Hugging Face's logo

Datasets:
mchen02
/
ultron_test_v32

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
mchen02 commited on
Commit
0a9c22d
·
verified ·
1 Parent(s): cc0b9cb

Upload folder using huggingface_hub

Browse files
Files changed (10) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. meta/episodes.jsonl +2 -0
  4. meta/episodes_stats.jsonl +2 -0
  5. meta/info.json +155 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.head/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.head/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.wrist_right/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.wrist_right/episode_000001.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 sha256:5d2f78f0cca79fd1d2cb39b22f639e702c219b343bc4eae669bb624e39b149b5
3
+ size 4226
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:174234c14d62211c799cf84fbf2f99cc215252698e447a724cff77c774397800
3
+ size 4170
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Hands by your side"], "length": 25}
2
+ {"episode_index": 1, "tasks": ["Hands by your side"], "length": 22}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [25]}, "observation.state": {"min": [0.020638298243284225, 0.12468085438013077, -0.12999999523162842, -0.008510638028383255, 0.005531914997845888, -0.2863829731941223, 0.0042553190141916275, -0.03127659484744072, -0.08680851012468338, 0.25999999046325684, 0.0, 0.004042553249746561, 0.12808510661125183, 0.01042553223669529, 0.023000000044703484, -0.04129999876022339, 0.004699999932199717, -0.0013000000035390258, 80.27924346923828, 80.84490203857422], "max": [0.020638298243284225, 0.12468085438013077, -0.12999999523162842, -0.008510638028383255, 0.005531914997845888, -0.2863829731941223, 0.0042553190141916275, -0.03127659484744072, -0.08680851012468338, 0.25999999046325684, 0.0, 0.004042553249746561, 0.12808510661125183, 0.01042553223669529, 0.023399999365210533, -0.04100000113248825, 0.004699999932199717, -0.0013000000035390258, 80.29301452636719, 80.85874938964844], "mean": [0.020638294517993927, 0.12468083202838898, -0.130000039935112, -0.008510635234415531, 0.0055319154635071754, -0.2863830327987671, 0.004255317617207766, -0.03127658739686012, -0.08680853247642517, 0.260000079870224, 0.0, 0.004042552784085274, 0.12808512151241302, 0.010425534099340439, 0.023384002968668938, -0.04128799960017204, 0.004699999000877142, -0.0012999997707083821, 80.29244995117188, 80.84542846679688], "std": [3.725290298461914e-09, 2.2351741790771484e-08, 4.470348358154297e-08, 2.7939677238464355e-09, 4.656612873077393e-10, 5.960464477539063e-08, 1.3969838619232178e-09, 7.450580596923828e-09, 2.2351741790771484e-08, 8.940696716308594e-08, 0.0, 4.656612873077393e-10, 1.4901161193847656e-08, 1.862645149230957e-09, 7.838353485567495e-05, 5.87872855248861e-05, 9.313225746154785e-10, 2.3283064365386963e-10, 0.002698600059375167, 0.0027136546559631824], "count": [25]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48449384531590417]], [[0.4686719825708061]], [[0.4662982026143791]]], "std": [[[0.31040253923529293]], [[0.31833546276484753]], [[0.3100163087696588]]], "count": [25]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4495755382545175]], [[0.40579599192618226]], [[0.37145083621683966]]], "std": [[[0.2500597097666793]], [[0.20060287009410555]], [[0.2373171325282902]]], "count": [25]}, "timestamp": {"min": [0.0], "max": [4.8], "mean": [2.4], "std": [1.4422205101855958], "count": [25]}, "frame_index": {"min": [0], "max": [24], "mean": [12.0], "std": [7.211102550927978], "count": [25]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [25]}, "index": {"min": [0], "max": [24], "mean": [12.0], "std": [7.211102550927978], "count": [25]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [25]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [22]}, "observation.state": {"min": [0.020638298243284225, 0.12468085438013077, -0.12999999523162842, -0.008510638028383255, 0.005531914997845888, -0.2863829731941223, 0.0042553190141916275, -0.03127659484744072, -0.08680851012468338, 0.25999999046325684, 0.0, 0.004042553249746561, 0.12808510661125183, 0.01042553223669529, 0.023000000044703484, -0.04129999876022339, 0.004699999932199717, -0.0013000000035390258, 80.29301452636719, 80.84490203857422], "max": [0.020638298243284225, 0.12468085438013077, -0.12999999523162842, -0.008510638028383255, 0.005531914997845888, -0.2863829731941223, 0.0042553190141916275, -0.03127659484744072, -0.08680851012468338, 0.25999999046325684, 0.0, 0.004042553249746561, 0.12808510661125183, 0.01042553223669529, 0.023399999365210533, -0.04129999876022339, 0.004699999932199717, -0.0013000000035390258, 80.29301452636719, 80.85874938964844], "mean": [0.020638294517993927, 0.12468084692955017, -0.1300000250339508, -0.008510635234415531, 0.005531914997845888, -0.2863830327987671, 0.004255317617207766, -0.03127658739686012, -0.08680853247642517, 0.2600000500679016, 