Hugging Face's logo

Datasets:
nimimbu
/
nudgecube

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
nimimbu commited on
Commit
ffd5910
·
verified ·
1 Parent(s): a06ddd7

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.side/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 sha256:970f6d06413084204f4a1b0e3c1d517dddbf3cf6ddc02ae93d232fbeb9102191
3
+ size 800857
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:61d95b1bd948fc2f688277eb4ad43a178aa9aa7025dcfc617c2ab4dc59bbd986
3
+ size 216941
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 100,
5
+ "total_frames": 34456,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:100"
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": "h264",
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.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.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "h264",
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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 590
8
+ ],
9
+ "mean": [
10
+ 175.88582540051078
11
+ ],
12
+ "std": [
13
+ 107.32584405274766
14
+ ],
15
+ "count": [
16
+ 34456
17
+ ],
18
+ "q01": [
19
+ 3.0459206671875414
20
+ ],
21
+ "q10": [
22
+ 34.73809286966666
23
+ ],
24
+ "q50": [
25
+ 175.67963806593903
26
+ ],
27
+ "q90": [
28
+ 316.9802884862655
29
+ ],
30
+ "q99": [
31
+ 348.71739950926934
32
+ ]
33
+ },
34
+ "task_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 0
40
+ ],
41
+ "mean": [
42
+ 0.0
43
+ ],
44
+ "std": [
45
+ 0.0
46
+ ],
47
+ "count": [
48
+ 34456
49
+ ],
50
+ "q01": [
51
+ 3.999999999999418e-16
52
+ ],
53
+ "q10": [
54
+ 3.9999999999994166e-15
55
+ ],
56
+ "q50": [
57
+ 1.9999999999997084e-14
58
+ ],
59
+ "q90": [
60
+ 3.599999999999476e-14
61
+ ],
62
+ "q99": [
63
+ 3.9599999999994235e-14
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ -32.659339904785156,
69
+ -104.57142639160156,
70
+ -13.186813354492188,
71
+ 23.25274658203125,
72
+ 17.89011001586914,
73
+ 0.808080792427063
74
+ ],
75
+ "max": [
76
+ 23.868131637573242,
77
+ 36.79121017456055,
78
+ 96.26373291015625,
79
+ 95.25274658203125,
80
+ 147.91209411621094,
81
+ 1.0774410963058472
82
+ ],
83
+ "mean": [
84
+ -6.488990066528426,
85
+ -47.31083991318865,
86
+ 62.4287492026025,
87
+ 65.30724617962719,
88
+ 85.02417314780514,
89
+ 0.8280344611604225
90
+ ],
91
+ "std": [
92
+ 7.585441304499527,
93
+ 51.93041924564006,
94
+ 34.28504777530992,
95
+ 10.856695024645756,
96
+ 19.785857907294663,
97
+ 0.030837934858118605
98
+ ],
99
+ "count": [
100
+ 34456
101
+ ],
102
+ "q01": [
103
+ -16.399876456853832,
104
+ -104.2060029289134,
105
+ 4.717095706405789,
106
+ 49.92541096009703,
107
+ 62.293916401405475,
108
+ 0.8280291368495928
109
+ ],
110
+ "q10": [
111
+ -14.413649240850564,
112
+ -104.19905274217689,
113
+ 9.09621288918226,
114
+ 54.065277193108706,
115
+ 64.6865119306185,
116
+ 0.8280291368495928
117
+ ],
118
+ "q50": [
119
+ -6.082566596766848,
120
+ -47.48762949140606,
121
+ 71.0383348080086,
122
+ 61.829837334224266,
123
+ 85.46577934569062,
124
+ 0.8280291368495928
125
+ ],
126
+ "q90": [
127
+ 0.7593615343338151,
128
+ 21.89033038931047,
129
+ 96.13492314800925,
130
+ 77.8723491285744,
131
+ 103.21538361154603,
132
+ 0.8280291368495928
133
+ ],
134
+ "q99": [
135
+ 2.389669468291438,
136
+ 25.307940007456455,
137
+ 96.14496074098643,
138
+ 78.93052393572665,
139
+ 105.39120748460114,
140
+ 0.8280291368495928
141
+ ]
142
+ },
143
+ "observation.images.side": {
144
+ "min": [
145
+ [
146
+ [
147
+ 0.0
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ]
160
+ ],
161
+ "max": [
162
+ [
163
+ [
164
