Hugging Face's logo

Datasets:
zeuzei
/
p16

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
zeuzei commited on
Commit
2dbb073
·
verified ·
1 Parent(s): 15b42ed

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.top/chunk-000/file-000.mp4 +3 -0
  7. 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 sha256:9911e06de817dd299e17622eac6a0089937f11502da20b7aba89061d47afe7a8
3
+ size 250209
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7ac744219d804ddd63bcc9eab4fc14982c3ed3a05c9ba04e3de8fd24cfa6cc3a
3
+ size 64400
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 5980,
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": "0:10"
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": "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.wrist": {
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
+ "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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 19.9
8
+ ],
9
+ "mean": [
10
+ 9.95
11
+ ],
12
+ "std": [
13
+ 5.754249637345333
14
+ ],
15
+ "count": [
16
+ 5980
17
+ ],
18
+ "q01": [
19
+ 0.1670803999016792
20
+ ],
21
+ "q10": [
22
+ 1.969303999919792
23
+ ],
24
+ "q50": [
25
+ 9.934079999999838
26
+ ],
27
+ "q90": [
28
+ 17.930696000080204
29
+ ],
30
+ "q99": [
31
+ 19.732919600098317
32
+ ]
33
+ },
34
+ "action": {
35
+ "min": [
36
+ -12.395604133605957,
37
+ -99.42857360839844,
38
+ -84.52747344970703,
39
+ 27.69230842590332,
40
+ -13.142857551574707,
41
+ 0.0
42
+ ],
43
+ "max": [
44
+ 34.46154022216797,
45
+ 57.31867980957031,
46
+ 97.80220031738281,
47
+ 102.5934066772461,
48
+ 67.47252655029297,
49
+ 36.7843132019043
50
+ ],
51
+ "mean": [
52
+ 5.1223825216293335,
53
+ -46.04019908905029,
54
+ 46.75154914855957,
55
+ 67.56960372924806,
56
+ 0.580302119255066,
57
+ 7.311814641952516
58
+ ],
59
+ "std": [
60
+ 8.86037709277552,
61
+ 56.04485119044912,
62
+ 54.97484512983047,
63
+ 14.706776665529498,
64
+ 10.048830124672952,
65
+ 10.57980076742969
66
+ ],
67
+ "count": [
68
+ 5980
69
+ ],
70
+ "q01": [
71
+ -7.568977975654602,
72
+ -97.9466818688967,
73
+ -64.8800222752889,
74
+ 36.098699046019355,
75
+ -7.833104752557725,
76
+ 0.7827596700729176
77
+ ],
78
+ "q10": [
79
+ -2.8999327133208737,
80
+ -97.899549904272,
81
+ -48.740768098831175,
82
+ 47.68508533477783,
83
+ -7.490072243515357,
84
+ 0.9107605676344758
85
+ ],
86
+ "q50": [
87
+ 2.9967124113022536,
88
+ -75.3916766187179,
89
+ 76.54632036824101,
90
+ 69.93137694911435,
91
+ -0.7893108973310665,
92
+ 1.0207480144195387
93
+ ],
94
+ "q90": [
95
+ 17.257319797031467,
96
+ 39.606672617594405,
97
+ 92.22161194947034,
98
+ 80.70838291168212,
99
+ 10.778182938759338,
100
+ 27.278029609256862
101
+ ],
102
+ "q99": [
103
+ 28.921212162780762,
104
+ 48.43653275196919,
105
+ 95.48997806023492,
106
+ 102.13922941356269,
107
+ 18.064610589654677,
108
+ 30.673512206326013
109
+ ]
110
+ },
111
+ "observation.images.wrist": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.5734967393450435
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.5798802510552833
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.5731384356277233
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.006942708808728082
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.006208412180991687
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.007464598011819966
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 1200
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.10192953608838336
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.12508585378862358
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.14549712360087125
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.4858605388185606
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.47415201882859376
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.4294086135391147
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.5917693968336214
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.5890123994197639
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.5435599159200775
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.6493736312787807
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.6890177801671937
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.7819491918531497
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.7451064709807251
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.776480579291441
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.8764511924802793
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "task_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 0
275
+ ],
276
+ "mean": [
277
+ 0.0
278
+ ],
279
+ "std": [
280
+ 0.0
281
+ ],
282
+ "count": [
283
+ 5980
284
+ ],
285
+ "q01": [
286
+ 3.999999999999419e-16
287
+ ],
288
+ "q10": [
289
+ 3.999999999999418e-15
290
+ ],
291
+ "q50": [
292
+ 1.9999999999997088e-14
293
+ ],
294
+ "q90": [
295
+ 3.599999999999476e-14
296
+ ],
297
+ "q99": [
298
+ 3.9599999999994235e-14
299
+ ]
300
+ },
301
