Redox 서브태스크 데이터에 경계 멈춤을 넣은 사본 (검전기 멈춤 추가본과 같은 규칙)
Browse files- README.md +269 -0
- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +188 -0
- meta/stats.json +970 -0
- meta/tasks.parquet +3 -0
- pause_plan.json +0 -0
- train_episodes.json +1 -0
- videos/observation.images.follower_d455f/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-004.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-005.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-006.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-007.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-008.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-009.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-010.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-011.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-012.mp4 +3 -0
- videos/observation.images.follower_d455f/chunk-000/file-013.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-004.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-005.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-006.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-007.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-008.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-009.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-010.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-011.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-012.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-013.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-004.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-005.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-006.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-007.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-008.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-009.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-010.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-011.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-012.mp4 +3 -0
- videos/observation.images.right_wrist/chunk-000/file-013.mp4 +3 -0
README.md
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| 1 |
+
---
|
| 2 |
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license: apache-2.0
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| 3 |
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task_categories:
|
| 4 |
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- robotics
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| 5 |
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tags:
|
| 6 |
+
- LeRobot
|
| 7 |
+
configs:
|
| 8 |
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- config_name: default
|
| 9 |
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data_files: data/*/*.parquet
|
| 10 |
+
---
|
| 11 |
+
|
| 12 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
|
| 13 |
+
|
| 14 |
+
|
| 15 |
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<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=leapshared/Redox_131epi_subtask_pause_added">
|
| 16 |
+
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
|
| 17 |
+
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
|
| 18 |
+
</a>
|
| 19 |
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|
| 20 |
+
|
| 21 |
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## 이 데이터셋에 대해
|
| 22 |
+
|
| 23 |
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`leapshared/Redox_131epi_subtask`에 멈춤을 넣은 사본이다(2026-10-01). 검전기 멈춤 추가본
|
| 24 |
+
(`leapshared/Electroscope_113epi_subtask_pause_added`)과 같은 규칙이다. 시연자가 원래 멈춘 프레임을 90번(3초) 복사해 넣었다.
|
| 25 |
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복사본의 앞 40개는 지금 구간 문장, 뒤 50개는 다음 구간 문장이다. 복사하는 경계는 멈춤 프레임 바로 뒤로 옮겼다.
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| 26 |
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문장을 하나 받으면 그 동작만 하고 멈추고, 다음 문장을 받아야 움직이게 하려는 것이다.
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| 27 |
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| 28 |
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| 경계 | 처리 | 멈춤 프레임 |
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| 29 |
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|---|---|---|
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| 30 |
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| ① 1→2 | 복사 | 판을 쥔 직후(오른그리퍼가 다 닫힌 뒤 가장 느린 프레임). 들어 올린 뒤에 멈춘 시연은 없다 |
|
| 31 |
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| ② 2→3 | 복사 | 판이 파란 용액 위에 도착하고, 왼손이 가리키러 가기 전 |
|
| 32 |
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| ③ 3→4 | 복사 | 왼손이 판을 가리킨 채 멈춘 끝(거두기 전) |
|
| 33 |
+
| 4→5 | 그대로 | 내려놓으면 곧 담근 채 기다림이라 이미 멈춘다 |
|
| 34 |
+
| ⑤ 5→6 (두 번) | 복사 | 담근 채 기다림의 끝 |
|
| 35 |
+
| ⑥ 6→4, 6→7 | 복사 | 올려서 가리킨 채 멈춘 끝 |
|
| 36 |
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| 7→8 | 그대로 | 검전기의 6→7처럼 내려놓은 뒤 홈으로 간다 |
|
| 37 |
+
|
| 38 |
+
그래서 문장마다 배우는 것은 이렇다.
|
| 39 |
+
- 1번: 판을 쥐고 멈춘다.
|
| 40 |
+
- 2번: 들어 올려 용액 위로 옮기고 멈춘다.
|
| 41 |
+
- 3번: 왼손으로 가리킨 채 멈춘다.
|
| 42 |
+
- 4번: 왼손을 거두고 판을 담근다.
|
| 43 |
+
- 5번: 담근 채 멈춘다.
|
| 44 |
+
- 6번: 올려서 가리킨 채 멈춘다.
|
| 45 |
+
- 7번: 왼손을 거두고 왼쪽 비커에 넣은 뒤 홈으로 간다.
|
| 46 |
+
|
| 47 |
+
③⑥을 왼손을 거둔 뒤가 아니라 가리킨 채에 두었다. 2·3·6번이 끝나는 자세(판은 용액 위, 왼손은 옆)가 손끝 2 cm 안으로 같아서다.
|
| 48 |
+
거둔 뒤에 복사하면 그 자세와 3번 문장에 "가리키러 간다"와 "멈춘다"가 함께 생긴다(검전기에서 되풀이 구간 끝에 복사하지 않은 것과 같은 이유).
