Hugging Face's logo

Datasets:
shreyasgite
/
bimanual-so100-handover-cube

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
shreyasgite commited on
Commit
4e11727
·
verified ·
1 Parent(s): bb13796

Upload folder using huggingface_hub

Browse files
Files changed (12) 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 +162 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.left/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.left/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.right/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.right/episode_000001.mp4 +3 -0
  11. videos/chunk-000/observation.images.top/episode_000000.mp4 +3 -0
  12. videos/chunk-000/observation.images.top/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 sha256:86bb6ebc7ffc346ddcabe74a0a11f64608088c0d590e9ed82409e73175280129
3
+ size 134044
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d341c4ef38001164c74b388e21fe5c9521b853079a7166e689eff331b24fede1
3
+ size 121705
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab and handover the red cube to the other arm"], "length": 1794}
2
+ {"episode_index": 1, "tasks": ["Grab and handover the red cube to the other arm"], "length": 1797}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-11.381475448608398, -97.43270874023438, -16.863100051879883, 45.4471549987793, -14.481074333190918, 0.0, -55.1183967590332, -97.75475311279297, -82.56130981445312, 33.30547332763672, -15.84859561920166, 0.0], "max": [66.48351287841797, -32.753623962402344, 99.81867980957031, 92.84552764892578, 12.967033386230469, 40.30418395996094, 3.3151183128356934, 56.56303787231445, 99.6366958618164, 99.83284759521484, 20.634920120239258, 55.46059036254883], "mean": [9.998737335205078, -65.93951416015625, 60.44890213012695, 65.96489715576172, -3.939183235168457, 12.824165344238281, -23.000024795532227, -18.136831283569336, 19.879196166992188, 67.1392593383789, 0.21773815155029297, 8.781110763549805], "std": [19.113380432128906, 24.344974517822266, 34.15107345581055, 13.064927101135254, 6.835679054260254, 13.850905418395996, 16.772489547729492, 46.12648010253906, 54.685787200927734, 19.259902954101562, 5.836625576019287, 14.886763572692871], "count": [1794]}, "observation.state": {"min": [-11.281225204467773, -97.1548080444336, -14.477211952209473, 46.2662353515625, -14.334554672241211, 1.167315125465393, -55.1430778503418, -97.67941284179688, -80.57455444335938, 34.54545593261719, -15.75091552734375, 0.5574913024902344], "max": [65.67284393310547, -32.46862030029297, 99.37444305419922, 92.61363983154297, 13.015872955322266, 38.84565353393555, 3.093580722808838, 57.112159729003906, 99.8176040649414, 99.03030395507812, 20.488401412963867, 55.1916389465332], "mean": [9.608227729797363, -65.82213592529297, 62.46523666381836, 66.0502700805664, -3.954982280731201, 13.45069408416748, -22.95591926574707, -17.570472717285156, 21.140226364135742, 67.17107391357422, 0.21071435511112213, 13.206814765930176], "std": [18.908803939819336, 24.62952995300293, 33.91984176635742, 13.054091453552246, 6.838140964508057, 13.117515563964844, 16.731672286987305, 46.645626068115234, 54.337223052978516, 19.22129249572754, 5.833075523376465, 12.764391899108887], "count": [1794]}, "observation.images.left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5143889312240048]], [[0.4886056023469994]], [[0.48111770499108736]]], "std": [[[0.10121630980236529]], [[0.11900538890322719]], [[0.131413118499023]]], "count": [275]}, "observation.images.top": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9647058823529412]], [[0.9490196078431372]]], "mean": [[[0.63344356580511]], [[0.5807870766488413]], [[0.5198554783125371]]], "std": [[[0.20766206641469567]], [[0.20707741317427417]], [[0.21824750702268875]]], "count": [275]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5155400170825907]], [[0.49315426916221033]], [[0.49100821672608436]]], "std": [[[0.12381447133453824]], [[0.13651180343618452]], [[0.1553727502215058]]], "count": [275]}, "timestamp": {"min": [0.0], "max": [59.766666666666666], "mean": [29.883333333333336], "std": [17.262770366912164], "count": [1794]}, "frame_index": {"min": [0], "max": [1793], "mean": [896.5], "std": [517.883111007365], "count": [1794]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1794]}, "index": {"min": [0], "max": [1793], "mean": [896.5], "std": [517.883111007365], "count": [1794]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1794]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-3.3751962184906006, -95.6935806274414, 33.726200103759766, 44.878047943115234, -13.74847412109375, 0.0, -59.562843322753906, -97.84110260009766, -16.712080001831055, 35.729209899902344, -5.689865589141846, 0.0], "max": [28.10047149658203, -95.5279541015625, 100.0, 78.86178588867188, 13.992673873901367, 32.69961929321289, -12.276866912841797, 24.870466232299805, 97.27520751953125, 79.10572814941406, 6.129426002502441, 44.53940963745117], "mean": [14.733399391174316, -95.55956268310547, 67.10235595703125, 65.53091430664062, 1.8864256143569946, 11.497289657592773, -41.83592987060547, -27.97283935546875, 24.20773696899414, 