+ "observation.images.top": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.5768891018178105
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.5592132226988018
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.5975205851715687
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.012817917776209284
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.010570034001489651
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.012466788338378556
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 1200
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.04196155006366593
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.02704539143828078
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.07140216589007274
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.36861260319341976
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.28193299241202757
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.4643095370643716
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.6090045333325147
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.5917184289726276
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.5827182111809137
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.6996010099802266
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.7070689168351685
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.8082362266220614
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.808246160306835
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.826700472490035
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.9604210191518066
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "frame_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 597
465
+ ],
466
+ "mean": [
467
+ 298.5
468
+ ],
469
+ "std": [
470
+ 172.62748912035997
471
+ ],
472
+ "count": [
473
+ 5980
474
+ ],
475
+ "q01": [
476
+ 5.01241199990168
477
+ ],
478
+ "q10": [
479
+ 59.07911999991979
480
+ ],
481
+ "q50": [
482
+ 298.0223999999999
483
+ ],
484
+ "q90": [
485
+ 537.9208800000802
486
+ ],
487
+ "q99": [
488
+ 591.9875880000983
489
+ ]
490
+ },
491
+ "episode_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 9
497
+ ],
498
+ "mean": [
499
+ 4.5
500
+ ],
501
+ "std": [
502
+ 2.8722813232690143
503
+ ],
504
+ "count": [
505
+ 5980
506
+ ],
507
+ "q01": [
508
+ 4.5
509
+ ],
510
+ "q10": [
511
+ 4.500000000000004
512
+ ],
513
+ "q50": [
514
+ 4.50000000000002
515
+ ],
516
+ "q90": [
517
+ 4.5000000000000355
518
+ ],
519
+ "q99": [
520
+ 4.50000000000004
521
+ ]
522
+ },
523
+ "index": {
524
+ "min": [
525
+ 0
526
+ ],
527
+ "max": [
528
+ 5979
529
+ ],
530
+ "mean": [
531
+ 2989.5
532
+ ],
533
+ "std": [
534
+ 1726.277280740264
535
+ ],
536
+ "count": [
537
+ 5980
538
+ ],
539
+ "q01": [
540
+ 2696.012411999902
541
+ ],
542
+ "q10": [
543
+ 2750.0791199999203
544
+ ],
545
+ "q50": [
546
+ 2989.0224
547
+ ],
548
+ "q90": [
549
+ 3228.92088000008
550
+ ],
551
+ "q99": [
552
+ 3282.987588000098
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -11.95604419708252,
558
+ -97.75823974609375,
559
+ -80.0,
560
+ 28.483516693115234,
561
+ -12.351648330688477,
562
+ 1.4983713626861572
563
+ ],
564
+ "max": [
565
+ 34.021976470947266,
566
+ 57.93406677246094,
567
+ 109.45054626464844,
568
+ 101.89010620117188,
569
+ 67.12088012695312,
570
+ 36.286643981933594
571
+ ],
572
+ "mean": [
573
+ 4.993485736846924,
574
+ -45.17651233673096,
575
+ 48.6191909790039,
576
+ 67.51059837341307,
577
+ 0.7307633519172668,
578
+ 8.80796947479248
579
+ ],
580
+ "std": [
581
+ 8.867295428751714,
582
+ 56.602135461465174,
583
+ 54.943905768911414,
584
+ 14.433976681308689,
585
+ 9.946603093532662,
586
+ 9.771939348840665
587
+ ],
588
+ "count": [
589
+ 5980
590
+ ],
591
+ "q01": [
592
+ -7.288842761399584,
593
+ -97.59356471613833,
594
+ -62.51802319201301,
595
+ 36.71213712544493,
596
+ -7.490109893679619,
597
+ 1.583061897754669
598
+ ],
599
+ "q10": [
600
+ -2.953777978806972,
601
+ -97.5763845731501,
602
+ -46.207034442608176,
603
+ 48.19542913283425,
604
+ -7.305563511904562,
605
+ 1.5960479769960119
606
+ ],
607
+ "q50": [
608
+ 2.909539066538597,
609
+ -74.57816855349019,
610
+ 78.16678243647182,
611
+ 69.69591706214337,
612
+ -0.7569848324400751,
613
+ 3.3299159097849746
614
+ ],
615
+ "q90": [
616
+ 17.150952986717225,
617
+ 41.68374267578124,
618
+ 94.61377568870248,
619
+ 80.9361867558669,
620
+ 10.839193836542877,
621
+ 26.650350087894846
622
+ ],
623
+ "q99": [
624
+ 28.594684876254497,
625
+ 49.29875798848233,
626
+ 96.37477511751108,
627
+ 101.5388167207396,
628
+ 17.57999810255359,
629
+ 30.04379528079061
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2bcda6cb14cfca3ff1b755e7c8088a44120ea0e7b237f69d97a6e653740d82cd
3
+ size 2095
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 sha256:69b8fa45f71e62e353ca176efe2958916614500510bb109a9ad8caca40805acb
3
+ size 60538336
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 sha256:568417d6cc062ab217611e2d858ecc991b0ab3c93f4f1d2f519b52c5ba9e70f9
3
+ size 20487488