
146
+ ],
147
+ [
148
+ [
149
+ 0.6125447750091553
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.5901517271995544
155
+ ]
156
+ ]
157
+ ],
158
+ "std": [
159
+ [
160
+ [
161
+ 0.14220644533634186
162
+ ]
163
+ ],
164
+ [
165
+ [
166
+ 0.14979420602321625
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.1497068852186203
172
+ ]
173
+ ]
174
+ ],
175
+ "max": [
176
+ [
177
+ [
178
+ 1.0
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 1.0
184
+ ]
185
+ ],
186
+ [
187
+ [
188
+ 1.0
189
+ ]
190
+ ]
191
+ ],
192
+ "min": [
193
+ [
194
+ [
195
+ 0.0
196
+ ]
197
+ ],
198
+ [
199
+ [
200
+ 0.0
201
+ ]
202
+ ],
203
+ [
204
+ [
205
+ 0.0
206
+ ]
207
+ ]
208
+ ]
209
+ },
210
+ "timestamp": {
211
+ "mean": [
212
+ 3.451875925064087
213
+ ],
214
+ "std": [
215
+ 2.0662217140197754
216
+ ],
217
+ "max": [
218
+ 7.666666507720947
219
+ ],
220
+ "min": [
221
+ 0.0
222
+ ]
223
+ },
224
+ "frame_index": {
225
+ "mean": [
226
+ 103.55625915527344
227
+ ],
228
+ "std": [
229
+ 61.98664855957031
230
+ ],
231
+ "max": [
232
+ 230.0
233
+ ],
234
+ "min": [
235
+ 0.0
236
+ ]
237
+ },
238
+ "episode_index": {
239
+ "mean": [
240
+ 1.0815660953521729
241
+ ],
242
+ "std": [
243
+ 0.7851827144622803
244
+ ],
245
+ "max": [
246
+ 2.0
247
+ ],
248
+ "min": [
249
+ 0.0
250
+ ]
251
+ },
252
+ "index": {
253
+ "mean": [
254
+ 306.0
255
+ ],
256
+ "std": [
257
+ 176.95761108398438
258
+ ],
259
+ "max": [
260
+ 612.0
261
+ ],
262
+ "min": [
263
+ 0.0
264
+ ]
265
+ },
266
+ "task_index": {
267
+ "mean": [
268
+ 0.0
269
+ ],
270
+ "std": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 0.0
275
+ ],
276
+ "min": [
277
+ 0.0
278
+ ]
279
+ }
280
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Pick the bottle."}
videos/chunk-000/observation.images.side/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3260f20d735453f7d503a564c9b43b32cbe07737d86dcccd05994ee0d6aa74fc
3
+ size 1181059
videos/chunk-000/observation.images.side/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:963eba6b4fbc9ad787d63742ce595fcdd445c2ed072b50f2e07f968c47e87bcb
3
+ size 1829037
videos/chunk-000/observation.images.side/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e262327208efc7f28d09cc98493ca2618562abfb3e446ff63b234ddd2d8bc822
3
+ size 1368344
videos/chunk-000/observation.images.wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd0435da8ee1bc40a00932f71e743ef4688d4132bc9a330875f22059b52f5bfa
3
+ size 231806
videos/chunk-000/observation.images.wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a7fafdd03a42ae8bcb85e742fd6d291798ef9db790ab7f170011c62f2ddb7ecc
3
+ size 223601
videos/chunk-000/observation.images.wrist/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0a2d70fe428da61cb21e1c94a3738e14ef9bd140cc73767194e1b2022c487442
3
+ size 407661