Hugging Face's logo

Datasets:
charleyong
/
so100_test_3cam_3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
charleyong commited on
Commit
345d71e
·
verified ·
1 Parent(s): e382c3c

Upload folder using huggingface_hub

Browse files
Files changed (12) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. meta/episodes.jsonl +2 -0
  4. meta/episodes_stats.jsonl +2 -0
  5. meta/info.json +150 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.left_stationary/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.left_stationary/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.right_stationary/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.right_stationary/episode_000001.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
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba164bf23c8bbb4b1008509933d02ed5679f96a9acc3980c15ea0a9a080472b1
3
+ size 41502
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:94b6fab0df84dff0c71c73fa38e0331062b9f73572ca7a684649538e63011102
3
+ size 43462
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 882}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 881}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-12.744140625, 68.115234375, 55.107421875, 58.0078125, -3.69140625, -0.09505703300237656], "max": [9.84375, 185.09765625, 174.90234375, 110.56640625, 158.73046875, 72.43345642089844], "mean": [-1.4865672588348389, 84.40784454345703, 90.49638366699219, 78.73373413085938, 96.7191390991211, 23.892297744750977], "std": [5.3716511726379395, 24.048311233520508, 21.306358337402344, 10.494704246520996, 34.797203063964844, 22.728574752807617], "count": [882]}, "observation.state": {"min": [-12.65625, 67.587890625, 58.798828125, 58.88671875, -3.427734375, 0.5641748905181885], "max": [9.84375, 185.712890625, 174.90234375, 106.171875, 158.203125, 72.14386749267578], "mean": [-1.5386838912963867, 83.15764617919922, 91.95548248291016, 78.61205291748047, 96.8533706665039, 26.53046989440918], "std": [5.348812103271484, 25.119062423706055, 21.678735733032227, 10.084981918334961, 34.60420608520508, 19.62405776977539], "count": [882]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5960765652275404]], [[0.5000340676125523]], [[0.33470481544066905]]], "std": [[[0.21115966922697102]], [[0.23225978489082819]], [[0.2275124220831188]]], "count": [161]}, "observation.images.right_stationary": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5818067023911014]], [[0.5431120790707588]], [[0.502471115982625]]], "std": [[[0.2674907856851087]], [[0.2746118910405247]], [[0.2696424197971041]]], "count": [161]}, "observation.images.left_stationary": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6004505541346974]], [[0.5295652694048634]], [[0.49411327665124016]]], "std": [[[0.21959681188670496]], [[0.28438632292045307]], [[0.2828111023981321]]], "count": [161]}, "timestamp": {"min": [0.0], "max": [29.366666666666667], "mean": [14.683333333333334], "std": [8.487043502151229], "count": [882]}, "frame_index": {"min": [0], "max": [881], "mean": [440.5], "std": [254.61130506453688], "count": [882]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [882]}, "index": {"min": [0], "max": [881], "mean": [440.5], "std": [254.61130506453688], "count": [882]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [882]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-39.90234375, 2.98828125, -18.6328125, 40.95703125, 78.046875, -0.09505703300237656], "max": [8.61328125, 185.185546875, 174.90234375, 111.09375, 154.51171875, 72.52851867675781], "mean": [-14.352608680725098, 69.92129516601562, 58.16238784790039, 83.83041381835938, 99.78791809082031, 20.56328773498535], "std": [15.869433403015137, 53.1651725769043, 64.92774963378906, 21.895925521850586, 19.661558151245117, 22.566402435302734], "count": [881]}, "observation.state": {"min": [-39.990234375, 2.8125, -12.392578125, 41.66015625, 78.837890625, 0.5641748905181885], "max": [8.7890625, 185.80078125, 174.90234375, 106.259765625, 153.984375, 72.14386749267578], "mean": [-14.324076652526855, 68.81877136230469, 60.41969299316406, 82.07756042480469, 99.79285430908203, 23.721641540527344], "std": [15.812131881713867, 54.11849594116211, 63.909732818603516, 20.149341583251953, 19.595413208007812, 19.962738037109375], "count": [881]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5976897454634028]], [[0.5079073334043762]], [[0.34257845674501686]]], "std": [[[0.18607136148132278]], [[0.2249775564588716]], [[0.2366612319458909]]], "count": [161]}, "observation.images.right_stationary": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5826905497706328]], [[0.5499331778001055]], [[0.506706491292169]]], "std": [[[0.2663782712528004]], [[0.26998449395477775]], [[0.2658077559011316]]], "count": [161]}, "observation.images.left_stationary": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5737261587606056]], [[0.49286432960865506]], [[0.45634913784354325]]], "std": [[[0.22274774771215103]], [[0.28934686778138974]], [[0.28704426446184583]]], "count": [161]}, "timestamp": {"min": [0.0], "max": [29.333333333333332], "mean": [14.666666666666666], "std": [8.477420991472977], "count": [881]}, "frame_index": {"min": [0], "max": [880], "mean": [440.0], "std": [254.3226297441893], "count": [881]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [881]}, "index": {"min": [882], "max": [1762], "mean": [1322.0], "std": [254.3226297441893], "count": [881]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [881]}}}
meta/info.json ADDED
@@ -0,0 +1,150 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 2,
5
+ "total_frames": 1763,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
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.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.right_stationary": {
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
+ "observation.images.left_stationary": {
92
+ "dtype": "video",
93
+ "shape": [
94
+ 480,
95
+ 640,
96
+ 3
97
+ ],
98
+ "names": [
99
+ "height",
100
+ "width",
101
+ "channels"
102
+ ],
103
+ "info": {
104
+ "video.height": 480,
105
+ "video.width": 640,
106
+ "video.codec": "av1",
107
+ "video.pix_fmt": "yuv420p",
108
+ "video.is_depth_map": false,
109
+ "video.fps": 30,
110
+ "video.channels": 3,
111
+ "has_audio": false
112
+ }
113
+ },
114
+ "timestamp": {
115
+ "dtype": "float32",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "frame_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ },
128
+ "episode_index": {
129
+ "dtype": "int64",
130
+ "shape": [
131
+ 1
132
+ ],
133
+ "names": null
134
+ },
135
+ "index": {
136
+ "dtype": "int64",
137
+ "shape": [
138
+ 1
139
+ ],
140
+ "names": null
141
+ },
142
+ "task_index": {
143
+ "dtype": "int64",
144
+ "shape": [
145
+ 1
146
+ ],
147
+ "names": null
148
+ }
149
+ }
150
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
videos/chunk-000/observation.images.left_stationary/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cb67450952ff4ee479c3ee5c645f6cbab6c485e9701a06f25e8ff4b3ec95c016
3
+ size 9627457
videos/chunk-000/observation.images.left_stationary/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9775019cc58554cb714405e4f9666c8a5ef0bc9b9f91652d06cc26ce90e7aaeb
3
+ size 9461405
videos/chunk-000/observation.images.right_stationary/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7406cf4aaa8b8d14a4759caa1bc9f9223bbab68ec088aef43569d3b69f2a006a
3
+ size 9484580
videos/chunk-000/observation.images.right_stationary/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:db4c403288d68077f523f63b7f4748451ab35adc8383b859e6bfb7ca4d3b4cc2
3
+ size 8998711
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 sha256:1a780fadb0108cc74aaa602e4a52aa8e8291a728c84cd45dadecba7e33d98e19
3
+ size 7637886
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 sha256:1cb069d1cbe3100d1bbdfe32bf8a316addbb0c658fb8b6f32af5a29cb35e5719
3
+ size 7238085