Hugging Face's logo

Datasets:
DuckZH
/
so100_test_3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
DuckZH commited on
Commit
f17c495
·
verified ·
1 Parent(s): 60326ca

Upload folder using huggingface_hub

Browse files
Files changed (19) 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. data/chunk-000/episode_000003.parquet +3 -0
  5. data/chunk-000/episode_000004.parquet +3 -0
  6. meta/episodes.jsonl +5 -0
  7. meta/info.json +127 -0
  8. meta/stats.json +280 -0
  9. meta/tasks.jsonl +1 -0
  10. videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
  11. videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
  12. videos/chunk-000/observation.images.front/episode_000002.mp4 +3 -0
  13. videos/chunk-000/observation.images.front/episode_000003.mp4 +3 -0
  14. videos/chunk-000/observation.images.front/episode_000004.mp4 +3 -0
  15. videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
  16. videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
  17. videos/chunk-000/observation.images.wrist/episode_000002.mp4 +3 -0
  18. videos/chunk-000/observation.images.wrist/episode_000003.mp4 +3 -0
  19. videos/chunk-000/observation.images.wrist/episode_000004.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:e2f48fd1aa04a7cf4f0cab9611cc3072ca402839e4b3241881239a82a682e28d
3
+ size 56806
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:308dba1de6c7e3ddc6b1c12343691d363826535ffa8bbecafe7250d60ae01cff
3
+ size 54438
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8108a29853331284d38b1014f8e3cf9ab55dd76cdb19b7f6463836f311e478f9
3
+ size 54560
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5f441660f368ae258c6cedb55d58ccb1ebd0750843d06b4e7884fcabbaa7388c
3
+ size 56653
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c6cb6a4ca3c054ea703bb8939a93558e113237240418ada95b01b01ef4d43069
3
+ size 53249
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Play music."], "length": 1795}
2
+ {"episode_index": 1, "tasks": ["Play music."], "length": 1795}
3
+ {"episode_index": 2, "tasks": ["Play music."], "length": 1795}
4
+ {"episode_index": 3, "tasks": ["Play music."], "length": 1794}
5
+ {"episode_index": 4, "tasks": ["Play music."], "length": 1795}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "so100",
4
+ "total_episodes": 5,
5
+ "total_frames": 8974,
6
+ "total_tasks": 1,
7
+ "total_videos": 10,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:5"
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": "h264",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.front": {
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": "h264",
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
+ 15.428849220275879,
5
+ 148.05465698242188,
6
+ 145.47166442871094,
7
+ 62.85350036621094,
8
+ 90.3667984008789,
9
+ 1.9868603944778442
10
+ ],
11
+ "std": [
12
+ 26.87323760986328,
13
+ 54.69565963745117,
14
+ 41.92442321777344,
15
+ 23.672212600708008,
16
+ 12.198023796081543,
17
+ 6.19042444229126
18
+ ],
19
+ "max": [
20
+ 70.48828125,
21
+ 195.29296875,
22
+ 180.615234375,
23
+ 103.798828125,
24
+ 128.408203125,
25
+ 32.13981246948242
26
+ ],
27
+ "min": [
28
+ -11.6015625,
29
+ 52.119140625,
30
+ 53.0859375,
31
+ -7.470703125,
32
+ 72.59765625,
33
+ -2.216538906097412
34
+ ]
35
+ },
36
+ "observation.state": {
37
+ "mean": [
38
+ 15.369616508483887,
39
+ 146.94996643066406,
40
+ 145.66604614257812,
41
+ 62.37997817993164,
42
+ 89.85478210449219,
43
+ 2.6904802322387695
44
+ ],
45
+ "std": [
46
+ 26.473182678222656,
47
+ 55.24855041503906,
48
+ 41.41176223754883,
49
+ 23.322467803955078,
50
+ 12.218022346496582,
51
+ 5.76488733291626
52
+ ],
53
+ "max": [
54
+ 69.697265625,
55
+ 194.765625,
56
+ 180.17578125,
57
+ 102.65625,
58
+ 127.353515625,
59