|
| 49 |
+
|
| 50 |
+
- 에피소드 131개(번호는 원본과 같다). 프레임 154,675 → 218,485(+41%), 복사 709곳.
|
| 51 |
+
- 학습 목록은 `train_episodes.json`(110개)이다. 원본 목록 121개에서 멈춤 프레임의 팔 속도가
|
| 52 |
+
20°/s를 넘는 11개(11, 21, 25, 46, 51, 55, 59, 60, 71, 76, 98)를 뺐다. 대부분 왼손이 가리키러 가기 시작할 때 오른손이 아직 움직이던
|
| 53 |
+
에피소드다. 검증 에피소드는 7, 27, 47, 67, 87, 107, 127이다(47은 원본이 통째로 1번 라벨이라 복사하지 않았다).
|
| 54 |
+
- 에피소드마다 경계, 멈춤 프레임, 속도는 `pause_plan.json`에 있다. 만든 도구는 H200 작업 폴더의 `scripts/redox_stops.py`(멈춤 프레임.
|
| 55 |
+
손끝 위치는 openarm_bimanual.xml 순기구학), `scripts/insert_stop_frames.py`(만들기), `scripts/check_stop_frames.py`(대조)다.
|
| 56 |
+
- 영상은 원본과 같은 설정(libsvtav1, crf 30, g 2, preset 12)으로 다시 인코딩했다. 이 서버의 SVT-AV1 3.0은 preset 12를 10으로 돈다.
|
| 57 |
+
짝 프레임과의 평균 차이는 1.4~1.7(0~255)이고, ±3프레임 어긋난 것과는 4~9다.
|
| 58 |
+
- `meta/stats.json`은 LeRobot이 에피소드 통계를 합친 것이다. 분위수는 학습 전에 전체 프레임으로 다시 구한다(H200 체인의 preflight).
|
| 59 |
+
|
| 60 |
+
## Dataset Description
|
| 61 |
+
|
| 62 |
+
|
| 63 |
+
|
| 64 |
+
- **Homepage:** [More Information Needed]
|
| 65 |
+
- **Paper:** [More Information Needed]
|
| 66 |
+
- **License:** apache-2.0
|
| 67 |
+
|
| 68 |
+
## Dataset Structure
|
| 69 |
+
|
| 70 |
+
[meta/info.json](meta/info.json):
|
| 71 |
+
```json
|
| 72 |
+
{
|
| 73 |
+
"codebase_version": "v3.0",
|
| 74 |
+
"fps": 30,
|
| 75 |
+
"features": {
|
| 76 |
+
"action": {
|
| 77 |
+
"dtype": "float32",
|
| 78 |
+
"names": [
|
| 79 |
+
"left_joint_1.pos",
|
| 80 |
+
"left_joint_2.pos",
|
| 81 |
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"left_joint_3.pos",
|
| 82 |
+
"left_joint_4.pos",
|
| 83 |
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"left_joint_5.pos",
|
| 84 |
+
"left_joint_6.pos",
|
| 85 |
+
"left_joint_7.pos",
|
| 86 |
+
"left_gripper.pos",
|
| 87 |
+
"right_joint_1.pos",
|
| 88 |
+
"right_joint_2.pos",
|
| 89 |
+
"right_joint_3.pos",
|
| 90 |
+
"right_joint_4.pos",
|
| 91 |
+
"right_joint_5.pos",
|
| 92 |
+
"right_joint_6.pos",
|
| 93 |
+
"right_joint_7.pos",
|
| 94 |
+
"right_gripper.pos"
|
| 95 |
+
],
|
| 96 |
+
"shape": [
|
| 97 |
+
16
|
| 98 |
+
]
|
| 99 |
+
},
|
| 100 |
+
"observation.state": {
|
| 101 |
+
"dtype": "float32",
|
| 102 |
+
"names": [
|
| 103 |
+
"left_joint_1.pos",
|
| 104 |
+
"left_joint_2.pos",
|
| 105 |
+
"left_joint_3.pos",
|
| 106 |
+
"left_joint_4.pos",
|
| 107 |
+
"left_joint_5.pos",
|
| 108 |
+
"left_joint_6.pos",
|
| 109 |
+
"left_joint_7.pos",
|
| 110 |
+
"left_gripper.pos",
|
| 111 |
+
"right_joint_1.pos",
|
| 112 |
+
"right_joint_2.pos",
|
| 113 |
+
"right_joint_3.pos",
|
| 114 |
+
"right_joint_4.pos",
|
| 115 |
+
"right_joint_5.pos",
|
| 116 |
+
"right_joint_6.pos",
|
| 117 |
+
"right_joint_7.pos",
|
| 118 |
+
"right_gripper.pos"
|
| 119 |
+
],
|
| 120 |
+
"shape": [
|
| 121 |
+
16
|
| 122 |
+
]
|
| 123 |
+
},
|
| 124 |
+
"observation.images.follower_d455f": {
|
| 125 |
+
"dtype": "video",
|
| 126 |
+
"shape": [
|
| 127 |
+
480,
|
| 128 |
+
640,
|
| 129 |
+
3
|
| 130 |
+
],
|
| 131 |
+
"names": [
|
| 132 |
+
"height",
|
| 133 |
+
"width",
|
| 134 |
+
"channels"
|
| 135 |
+
],
|
| 136 |
+
"info": {
|
| 137 |
+
"video.height": 480,
|
| 138 |
+
"video.width": 640,
|
| 139 |
+
"video.codec": "av1",
|
| 140 |
+
"video.pix_fmt": "yuv420p",
|
| 141 |
+
"video.fps": 30,
|
| 142 |
+
"video.channels": 3,
|
| 143 |
+
"has_audio": false,
|
| 144 |
+
"video.g": 2,
|
| 145 |
+
"video.crf": 30,
|
| 146 |
+
"video.preset": 12,
|
| 147 |
+
"video.fast_decode": 0,
|
| 148 |
+
"video.video_backend": "pyav",
|
| 149 |
+
"video.extra_options": {},
|
| 150 |
+
"is_depth_map": false
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
"observation.images.left_wrist": {
|
| 154 |
+
"dtype": "video",
|
| 155 |
+
"shape": [
|
| 156 |
+
480,
|
| 157 |
+
640,
|
| 158 |
+
3
|
| 159 |
+
],
|
| 160 |
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"names": [
|
| 161 |
+
"height",
|
| 162 |
+
"width",
|
| 163 |
+
"channels"
|
| 164 |
+
],
|
| 165 |
+
"info": {
|
| 166 |
+
"video.height": 480,
|
| 167 |
+
"video.width": 640,
|
| 168 |
+
"video.codec": "av1",
|
| 169 |
+
"video.pix_fmt": "yuv420p",
|
| 170 |
+
"video.fps": 30,
|
| 171 |
+
"video.channels": 3,
|
| 172 |
+
"has_audio": false,
|
| 173 |
+
"video.g": 2,
|
| 174 |
+
"video.crf": 30,
|
| 175 |
+
"video.preset": 12,
|
| 176 |
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|
| 177 |
+
"video.video_backend": "pyav",
|
| 178 |
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"video.extra_options": {},
|
| 179 |
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"is_depth_map": false
|
| 180 |
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}
|
| 181 |
+
},
|
| 182 |
+
"observation.images.right_wrist": {
|
| 183 |
+
"dtype": "video",
|
| 184 |
+
"shape": [
|
| 185 |
+
480,
|
| 186 |
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640,
|
