README.md ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
+ ---
11
+
12
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
+
14
+
15
+ <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=wendyz123/LIR_Lab3_Imitation_Learning">
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
+
20
+
21
+ ## Dataset Description
22
+
23
+
24
+
25
+ - **Homepage:** [More Information Needed]
26
+ - **Paper:** [More Information Needed]
27
+ - **License:** apache-2.0
28
+
29
+ ## Dataset Structure
30
+
31
+ [meta/info.json](meta/info.json):
32
+ ```json
33
+ {
34
+ "codebase_version": "v3.0",
35
+ "fps": 30,
36
+ "features": {
37
+ "action": {
38
+ "dtype": "float32",
39
+ "names": [
40
+ "shoulder_pan.pos",
41
+ "shoulder_lift.pos",
42
+ "elbow_flex.pos",
43
+ "wrist_flex.pos",
44
+ "wrist_roll.pos",
45
+ "gripper.pos"
46
+ ],
47
+ "shape": [
48
+ 6
49
+ ]
50
+ },
51
+ "observation.state": {
52
+ "dtype": "float32",
53
+ "names": [
54
+ "shoulder_pan.pos",
55
+ "shoulder_lift.pos",
56
+ "elbow_flex.pos",
57
+ "wrist_flex.pos",
58
+ "wrist_roll.pos",
59
+ "gripper.pos"
60
+ ],
61
+ "shape": [
62
+ 6
63
+ ]
64
+ },
65
+ "observation.images.front": {
66
+ "dtype": "video",
67
+ "shape": [
68
+ 360,
69
+ 640,
70
+ 3
71
+ ],
72
+ "names": [
73
+ "height",
74
+ "width",
75
+ "channels"
76
+ ],
77
+ "info": {
78
+ "is_depth_map": false,
79
+ "video.height": 360,
80
+ "video.width": 640,
81
+ "video.codec": "h264",
82
+ "video.pix_fmt": "yuv420p",
83
+ "video.fps": 30,
84
+ "video.channels": 3,
85
+ "has_audio": false,
86
+ "video.g": 2,
87
+ "video.crf": 30,
88
+ "video.preset": null,
89
+ "video.fast_decode": 0,
90
+ "video.video_backend": "pyav",
91
+ "video.extra_options": {}
92
+ }
93
+ },
94
+ "timestamp": {
95
+ "dtype": "float32",
96
+ "shape": [
97
+ 1
98
+ ],
99
+ "names": null
100
+ },
101
+ "frame_index": {
102
+ "dtype": "int64",
103
+ "shape": [
104
+ 1
105
+ ],
106
+ "names": null
107
+ },
108
+ "episode_index": {
109
+ "dtype": "int64",
110
+ "shape": [
111
+ 1
112
+ ],
113
+ "names": null
114
+ },
115
+ "index": {
116
+ "dtype": "int64",
117
+ "shape": [
118
+ 1
119
+ ],
120
+ "names": null
121
+ },
122
+ "task_index": {
123
+ "dtype": "int64",
124
+ "shape": [
125
+ 1
126
+ ],
127
+ "names": null
128
+ }
129
+ },
130
+ "total_episodes": 5,
131
+ "total_frames": 2377,
132
+ "total_tasks": 1,
133
+ "chunks_size": 1000,
134
+ "data_files_size_in_mb": 100,
135
+ "video_files_size_in_mb": 200,
136
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
137
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
138
+ "robot_type": "so_follower",
139
+ "splits": {
140
+ "train": "0:5"
141
+ }
142
+ }
143
+ ```
144
+
145
+
146
+ ## Citation
147
+
148
+ **BibTeX:**
149
+
150
+ ```bibtex
151
+ [More Information Needed]
152
+ ```
chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:271a082052338a3e1955c9d39ecec044d49d4a063bc35d6ce1b5594d55398e43
3
+ size 103626
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a2ab67b4308b43ee32c0bc9316a1d9ec9c6b8456367bd71fc9af616bdd13a751
3
+ size 83103