+ 31.283422470092773
60
+ ],
61
+ "min": [
62
+ -10.8984375,
63
+ 51.15234375,
64
+ 55.283203125,
65
+ -6.416015625,
66
+ 71.982421875,
67
+ -0.6238859295845032
68
+ ]
69
+ },
70
+ "observation.images.wrist": {
71
+ "mean": [
72
+ [
73
+ [
74
+ 0.41662824153900146
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.406517893075943
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.3927799463272095
85
+ ]
86
+ ]
87
+ ],
88
+ "std": [
89
+ [
90
+ [
91
+ 0.15794232487678528
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.1831640899181366
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.19093649089336395
102
+ ]
103
+ ]
104
+ ],
105
+ "max": [
106
+ [
107
+ [
108
+ 1.0
109
+ ]
110
+ ],
111
+ [
112
+ [
113
+ 1.0
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 1.0
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.front": {
141
+ "mean": [
142
+ [
143
+ [
144
+ 0.6621895432472229
145
+ ]
146
+ ],
147
+ [
148
+ [
149
+ 0.5671360492706299
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.5010027289390564
155
+ ]
156
+ ]
157
+ ],
158
+ "std": [
159
+ [
160
+ [
161
+ 0.1727953851222992
162
+ ]
163
+ ],
164
+ [
165
+ [
166
+ 0.24297769367694855
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.26629406213760376
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
+ 29.896663665771484
213
+ ],
214
+ "std": [
215
+ 17.270463943481445
216
+ ],
217
+ "max": [
218
+ 59.79999923706055
219
+ ],
220
+ "min": [
221
+ 0.0
222
+ ]
223
+ },
224
+ "frame_index": {
225
+ "mean": [
226
+ 896.8995361328125
227
+ ],
228
+ "std": [
229
+ 518.1141967773438
230
+ ],
231
+ "max": [
232
+ 1794.0
233
+ ],
234
+ "min": [
235
+ 0.0
236
+ ]
237
+ },
238
+ "episode_index": {
239
+ "mean": [
240
+ 1.999888300895691
241
+ ],
242
+ "std": [
243
+ 1.4142533540725708
244
+ ],
245
+ "max": [
246
+ 4.0
247
+ ],
248
+ "min": [
249
+ 0.0
250
+ ]
251
+ },
252
+ "index": {
253
+ "mean": [
254
+ 4486.49365234375
255
+ ],
256
+ "std": [
257
+ 2590.57080078125
258
+ ],
259
+ "max": [
260
+ 8973.0
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": "Play music."}
videos/chunk-000/observation.images.front/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7e14b956159c805637a3cd35881e54a6600b59155391578f17784a09a4917451
3
+ size 21267724
videos/chunk-000/observation.images.front/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6df7bd8d5f85ab03c72dc3af20538e2999ea9f4a7fa4695a85558de6fc6c1337
3
+ size 21217390
videos/chunk-000/observation.images.front/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9296d44ce24d019ac2c34608f6bceab8969777e47a09fe5d6fb59edad4b28fd2
3
+ size 21091025
videos/chunk-000/observation.images.front/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7e7a08d170ffb848ee5d0515e662d4514f583102aa2cc264ff541d6233c3667f
3
+ size 20992170
videos/chunk-000/observation.images.front/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb2d8cde831b3c321af364c660e0ac86f3cdb23aa6fc6b449d7ba76547f07785
3
+ size 21210300
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:c211bedfa6ef749f594978c2dfafa7587fa6a8db9aac8f4d429e554973b1db77
3
+ size 25720952
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:e66a16ffe5d524da7f75a84e7b8090e7638da23b92266e7ef9eee660c40a3f37
3
+ size 25283383
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 sha256:9b80c764e374e93a63c8216f69f940f4a377903c49a92c6cd7bef80ca4ddd4c2
3
+ size 24852806
videos/chunk-000/observation.images.wrist/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:394787cc2718db02d1a49d8b71ce87810ed20ba51da79c091cefe6991878a5a9
3
+ size 28689866
videos/chunk-000/observation.images.wrist/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a34a29f221f49f481a95b2b08298dba5700ddc60afe8cf46640b32b48347daec
3
+ size 20438228