+ 1.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ]
177
+ ],
178
+ "mean": [
179
+ [
180
+ [
181
+ 0.39554910592257664
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.39253918031507645
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.3869697574774724
192
+ ]
193
+ ]
194
+ ],
195
+ "std": [
196
+ [
197
+ [
198
+ 0.005903866921994978
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.0050496700144432305
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.006330702095809554
209
+ ]
210
+ ]
211
+ ],
212
+ "count": [
213
+ 661555200
214
+ ],
215
+ "q01": [
216
+ [
217
+ [
218
+ 0.026218935454884885
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.01923320909242291
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.00014426339236707148
229
+ ]
230
+ ]
231
+ ],
232
+ "q10": [
233
+ [
234
+ [
235
+ 0.045313603375862134
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.033522836094942735
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.011329414315532294
246
+ ]
247
+ ]
248
+ ],
249
+ "q50": [
250
+ [
251
+ [
252
+ 0.5162577604014753
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.4882739249166096
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.47107461030609094
263
+ ]
264
+ ]
265
+ ],
266
+ "q90": [
267
+ [
268
+ [
269
+ 0.6710364836785935
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.7018166359469118
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.7291109043556193
280
+ ]
281
+ ]
282
+ ],
283
+ "q99": [
284
+ [
285
+ [
286
+ 0.7051475746665551
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.7328549420520365
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.762361335517373
297
+ ]
298
+ ]
299
+ ]
300
+ },
301
+ "action": {
302
+ "min": [
303
+ -33.626373291015625,
304
+ -105.05494689941406,
305
+ -15.428571701049805,
306
+ 21.010988235473633,
307
+ 17.36263656616211,
308
+ 0.40420371294021606
309
+ ],
310
+ "max": [
311
+ 25.098901748657227,
312
+ 36.74725341796875,
313
+ 97.45054626464844,
314
+ 96.35164642333984,
315
+ 148.43955993652344,
316
+ 0.6467259526252747
317
+ ],
318
+ "mean": [
319
+ -6.259550787405993,
320
+ -47.79472666083452,
321
+ 61.45744689944063,
322
+ 65.332497832004,
323
+ 85.0075275285188,
324
+ 0.5361765541494349
325
+ ],
326
+ "std": [
327
+ 7.626561471140537,
328
+ 51.552839673971384,
329
+ 35.30227284414447,
330
+ 11.088558767941972,
331
+ 19.81273183774287,
332
+ 0.09043611289193394
333
+ ],
334
+ "count": [
335
+ 34456
336
+ ],
337
+ "q01": [
338
+ -17.16380242566077,
339
+ -104.41115365565561,
340
+ 1.9761352850033722,
341
+ 49.175244166353174,
342
+ 61.772261651225165,
343
+ 0.5348027080992881
344
+ ],
345
+ "q10": [
346
+ -14.593805995578036,
347
+ -104.23793576610304,
348
+ 7.040084347620552,
349
+ 53.76337892029566,
350
+ 64.53208419126422,
351
+ 0.5348027080992881
352
+ ],
353
+ "q50": [
354
+ -5.659948334868727,
355
+ -47.97605879124012,
356
+ 69.3982994341899,
357
+ 61.85676372949352,
358
+ 85.46362845951121,
359
+ 0.5364752763682701
360
+ ],
361
+ "q90": [
362
+ 1.116268390865838,
363
+ 20.94152482111378,
364
+ 96.78844488527405,
365
+ 78.04244489286276,
366
+ 103.31780609226335,
367
+ 0.5372660985837573
368
+ ],
369
+ "q99": [
370
+ 3.27692160252927,
371
+ 24.98467466930744,
372
+ 96.8861146549368,
373
+ 79.37440896130855,
374
+ 105.88288319550156,
375
+ 0.5388639308411565
376
+ ]
377
+ },
378
+ "index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 10206
384
+ ],
385
+ "mean": [
386
+ 4357.40251335036
387
+ ],
388
+ "std": [
389
+ 2579.2072388241377
390
+ ],
391
+ "count": [
392
+ 34456
393
+ ],
394
+ "q01": [
395
+ 4184.562608617037
396
+ ],
397
