Hugging Face's logo

Datasets:
NIATphysicalAI
/
Cup_stack

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
NIATphysicalAI commited on
Commit
8da8dfa
·
verified ·
1 Parent(s): ff3ea15

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 +139 -0
  4. meta/stats.json +632 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.camera1/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.camera2/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:a03defc188fa8178ae879e651b65de87492e06ff9f5d2d4088b3f9a30c20b4e8
3
+ size 138769
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:484312a1d9feb91d1fd4ed8caf54a505c8ad2d3e305251034510eeaaa38fa14e
3
+ size 63527
meta/info.json ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 30,
4
+ "features": {
5
+ "action": {
6
+ "dtype": "float32",
7
+ "names": [
8
+ "shoulder_pan.pos",
9
+ "shoulder_lift.pos",
10
+ "elbow_flex.pos",
11
+ "wrist_flex.pos",
12
+ "wrist_roll.pos",
13
+ "gripper.pos"
14
+ ],
15
+ "shape": [
16
+ 6
17
+ ]
18
+ },
19
+ "observation.state": {
20
+ "dtype": "float32",
21
+ "names": [
22
+ "shoulder_pan.pos",
23
+ "shoulder_lift.pos",
24
+ "elbow_flex.pos",
25
+ "wrist_flex.pos",
26
+ "wrist_roll.pos",
27
+ "gripper.pos"
28
+ ],
29
+ "shape": [
30
+ 6
31
+ ]
32
+ },
33
+ "observation.images.camera2": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 480,
37
+ 640,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channels"
44
+ ],
45
+ "info": {
46
+ "is_depth_map": false,
47
+ "video.height": 480,
48
+ "video.width": 640,
49
+ "video.codec": "h264",
50
+ "video.pix_fmt": "yuv420p",
51
+ "video.fps": 30,
52
+ "video.channels": 3,
53
+ "has_audio": false,
54
+ "video.g": 2,
55
+ "video.crf": 30,
56
+ "video.preset": null,
57
+ "video.fast_decode": 0,
58
+ "video.video_backend": "pyav",
59
+ "video.extra_options": {}
60
+ }
61
+ },
62
+ "observation.images.camera1": {
63
+ "dtype": "video",
64
+ "shape": [
65
+ 480,
66
+ 640,
67
+ 3
68
+ ],
69
+ "names": [
70
+ "height",
71
+ "width",
72
+ "channels"
73
+ ],
74
+ "info": {
75
+ "is_depth_map": false,
76
+ "video.height": 480,
77
+ "video.width": 640,
78
+ "video.codec": "h264",
79
+ "video.pix_fmt": "yuv420p",
80
+ "video.fps": 30,
81
+ "video.channels": 3,
82
+ "has_audio": false,
83
+ "video.g": 2,
84
+ "video.crf": 30,
85
+ "video.preset": null,
86
+ "video.fast_decode": 0,
87
+ "video.video_backend": "pyav",
88
+ "video.extra_options": {}
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
+ "total_episodes": 8,
128
+ "total_frames": 3179,
129
+ "total_tasks": 1,
130
+ "chunks_size": 1000,
131
+ "data_files_size_in_mb": 100,
132
+ "video_files_size_in_mb": 200,
133
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
134
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
135
+ "robot_type": "so_follower",
136
+ "splits": {
137
+ "train": "0:8"
138
+ }
139
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -20.175825119018555,
5
+ -104.61538696289062,
6
+ -4.219780445098877,
7
+ 73.5824203491211,
8
+ -100.0879135131836,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 53.05494689941406,
13
+ -1.582417607307434,
14
+ 40.263736724853516,
15
+ 102.76923370361328,
16
+ -62.81318664550781,
17
+ 54.442649841308594
18
+ ],
19
+ "mean": [
20
+ 15.862340720204596,
21
+ -44.58199247064437,
22
+ 12.921607154013413,
23
+ 99.02016787365496,
24
+ -84.53395067606755,
25
+ 16.288853252654036
26
+ ],
27
+ "std": [
28
+ 24.32710802029909,
29
+ 34.586309086132864,
30
+ 9.647944855841992,
31
+ 7.476775093647564,
32
+ 9.293835069673056,
33
+ 13.820805445882364
34
+ ],
35
+ "count": [
36
+ 3179
37
+ ],
38
+ "q01": [
39
+ -13.034361774627856,
40
+ -104.36122659988406,
41
+ 2.252772891190713,
42
+ 80.89004535081065,
43
+ -95.78841523483962,
44
+ 0.6917587904773038
45
+ ],
46
+ "q10": [
47
+ -12.296527472737488,
48
+ -95.5674683887782,
49
+ 4.305979737149931,
50
+ 84.86780124246546,
51
+ -93.63176055427016,
52
+ 0.8814064611632013
53
+ ],
54
+ "q50": [
55
+ 16.618785484852584,
56
+ -34.95269269770909,
57
+ 10.401628752915729,
58
+ 102.33291640620975,
59
+ -86.721291257731,
60
+ 16.453443730432475
61
+ ],
62
+ "q90": [
63
+ 41.69379951948951,
64
+ -18.41055568918333,
65
+ 28.675970023756097,