0.0, 0.004042552784085274, 0.12808512151241302, 0.010425534099340439, 0.023345457389950752, -0.04129999876022339, 0.004699999466538429, -0.0012999997707083821, 80.29299926757812, 80.84677124023438], "std": [3.725290298461914e-09, 7.450580596923828e-09, 2.9802322387695312e-08, 2.7939677238464355e-09, 0.0, 5.960464477539063e-08, 1.3969838619232178e-09, 7.450580596923828e-09, 2.2351741790771484e-08, 5.960464477539063e-08, 0.0, 4.656612873077393e-10, 1.4901161193847656e-08, 1.862645149230957e-09, 0.00013726946781389415, 0.0, 4.656612873077393e-10, 2.3283064365386963e-10, 1.52587890625e-05, 0.004752092994749546], "count": [22]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48266280451574567]], [[0.46821720885323825]], [[0.46368413299663297]]], "std": [[[0.3091006674200827]], [[0.31759976023373704]], [[0.30868841812245873]]], "count": [22]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4493830497885428]], [[0.4056976883890811]], [[0.37127014085491594]]], "std": [[[0.24994468128477593]], [[0.20068667066642362]], [[0.23737104352271318]]], "count": [22]}, "timestamp": {"min": [0.0], "max": [4.2], "mean": [2.0999999999999996], "std": [1.2688577540449522], "count": [22]}, "frame_index": {"min": [0], "max": [21], "mean": [10.5], "std": [6.34428877022476], "count": [22]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [22]}, "index": {"min": [25], "max": [46], "mean": [35.5], "std": [6.34428877022476], "count": [22]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [22]}}}
meta/info.json ADDED
@@ -0,0 +1,155 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "r1",
4
+ "total_episodes": 2,
5
+ "total_frames": 47,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 5,
11
+ "splits": {
12
+ "train": "0:2"
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
+ 20
21
+ ],
22
+ "names": [
23
+ "left_arm_j1",
24
+ "left_arm_j2",
25
+ "left_arm_j3",
26
+ "left_arm_j4",
27
+ "left_arm_j5",
28
+ "left_arm_j6",
29
+ "left_arm_j7",
30
+ "right_arm_j1",
31
+ "right_arm_j2",
32
+ "right_arm_j3",
33
+ "right_arm_j4",
34
+ "right_arm_j5",
35
+ "right_arm_j6",
36
+ "right_arm_j7",
37
+ "torso_j1",
38
+ "torso_j2",
39
+ "torso_j3",
40
+ "torso_j4",
41
+ "left_gripper",
42
+ "right_gripper"
43
+ ]
44
+ },
45
+ "observation.state": {
46
+ "dtype": "float32",
47
+ "shape": [
48
+ 20
49
+ ],
50
+ "names": [
51
+ "left_arm_j1",
52
+ "left_arm_j2",
53
+ "left_arm_j3",
54
+ "left_arm_j4",
55
+ "left_arm_j5",
56
+ "left_arm_j6",
57
+ "left_arm_j7",
58
+ "right_arm_j1",
59
+ "right_arm_j2",
60
+ "right_arm_j3",
61
+ "right_arm_j4",
62
+ "right_arm_j5",
63
+ "right_arm_j6",
64
+ "right_arm_j7",
65
+ "torso_j1",
66
+ "torso_j2",
67
+ "torso_j3",
68
+ "torso_j4",
69
+ "left_gripper",
70
+ "right_gripper"
71
+ ]
72
+ },
73
+ "observation.images.head": {
74
+ "dtype": "video",
75
+ "shape": [
76
+ 360,
77
+ 640,
78
+ 3
79
+ ],
80
+ "names": [
81
+ "height",
82
+ "width",
83
+ "channels"
84
+ ],
85
+ "info": {
86
+ "video.fps": 5.0,
87
+ "video.height": 360,
88
+ "video.width": 640,
89
+ "video.channels": 3,
90
+ "video.codec": "h264",
91
+ "video.pix_fmt": "yuv420p",
92
+ "video.is_depth_map": false,
93
+ "has_audio": false
94
+ }
95
+ },
96
+ "observation.images.wrist_right": {
97
+ "dtype": "video",
98
+ "shape": [
99
+ 480,
100
+ 848,
101
+ 3
102
+ ],
103
+ "names": [
104
+ "height",
105
+ "width",
106
+ "channels"
107
+ ],
108
+ "info": {
109
+ "video.fps": 5.0,
110
+ "video.height": 480,
111
+ "video.width": 848,
112
+ "video.channels": 3,
113
+ "video.codec": "h264",
114
+ "video.pix_fmt": "yuv420p",
115
+ "video.is_depth_map": false,
116
+ "has_audio": false
117
+ }
118
+ },
119
+ "timestamp": {
120
+ "dtype": "float32",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ },
126
+ "frame_index": {
127
+ "dtype": "int64",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "episode_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ },
140
+ "index": {
141
+ "dtype": "int64",
142
+ "shape": [
143
+ 1
144
+ ],
145
+ "names": null
146
+ },
147
+ "task_index": {
148
+ "dtype": "int64",
149
+ "shape": [
150
+ 1
151
+ ],
152
+ "names": null
153
+ }
154
+ }
155
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Hands by your side"}
videos/chunk-000/observation.images.head/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:55c8d6e478be3c2082e9866a9e09de418db1f89c45f3f1bd5618225ae568593d
3
+ size 472805
videos/chunk-000/observation.images.head/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cd6b2484279a14d67326a8bb13a3a5a9c2f8f150663686cf82a43fc61c940a13
3
+ size 409615
videos/chunk-000/observation.images.wrist_right/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:28f74ccbce83d4ddb47e02d8c5b7c8ba78d72acebad4432465366fe49b3c75ff
3
+ size 322534
videos/chunk-000/observation.images.wrist_right/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6a0310d29b2a1abc655ab1e5b0efb1b8ca50dc9bfac75e0989c33fd602767f94
3
+ size 290045