meta/info.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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.front": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 360,
37
+ 640,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channels"
44
+ ],
45
+ "info": {
46
+ "is_depth_map": false,
47
+ "video.height": 360,
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
+ "timestamp": {
63
+ "dtype": "float32",
64
+ "shape": [
65
+ 1
66
+ ],
67
+ "names": null
68
+ },
69
+ "frame_index": {
70
+ "dtype": "int64",
71
+ "shape": [
72
+ 1
73
+ ],
74
+ "names": null
75
+ },
76
+ "episode_index": {
77
+ "dtype": "int64",
78
+ "shape": [
79
+ 1
80
+ ],
81
+ "names": null
82
+ },
83
+ "index": {
84
+ "dtype": "int64",
85
+ "shape": [
86
+ 1
87
+ ],
88
+ "names": null
89
+ },
90
+ "task_index": {
91
+ "dtype": "int64",
92
+ "shape": [
93
+ 1
94
+ ],
95
+ "names": null
96
+ }
97
+ },
98
+ "total_episodes": 5,
99
+ "total_frames": 2377,
100
+ "total_tasks": 1,
101
+ "chunks_size": 1000,
102
+ "data_files_size_in_mb": 100,
103
+ "video_files_size_in_mb": 200,
104
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
105
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
106
+ "robot_type": "so_follower",
107
+ "splits": {
108
+ "train": "0:5"
109
+ }
110
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -24.439559936523438,
5
+ -104.65933990478516,
6
+ -10.725275039672852,
7
+ -102.24176025390625,
8
+ -20.96703338623047,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 23.296703338623047,
13
+ 35.20878982543945,
14
+ 96.26373291015625,
15
+ 31.428571701049805,
16
+ 13.318681716918945,
17
+ 49.74916458129883
18
+ ],
19
+ "mean": [
20
+ -2.3011395792826717,
21
+ -32.68011878707301,
22
+ 46.033810671307634,
23
+ -25.28886271676548,
24
+ -10.519147807728306,
25
+ 10.675860341476902
26
+ ],
27
+ "std": [
28
+ 10.949633040925406,
29
+ 57.051649319938505,
30
+ 38.63518189635774,
31
+ 43.276598002672316,
32
+ 6.171357459213597,
33
+ 17.122523788640347
34
+ ],
35
+ "count": [
36
+ 2377
37
+ ],
38
+ "q01": [
39
+ -24.265339374542236,
40
+ -104.23946988525391,
41
+ -10.465505743026734,
42
+ -102.06631845474243,
43
+ -20.96703338623047,
44
+ 0.6656290149688721
45
+ ],
46
+ "q10": [
47
+ -22.2381290435791,
48
+ -104.22026647949218,
49
+ -7.289529988640233,
50
+ -102.05629076957703,
51
+ -20.87987652946921,
52
+ 0.6672961473464966
53
+ ],
54
+ "q50": [
55
+ -16.440778573354084,
56
+ -97.89076089859009,
57
+ 21.270222663879395,
58
+ -39.53886806603634,
59
+ -20.352557695828953,
60
+ 0.6747056245803833
61
+ ],
62
+ "q90": [
63
+ 23.033091996845446,
64
+ 34.93068583806356,
65
+ 96.17559268399604,
66
+ 25.37078857421875,
67
+ 3.473314435141427,
68
+ 49.66590597534179
69
+ ],
70
+ "q99": [
71
+ 23.293879769065164,
72
+ 34.951618369420366,
73
+ 96.1841576712472,
74
+ 31.415227162837983,
75
+ 12.175274276733399,
76
+ 49.7479790242513
77
+ ]
78
+ },
79
+ "frame_index": {
80
+ "min": [
81
+ 0.0
82
+ ],
83
+ "max": [
84
+ 571.0
85
+ ],
86
+ "mean": [
87
+ 242.5044173327724
88
+ ],
89
+ "std": [
90
+ 146.40797161976838