| 187 |
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3
|
| 188 |
+
],
|
| 189 |
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"names": [
|
| 190 |
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"height",
|
| 191 |
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"width",
|
| 192 |
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"channels"
|
| 193 |
+
],
|
| 194 |
+
"info": {
|
| 195 |
+
"video.height": 480,
|
| 196 |
+
"video.width": 640,
|
| 197 |
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"video.codec": "av1",
|
| 198 |
+
"video.pix_fmt": "yuv420p",
|
| 199 |
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"video.fps": 30,
|
| 200 |
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"video.channels": 3,
|
| 201 |
+
"has_audio": false,
|
| 202 |
+
"video.g": 2,
|
| 203 |
+
"video.crf": 30,
|
| 204 |
+
"video.preset": 12,
|
| 205 |
+
"video.fast_decode": 0,
|
| 206 |
+
"video.video_backend": "pyav",
|
| 207 |
+
"video.extra_options": {},
|
| 208 |
+
"is_depth_map": false
|
| 209 |
+
}
|
| 210 |
+
},
|
| 211 |
+
"timestamp": {
|
| 212 |
+
"dtype": "float32",
|
| 213 |
+
"shape": [
|
| 214 |
+
1
|
| 215 |
+
],
|
| 216 |
+
"names": null
|
| 217 |
+
},
|
| 218 |
+
"frame_index": {
|
| 219 |
+
"dtype": "int64",
|
| 220 |
+
"shape": [
|
| 221 |
+
1
|
| 222 |
+
],
|
| 223 |
+
"names": null
|
| 224 |
+
},
|
| 225 |
+
"episode_index": {
|
| 226 |
+
"dtype": "int64",
|
| 227 |
+
"shape": [
|
| 228 |
+
1
|
| 229 |
+
],
|
| 230 |
+
"names": null
|
| 231 |
+
},
|
| 232 |
+
"index": {
|
| 233 |
+
"dtype": "int64",
|
| 234 |
+
"shape": [
|
| 235 |
+
1
|
| 236 |
+
],
|
| 237 |
+
"names": null
|
| 238 |
+
},
|
| 239 |
+
"task_index": {
|
| 240 |
+
"dtype": "int64",
|
| 241 |
+
"shape": [
|
| 242 |
+
1
|
| 243 |
+
],
|
| 244 |
+
"names": null
|
| 245 |
+
}
|
| 246 |
+
},
|
| 247 |
+
"total_episodes": 131,
|
| 248 |
+
"total_frames": 218485,
|
| 249 |
+
"total_tasks": 8,
|
| 250 |
+
"chunks_size": 1000,
|
| 251 |
+
"data_files_size_in_mb": 100,
|
| 252 |
+
"video_files_size_in_mb": 200,
|
| 253 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 254 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 255 |
+
"robot_type": "bi_openarm_follower",
|
| 256 |
+
"splits": {
|
| 257 |
+
"train": "0:131"
|
| 258 |
+
}
|
| 259 |
+
}
|
| 260 |
+
```
|
| 261 |
+
|
| 262 |
+
|
| 263 |
+
## Citation
|
| 264 |
+
|
| 265 |
+
**BibTeX:**
|
| 266 |
+
|
| 267 |
+
```bibtex
|
| 268 |
+
[More Information Needed]
|
| 269 |
+
```
|
data/chunk-000/file-000.parquet
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|
| 1 |
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{
|
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|
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|
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|
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|
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|
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|
| 10 |
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|
| 11 |
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"left_joint_4.pos",
|
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"left_joint_5.pos",
|
| 13 |
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"left_joint_6.pos",
|
| 14 |
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"left_joint_7.pos",
|
| 15 |
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"left_gripper.pos",
|
| 16 |
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|
| 17 |
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"right_joint_2.pos",
|
| 18 |
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"right_joint_3.pos",
|
| 19 |
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"right_joint_4.pos",
|
| 20 |
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"right_joint_5.pos",
|
| 21 |
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"right_joint_6.pos",
|
| 22 |
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|
| 23 |
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|
| 24 |
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],
|
| 25 |
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"shape": [
|
| 26 |
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16
|
| 27 |
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]
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| 28 |
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| 29 |
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|
| 30 |
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"dtype": "float32",
|
| 31 |
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"names": [
|
| 32 |
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"left_joint_1.pos",
|
| 33 |
+
"left_joint_2.pos",
|
| 34 |