66
+ 102.68886524691999,
67
+ -72.41991131309094,
68
+ 36.532974059606865
69
+ ],
70
+ "q99": [
71
+ 44.458418113091014,
72
+ -15.169649513749684,
73
+ 31.332933186417723,
74
+ 102.70613836847157,
75
+ -70.4593572315569,
76
+ 42.25496838746743
77
+ ]
78
+ },
79
+ "observation.images.camera2": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.45217142064041144
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.4936883379243837
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.4404397036958768
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.30256181968588386
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.30853976754363627
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.30408646687340846
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 61036800
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ -1.8628006337641672e-11
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.012112561802403832
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -1.8628006337641672e-11
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.02445783753256567
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.05396967537190111
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.02409149792896571
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.49727114307301606
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.5424342197820647
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.47694757263916193
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.8060300079608739
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.8742975360012758
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.8051176577566326
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.995817977588847
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999628838381771
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9914735403639605
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "observation.images.camera1": {
238
+ "min": [
239
+ [
240
+ [
241
+ 0.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.0
252
+ ]
253
+ ]
254
+ ],
255
+ "max": [
256
+ [
257
+ [
258
+ 1.0
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 1.0
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 1.0
269
+ ]
270
+ ]
271
+ ],
272
+ "mean": [
273
+ [
274
+ [
275
+ 0.5841720109654883
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.6470766714924947
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.5908765334046536
286
+ ]
287
+ ]
288
+ ],
289
+ "std": [
290
+ [
291
+ [
292
+ 0.17787399418737132
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.18660399990637766
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.18505947533685146
303
+ ]
304
+ ]
305
+ ],
306
+ "count": [
307
+ 61036800
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.000711698076405899
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.04213856208601075
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.007865913104507705
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.40251433533319547
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.46152827106268757
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.39997080451460426
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.6140113165782707
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.6726226766401128
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.620067839455107
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.7709338061868379
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.854863576623588
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.7922453362104581
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.8626565216879979
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9399297159391836
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.8627973945622502
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "frame_index": {
396
+ "min": [
397
+ 0.0
398
+ ],
399
+ "max": [
400
+ 556.0
401
+ ],
402
+ "mean": [
403
+ 227.35828877005346
404
+ ],
405
+ "std": [
406
+ 146.71300827618924
407
+ ],
408
+ "count": [
409
+ 3179
410
+ ],
411
+ "q01": [
412
+ 4.062557984173546
413
+ ],
414
+ "q10": [
415