91
+ ],
92
+ "count": [
93
+ 2377
94
+ ],
95
+ "q01": [
96
+ 3.9656399999018888
97
+ ],
98
+ "q10": [
99
+ 40.9926399999197
100
+ ],
101
+ "q50": [
102
+ 207.0414
103
+ ],
104
+ "q90": [
105
+ 513.9913600000801
106
+ ],
107
+ "q99": [
108
+ 566.0071760000983
109
+ ]
110
+ },
111
+ "observation.state": {
112
+ "min": [
113
+ -24.08791160583496,
114
+ -105.14286041259766,
115
+ -7.956043720245361,
116
+ -101.67032623291016,
117
+ -20.52747344970703,
118
+ 1.0498688220977783
119
+ ],
120
+ "max": [
121
+ 23.03296661376953,
122
+ 35.868133544921875,
123
+ 96.21977996826172,
124
+ 31.208791732788086,
125
+ 11.912087440490723,
126
+ 49.30784606933594
127
+ ],
128
+ "mean": [
129
+ -2.4532891242605426,
130
+ -31.94958293804061,
131
+ 47.220938641231605,
132
+ -25.27275060794912,
133
+ -10.398339573254743,
134
+ 11.56304140034773
135
+ ],
136
+ "std": [
137
+ 10.874932532877573,
138
+ 57.66690198323496,
139
+ 38.044774198855144,
140
+ 43.519300846804676,
141
+ 6.104775994001616,
142
+ 16.493207319328924
143
+ ],
144
+ "count": [
145
+ 2377
146
+ ],
147
+ "q01": [
148
+ -23.998641967773438,
149
+ -104.0879135131836,
150
+ -7.956043720245361,
151
+ -101.67032623291016,
152
+ -20.52747344970703,
153
+ 1.0498688220977783
154
+ ],
155
+ "q10": [
156
+ -21.804542684555052,
157
+ -104.0879135131836,
158
+ -4.888308975184075,
159
+ -101.67032623291016,
160
+ -20.52747344970703,
161
+ 1.0498688220977783
162
+ ],
163
+ "q50": [
164
+ -16.79375223318736,
165
+ -98.19312477111816,
166
+ 22.12181212685325,
167
+ -39.59624242782593,
168
+ -20.087104348575366,
169
+ 1.7172145970324253
170
+ ],
171
+ "q90": [
172
+ 22.67723381736062,
173
+ 35.67267053169117,
174
+ 96.20603775323606,
175
+ 25.150226593017578,
176
+ 3.2956787586212157,
177
+ 49.30153580588856
178
+ ],
179
+ "q99": [
180
+ 23.029119739532472,
181
+ 35.86342682782342,
182
+ 96.21840574675915,
183
+ 31.201702086130776,
184
+ 10.861024188995362,
185
+ 49.3072150429912
186
+ ]
187
+ },
188
+ "observation.images.front": {
189
+ "min": [
190
+ [
191
+ [
192
+ 0.0
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.0
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.0
203
+ ]
204
+ ]
205
+ ],
206
+ "max": [
207
+ [
208
+ [
209
+ 1.0
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 1.0
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 1.0
220
+ ]
221
+ ]
222
+ ],
223
+ "mean": [
224
+ [
225
+ [
226
+ 0.526637787045578
227
+ ]
228
+ ],
229
+ [
230
+ [
231
+ 0.527920537251708
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.5384165122321437
237
+ ]
238
+ ]
239
+ ],
240
+ "std": [
241
+ [
242
+ [
243
+ 0.20902257676079236
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.20634394802074063
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.19573566317065427
254
+ ]
255
+ ]
256
+ ],
257
+ "count": [
258
+ 34228800
259
+ ],
260
+ "q01": [
261
+ [
262
+ [
263
+ 0.04310678965105869
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 0.043030901917095674
269
+ ]
270
+ ],
271
+ [
272
+ [
273
+ 0.05897081958854579
274
+ ]
275
+ ]
276
+ ],
277
