Datasets:
update
Browse files- README.md +14 -14
- push_dataset.py +0 -15
- train/train.jsonl +19 -19
README.md
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pretty_name: ScanBot
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license: cc-by-4.0
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language:
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- multimodal
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task_categories:
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- robotics
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data_files:
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- path: train/train.jsonl
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---
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---
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pretty_name: ScanBot
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license: cc-by-4.0
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language:
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- multimodal
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task_categories:
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- robotics
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dataset_info:
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features:
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- name: file_name
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dtype: string
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- name: rgb_gopro
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dtype: string
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- name: instruction
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dtype: string
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- name: tcp_pose
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dtype: string
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- name: joint_states
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dtype: string
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data_files:
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- path: train/train.jsonl
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---
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push_dataset.py
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from datasets import load_dataset, Features, Value, Sequence, Image
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# **只** 指定 train split
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data_files = { "train": "train/train.jsonl" }
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features = Features({
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"instruction": Value("string"),
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"rgb_wrist": Image(),
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"rgb_gopro": Image(),
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"tcp_pose": Sequence(Value("float32"), length=6),
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"joint_states": Sequence(Value("float32"), length=6),
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})
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ds = load_dataset("json", data_files=data_files, features=features)
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ds.push_to_hub("ed1son/ScanBot")
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train/train.jsonl
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{"
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{"file_name": "train/wrist_rgb/1746226188.685462_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.698676_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.063694, 0.179662, 0.450726, 0.021055, -3.1183, -0.24339]", "joint_states": "[1.881769, -1.14364, -1.24418, -2.17118, 1.530733, 3.43612]"}
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{"file_name": "train/wrist_rgb/1746226188.719243_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.732457_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.063833, 0.179681, 0.450705, 0.021311, -3.1183, -0.24338]", "joint_states": "[1.880654, -1.14386, -1.2443, -2.17073, 1.531105, 3.434864]"}
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{"file_name": "train/wrist_rgb/1746226188.753024_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.766238_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.064485, 0.179919, 0.450558, 0.021227, -3.1184, -0.24371]", "joint_states": "[1.875655, -1.14515, -1.24502, -2.16831, 1.531932, 3.429996]"}
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{"file_name": "train/wrist_rgb/1746226188.786805_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.800019_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.065508, 0.180362, 0.450239, 0.021308, -3.1184, -0.2437]", "joint_states": "[1.867828, -1.14738, -1.24627, -2.16453, 1.533101, 3.423344]"}
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{"file_name": "train/wrist_rgb/1746226188.820586_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.833800_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.067066, 0.181077, 0.449696, 0.021415, -3.1182, -0.24347]", "joint_states": "[1.8559, -1.15085, -1.24865, -2.15861, 1.534779, 3.410236]"}
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{"file_name": "train/wrist_rgb/1746226188.854367_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.867581_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.068954, 0.181825, 0.449144, 0.021122, -3.1186, -0.2435]", "joint_states": "[1.841791, -1.15489, -1.25088, -2.15119, 1.536979, 3.396374]"}
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{"file_name": "train/wrist_rgb/1746226188.888148_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.901362_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.071428, 0.182873, 0.448324, 0.021383, -3.1183, -0.24357]", "joint_states": "[1.823836, -1.16047, -1.254, -2.143, 1.539904, 3.372328]"}
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{"file_name": "train/wrist_rgb/1746226188.921929_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.935143_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.074172, 0.184018, 0.44752, 0.021101, -3.1185, -0.24357]", "joint_states": "[1.803623, -1.16661, -1.25701, -2.13307, 1.542972, 3.358615]"}
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{"file_name": "train/wrist_rgb/1746226188.955710_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.968924_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.077611, 0.185388, 0.446327, 0.021208, -3.1185, -0.24354]", "joint_states": "[1.789432, -1.17168, -1.26012, -2.12612, 1.546664, 3.344763]"}
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{"file_name": "train/wrist_rgb/1746226188.989491_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.1002705_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.081181, 0.186894, 0.445366, 0.021248, -3.1187, -0.24343]", "joint_states": "[1.754869, -1.18038, -1.26374, -2.10913, 1.550572, 3.310202]"}
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{"file_name": "train/wrist_rgb/1746226188.1023272_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.1036486_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.085523, 0.188722, 0.444007, 0.021374, -3.1189, -0.24319]", "joint_states": "[1.725967, -1.19379, -1.26723, -2.09474, 1.555019, 3.281476]"}
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{"file_name": "train/wrist_rgb/1746226188.1057053_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.1070267_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.090102, 0.190516, 0.442683, 0.021187, -3.1189, -0.24341]", "joint_states": "[1.70523, -1.2028, -1.27002, -2.08041, 1.558927, 3.263988]"}
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{"file_name": "train/wrist_rgb/1746226188.1090834_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.1104048_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.095247, 0.192705, 0.441402, 0.021288, -3.1183, -0.24299]", "joint_states": "[1.664661, -1.21869, -1.27296, -2.06397, 1.561654, 3.220787]"}
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{"file_name": "train/wrist_rgb/1746226188.1124615_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.1137829_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.100522, 0.194894, 0.439501, 0.021176, -3.1189, -0.2438]", "joint_states": "[1.6383, -1.2328, -1.27492, -2.04746, 1.566957, 3.189769]"}
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{"file_name": "train/wrist_rgb/1746226188.1158396_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.1171610_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.106174, 0.197543, 0.437561, 0.021163, -3.1188, -0.24364]", "joint_states": "[1.593821, -1.25094, -1.27602, -2.02922, 1.571509, 3.154841]"}
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{"file_name": "train/wrist_rgb/1746226188.1192177_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.1205391_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.112864, 0.199961, 0.435756, 0.02108, -3.1182, -0.24402]", "joint_states": "[1.564607, -1.26733, -1.27685, -2.01157, 1.580282, 3.121828]"}
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{"file_name": "train/wrist_rgb/1746226188.1225958_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.1239172_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.11996, 0.202393, 0.433643, 0.021066, -3.1183, -0.244]", "joint_states": "[1.527887, -1.28228, -1.27648, -1.99225, 1.585597, 3.085872]"}
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{"file_name": "train/wrist_rgb/1746226188.1259739_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.1272953_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.126956, 0.205763, 0.431329, 0.021073, -3.1186, -0.24361]", "joint_states": "[1.493852, -1.30924, -1.27464, -1.9739, 1.591208, 3.018534]"}
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{"file_name": "train/wrist_rgb/1746226188.1293520_rgb.png", "rgb_gopro": "train/gopro_rgb/1746226188.1306734_gopro.png", "instruction": "Scan the top surface of the white cube.", "tcp_pose": "[0.134192, 0.208767, 0.429126, 0.020725, -3.1187, -0.24318]", "joint_states": "[1.460272, -1.33185, -1.27117, -1.95575, 1.596422, 3.018537]"}
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