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"left_joint_3.pos",
|
| 35 |
+
"left_joint_4.pos",
|
| 36 |
+
"left_joint_5.pos",
|
| 37 |
+
"left_joint_6.pos",
|
| 38 |
+
"left_joint_7.pos",
|
| 39 |
+
"left_gripper.pos",
|
| 40 |
+
"right_joint_1.pos",
|
| 41 |
+
"right_joint_2.pos",
|
| 42 |
+
"right_joint_3.pos",
|
| 43 |
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"right_joint_4.pos",
|
| 44 |
+
"right_joint_5.pos",
|
| 45 |
+
"right_joint_6.pos",
|
| 46 |
+
"right_joint_7.pos",
|
| 47 |
+
"right_gripper.pos"
|
| 48 |
+
],
|
| 49 |
+
"shape": [
|
| 50 |
+
16
|
| 51 |
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]
|
| 52 |
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},
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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"height",
|
| 62 |
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"width",
|
| 63 |
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"channels"
|
| 64 |
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],
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
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|
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|
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|
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|
| 79 |
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|
| 80 |
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}
|
| 81 |
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},
|
| 82 |
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|
| 83 |
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|
| 84 |
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"shape": [
|
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|
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|
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],
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|
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|
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| 109 |
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}
|
| 110 |
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},
|
| 111 |
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|
| 112 |
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|
| 113 |
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"shape": [
|
| 114 |
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|
| 115 |
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|
| 116 |
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3
|
| 117 |
+
],
|
| 118 |
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|
| 119 |
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"height",
|
| 120 |
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"width",
|
| 121 |
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"channels"
|
| 122 |
+
],
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
+
}
|
| 139 |
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},
|
| 140 |
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|
| 141 |
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|
| 142 |
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| 143 |
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| 144 |
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],
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| 145 |
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| 147 |
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|
| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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| 152 |
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| 154 |
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},
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| 176 |
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"total_episodes": 131,
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| 177 |
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"total_frames": 218485,
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"total_tasks": 8,
|
| 179 |
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"chunks_size": 1000,
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| 180 |
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"data_files_size_in_mb": 100,
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"video_files_size_in_mb": 200,
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 183 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 184 |
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"robot_type": "bi_openarm_follower",
|
| 185 |
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"splits": {
|
| 186 |
+
"train": "0:131"
|
| 187 |
+
}
|
| 188 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,970 @@
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