+ "q10": [
278
+ [
279
+ [
280
+ 0.17649587359541807
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.18031363317190757
286
+ ]
287
+ ],
288
+ [
289
+ [
290
+ 0.22754013164462272
291
+ ]
292
+ ]
293
+ ],
294
+ "q50": [
295
+ [
296
+ [
297
+ 0.5410415887340658
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.5450084257646916
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.541048793269793
308
+ ]
309
+ ]
310
+ ],
311
+ "q90": [
312
+ [
313
+ [
314
+ 0.7686006222884558
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.7607676325972436
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.7724477793041756
325
+ ]
326
+ ]
327
+ ],
328
+ "q99": [
329
+ [
330
+ [
331
+ 0.9843646768856519
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.9843556316970187
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.9843855775580284
342
+ ]
343
+ ]
344
+ ]
345
+ },
346
+ "episode_index": {
347
+ "min": [
348
+ 0.0
349
+ ],
350
+ "max": [
351
+ 0.0
352
+ ],
353
+ "mean": [
354
+ 0.0
355
+ ],
356
+ "std": [
357
+ 0.0
358
+ ],
359
+ "count": [
360
+ 2377
361
+ ],
362
+ "q01": [
363
+ 3.9999999999994176e-16
364
+ ],
365
+ "q10": [
366
+ 3.999999999999417e-15
367
+ ],
368
+ "q50": [
369
+ 1.9999999999997088e-14
370
+ ],
371
+ "q90": [
372
+ 3.599999999999476e-14
373
+ ],
374
+ "q99": [
375
+ 3.9599999999994235e-14
376
+ ]
377
+ },
378
+ "timestamp": {
379
+ "min": [
380
+ 0.0
381
+ ],
382
+ "max": [
383
+ 19.033333333333335
384
+ ],
385
+ "mean": [
386
+ 8.083480577759081
387
+ ],
388
+ "std": [
389
+ 4.8802657206589455
390
+ ],
391
+ "count": [
392
+ 2377
393
+ ],
394
+ "q01": [
395
+ 0.1321879999018884
396
+ ],
397
+ "q10": [
398
+ 1.3664213332530415
399
+ ],
400
+ "q50": [
401
+ 6.90138000000002
402
+ ],
403
+ "q90": [
404
+ 17.133045333413367
405
+ ],
406
+ "q99": [
407
+ 18.866905866764917
408
+ ]
409
+ },
410
+ "task_index": {
411
+ "min": [
412
+ 0.0
413
+ ],
414
+ "max": [
415
+ 0.0
416
+ ],
417
+ "mean": [
418
+ 0.0
419
+ ],
420
+ "std": [
421
+ 0.0
422
+ ],
423
+ "count": [
424
+ 2377
425
+ ],
426
+ "q01": [
427
+ 3.9999999999994176e-16
428
+ ],
429
+ "q10": [
430
+ 3.999999999999417e-15
431
+ ],
432
+ "q50": [
433
+ 1.9999999999997088e-14
434
+ ],
435
+ "q90": [
436
+ 3.599999999999476e-14
437
+ ],
438
+ "q99": [
439
+ 3.9599999999994235e-14
440
+ ]
441
+ },
442
+ "index": {
443
+ "min": [
444
+ 0.0
445
+ ],
446
+ "max": [
447
+ 571.0
448
+ ],
449
+ "mean": [
450
+ 242.5044173327724
451
+ ],
452
+ "std": [
453
+ 146.40797161976838
454
+ ],
455
+ "count": [
456
+ 2377
457
+ ],
458
+ "q01": [
459
+ 3.9656399999018888
460
+ ],
461
+ "q10": [
462
+ 40.9926399999197
463
+ ],
464
+ "q50": [
465
+ 207.0414
466
+ ],
467
+ "q90": [
468
+ 513.9913600000801
469
+ ],
470
+ "q99": [
471
+ 566.0071760000983
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:abf643900e8f052cb09e026fe2e955b372a96154ca5406c9362acb11896c6738
3
+ size 2055
videos/observation.images.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:369d3771cd4f18297cb4fedf0ec79f96638f2acd5bdb36775d71d797254823f8
3
+ size 7921969