+ 45.03627440067475
416
+ ],
417
+ "q50": [
418
+ 227.05110625983
419
+ ],
420
+ "q90": [
421
+ 409.53565387865837
422
+ ],
423
+ "q99": [
424
+ 450.6540195559334
425
+ ]
426
+ },
427
+ "index": {
428
+ "min": [
429
+ 0.0
430
+ ],
431
+ "max": [
432
+ 3178.0
433
+ ],
434
+ "mean": [
435
+ 1589.0
436
+ ],
437
+ "std": [
438
+ 917.6982074734591
439
+ ],
440
+ "count": [
441
+ 3179
442
+ ],
443
+ "q01": [
444
+ 1365.70426921412
445
+ ],
446
+ "q10": [
447
+ 1406.6779856306214
448
+ ],
449
+ "q50": [
450
+ 1588.7234253538847
451
+ ],
452
+ "q90": [
453
+ 1771.1773651086046
454
+ ],
455
+ "q99": [
456
+ 1812.2957307858799
457
+ ]
458
+ },
459
+ "task_index": {
460
+ "min": [
461
+ 0.0
462
+ ],
463
+ "max": [
464
+ 0.0
465
+ ],
466
+ "mean": [
467
+ 0.0
468
+ ],
469
+ "std": [
470
+ 0.0
471
+ ],
472
+ "count": [
473
+ 3179
474
+ ],
475
+ "q01": [
476
+ 3.999999999999417e-16
477
+ ],
478
+ "q10": [
479
+ 3.999999999999417e-15
480
+ ],
481
+ "q50": [
482
+ 1.999999999999709e-14
483
+ ],
484
+ "q90": [
485
+ 3.599999999999476e-14
486
+ ],
487
+ "q99": [
488
+ 3.9599999999994235e-14
489
+ ]
490
+ },
491
+ "observation.state": {
492
+ "min": [
493
+ -17.58241844177246,
494
+ -104.21977996826172,
495
+ 0.7032967209815979,
496
+ 74.68132019042969,
497
+ -100.0,
498
+ 1.7071568965911865
499
+ ],
500
+ "max": [
501
+ 51.25274658203125,
502
+ -1.186813235282898,
503
+ 41.14285659790039,
504
+ 102.10989379882812,
505
+ -63.07692337036133,
506
+ 51.80564498901367
507
+ ],
508
+ "mean": [
509
+ 16.601236720764252,
510
+ -43.892297584555294,
511
+ 15.325988174347279,
512
+ 98.63531799652397,
513
+ -84.66535740192674,
514
+ 18.540361304296642
515
+ ],
516
+ "std": [
517
+ 24.05533223874678,
518
+ 35.28011152437897,
519
+ 8.849796702147335,
520
+ 7.008517208062688,
521
+ 9.212045939492267,
522
+ 13.372447096690427
523
+ ],
524
+ "count": [
525
+ 3179
526
+ ],
527
+ "q01": [
528
+ -10.968651935305017,
529
+ -104.17193776070978,
530
+ 5.547870545900868,
531
+ 81.82697972098774,
532
+ -95.7181635541937,
533
+ 1.8139807099477043
534
+ ],
535
+ "q10": [
536
+ -10.439288769429867,
537
+ -96.7690445285943,
538
+ 7.404309575039424,
539
+ 85.12328737852295,
540
+ -93.68125077203416,
541
+ 1.9124815951404606
542
+ ],
543
+ "q50": [
544
+ 17.193169140835753,
545
+ -34.22830144350716,
546
+ 13.401000748965414,
547
+ 101.7062292846661,
548
+ -86.8538398983385,
549
+ 20.497456108201764
550
+ ],
551
+ "q90": [
552
+ 41.16809981486981,
553
+ -17.36320212976563,
554
+ 29.94343266275979,
555
+ 101.89199449162629,
556
+ -72.76076932301166,
557
+ 36.484013672961495
558
+ ],
559
+ "q99": [
560
+ 42.812971881976424,
561
+ -14.878123975095793,
562
+ 32.02624636732031,
563
+ 101.9689823385551,
564
+ -70.82423771494757,
565
+ 39.45037012048233
566
+ ]
567
+ },
568
+ "timestamp": {
569
+ "min": [
570
+ 0.0
571
+ ],
572
+ "max": [
573
+ 18.533333333333335
574
+ ],
575
+ "mean": [
576
+ 7.578609625668449
577
+ ],
578
+ "std": [
579
+ 4.890433609206309
580
+ ],
581
+ "count": [
582
+ 3179
583
+ ],
584
+ "q01": [
585
+ 0.1354185993774874
586
+ ],
587
+ "q10": [
588
+ 1.50120914661164
589
+ ],
590
+ "q50": [
591
+ 7.569390470797808
592
+ ],
593
+ "q90": [
594
+ 13.651188462699405
595
+ ],
596
+ "q99": [
597
+ 15.021800651959412
598
+ ]
599
+ },
600
+ "episode_index": {
601
+ "min": [
602
+ 0.0
603
+ ],
604
+ "max": [
605
+ 7.0
606
+ ],
607
+ "mean": [
608
+ 3.987417426863794
609
+ ],
610
+ "std": [
611
+ 2.273214566619971
612
+ ],
613
+ "count": [
614
+ 3179
615
+ ],
616
+ "q01": [
617
+ 3.987417426863794
618
+ ],
619
+ "q10": [
620
+ 3.987417426863798
621
+ ],
622
+ "q50": [
623
+ 3.987417426863813
624
+ ],
625
+ "q90": [
626
+ 3.98741742686383
627
+ ],
628
+ "q99": [
629
+ 3.987417426863833
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c6444ab0b2024186fd0d56c0e371f1b29f6ece9b2495cc0d26056e3e1aa3f2bd
3
+ size 2125
videos/observation.images.camera1/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:982f9b3df0b86163681279033f9978901b0dbd08494de635195a4ea63b9693a2
3
+ size 6525383
videos/observation.images.camera2/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a1c7c9dc548c36da222694f47f557bd82fe6f8afa83478a1b253e385ab982d4
3
+ size 15542298