+ "q10": [
398
+ 4216.254780819516
399
+ ],
400
+ "q50": [
401
+ 4357.201383224983
402
+ ],
403
+ "q90": [
404
+ 4498.496976436114
405
+ ],
406
+ "q99": [
407
+ 4530.234087459118
408
+ ]
409
+ },
410
+ "observation.images.top": {
411
+ "min": [
412
+ [
413
+ [
414
+ 0.0
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.0
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.0
425
+ ]
426
+ ]
427
+ ],
428
+ "max": [
429
+ [
430
+ [
431
+ 1.0
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 1.0
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 1.0
442
+ ]
443
+ ]
444
+ ],
445
+ "mean": [
446
+ [
447
+ [
448
+ 0.45107145607981985
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 0.4553739815205259
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.45277577873898284
459
+ ]
460
+ ]
461
+ ],
462
+ "std": [
463
+ [
464
+ [
465
+ 0.0031944279088455367
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.003207169539490463
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.003602753363007763
476
+ ]
477
+ ]
478
+ ],
479
+ "count": [
480
+ 661555200
481
+ ],
482
+ "q01": [
483
+ [
484
+ [
485
+ 0.019630911214803013
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.023493590358431547
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ 0.02341820630320865
496
+ ]
497
+ ]
498
+ ],
499
+ "q10": [
500
+ [
501
+ [
502
+ 0.11263933675000339
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.10452057649291764
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.0857472992726712
513
+ ]
514
+ ]
515
+ ],
516
+ "q50": [
517
+ [
518
+ [
519
+ 0.5547906755389066
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 0.5467046822783033
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 0.527115383238182
530
+ ]
531
+ ]
532
+ ],
533
+ "q90": [
534
+ [
535
+ [
536
+ 0.6207644869437102
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.6528443983707204
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.6845341887409176
547
+ ]
548
+ ]
549
+ ],
550
+ "q99": [
551
+ [
552
+ [
553
+ 0.6653021171245201
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.6959207501271267
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.7291101138563992
564
+ ]
565
+ ]
566
+ ]
567
+ },
568
+ "episode_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 24
574
+ ],
575
+ "mean": [
576
+ 11.875029022521476
577
+ ],
578
+ "std": [
579
+ 7.296106037393237
580
+ ],
581
+ "count": [
582
+ 34456
583
+ ],
584
+ "q01": [
585
+ 11.875029022521476
586
+ ],
587
+ "q10": [
588
+ 11.875029022521478
589
+ ],
590
+ "q50": [
591
+ 11.875029022521497
592
+ ],
593
+ "q90": [
594
+ 11.875029022521515
595
+ ],
596
+ "q99": [
597
+ 11.875029022521517
598
+ ]
599
+ },
600
+ "timestamp": {
601
+ "min": [
602
+ 0.0
603
+ ],
604
+ "max": [
605
+ 19.666666666666668
606
+ ],
607
+ "mean": [
608
+ 5.8628608466836925
609
+ ],
610
+ "std": [
611
+ 3.5775281350915895
612
+ ],
613
+ "count": [
614
+ 34456
615
+ ],
616
+ "q01": [
617
+ 0.10153068881125459
618
+ ],
619
+ "q10": [
620
+ 1.1579364289113052
621
+ ],
622
+ "q50": [
623
+ 5.856088780280041
624
+ ],
625
+ "q90": [
626
+ 10.5660096162864
627
+ ],
628
+ "q99": [
629
+ 11.62391331707064
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:19ab30f5dc59a45300848d24d290b756f816d8c8ce1c1c619f1334a8a3cfe0b1
3
+ size 2218
videos/observation.images.side/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:46b6045d239de05ab5075b15fcc555c51d8bcb617d98c020bef6e45e44cbbee2
3
+ size 7610986
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 sha256:0c1fc946da93bf24ed9e615a71cefdaf1c6edce9567ec52fbe9498e53301affc
3
+ size 13610280