55.13218688964844, -0.30928024649620056, 2.9896297454833984], "std": [12.574231147766113, 0.041751421988010406, 22.32495880126953, 8.21168327331543, 9.20776653289795, 10.980012893676758, 14.993359565734863, 31.467432022094727, 30.17951202392578, 9.33804702758789, 2.8383004665374756, 7.729126453399658], "count": [1797]}, "observation.state": {"min": [-2.8203063011169434, -95.81590270996094, 36.72922134399414, 46.34740447998047, -13.35775375366211, 1.232166051864624, -59.70610809326172, -97.42156982421875, -14.363884925842285, 36.56565475463867, -5.5433454513549805, 0.5574913024902344], "max": [28.44480323791504, -95.06275939941406, 99.64253997802734, 79.30194854736328, 13.894993782043457, 31.71206283569336, -12.374322891235352, 24.88182258605957, 97.44641876220703, 78.34343719482422, 5.982905864715576, 42.85714340209961], "mean": [14.620230674743652, -95.54804229736328, 68.75366973876953, 65.78809356689453, 1.8530991077423096, 12.629965782165527, -41.70009994506836, -27.171518325805664, 25.920215606689453, 55.4328727722168, -0.35861048102378845, 8.751721382141113], "std": [12.244227409362793, 0.21691662073135376, 21.592754364013672, 8.021652221679688, 9.224028587341309, 9.822905540466309, 14.855623245239258, 31.805124282836914, 29.864294052124023, 9.167566299438477, 2.818354606628418, 5.967398643493652], "count": [1797]}, "observation.images.left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5188575330645544]], [[0.4814299546509425]], [[0.46498646336553945]]], "std": [[[0.14375965533565246]], [[0.17723818993344162]], [[0.2019024609192696]]], "count": [276]}, "observation.images.top": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9882352941176471]], [[0.9803921568627451]], [[0.9607843137254902]]], "mean": [[[0.6357794517263426]], [[0.5803492158638818]], [[0.5185708815833097]]], "std": [[[0.2082792163493385]], [[0.20658117574043744]], [[0.21687581044351426]]], "count": [276]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5188367182319787]], [[0.49755927346784123]], [[0.4956821273799375]]], "std": [[[0.10923907455880519]], [[0.12963456342345964]], [[0.15086412666110854]]], "count": [276]}, "timestamp": {"min": [0.0], "max": [59.86666666666667], "mean": [29.933333333333337], "std": [17.291637884848875], "count": [1797]}, "frame_index": {"min": [0], "max": [1796], "mean": [898.0], "std": [518.7491365454662], "count": [1797]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1797]}, "index": {"min": [1794], "max": [3590], "mean": [2692.0], "std": [518.7491365454662], "count": [1797]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1797]}}}
meta/info.json ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "bi_so100_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 3591,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
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
+ 12
21
+ ],
22
+ "names": [
23
+ "left_shoulder_pan.pos",
24
+ "left_shoulder_lift.pos",
25
+ "left_elbow_flex.pos",
26
+ "left_wrist_flex.pos",
27
+ "left_wrist_roll.pos",
28
+ "left_gripper.pos",
29
+ "right_shoulder_pan.pos",
30
+ "right_shoulder_lift.pos",
31
+ "right_elbow_flex.pos",
32
+ "right_wrist_flex.pos",
33
+ "right_wrist_roll.pos",
34
+ "right_gripper.pos"
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "left_shoulder_pan.pos",
44
+ "left_shoulder_lift.pos",
45
+ "left_elbow_flex.pos",
46
+ "left_wrist_flex.pos",
47
+ "left_wrist_roll.pos",
48
+ "left_gripper.pos",
49
+ "right_shoulder_pan.pos",
50
+ "right_shoulder_lift.pos",
51
+ "right_elbow_flex.pos",
52
+ "right_wrist_flex.pos",
53
+ "right_wrist_roll.pos",
54
+ "right_gripper.pos"
55
+ ]
56
+ },
57
+ "observation.images.left": {
58
+ "dtype": "video",
59
+ "shape": [
60
+ 480,
61
+ 640,
62
+ 3
63
+ ],
64
+ "names": [
65
+ "height",
66
+ "width",
67
+ "channels"
68
+ ],
69
+ "info": {
70
+ "video.height": 480,
71
+ "video.width": 640,
72
+ "video.codec": "av1",
73
+ "video.pix_fmt": "yuv420p",
74
+ "video.is_depth_map": false,
75
+ "video.fps": 30,
76
+ "video.channels": 3,
77
+ "has_audio": false
78
+ }
79
+ },
80
+ "observation.images.top": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 480,
84
+ 640,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channels"
91
+ ],
92
+ "info": {
93
+ "video.height": 480,
94
+ "video.width": 640,
95
+ "video.codec": "av1",
96
+ "video.pix_fmt": "yuv420p",
97
+ "video.is_depth_map": false,
98
+ "video.fps": 30,
99
+ "video.channels": 3,
100
+ "has_audio": false
101
+ }
102
+ },
103
+ "observation.images.right": {
104
+ "dtype": "video",
105
+ "shape": [
106
+ 480,
107
+ 640,
108
+ 3
109
+ ],
110
+ "names": [
111
+ "height",
112
+ "width",
113
+ "channels"
114
+ ],
115
+ "info": {
116
+ "video.height": 480,
117
+ "video.width": 640,
118
+ "video.codec": "av1",
119
+ "video.pix_fmt": "yuv420p",
120
+ "video.is_depth_map": false,
121
+ "video.fps": 30,
122
+ "video.channels": 3,
123
+ "has_audio": false
124
+ }
125
+ },
126
+ "timestamp": {
127
+ "dtype": "float32",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "frame_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ },
140
+ "episode_index": {
141
+ "dtype": "int64",
142
+ "shape": [
143
+ 1
144
+ ],
145
+ "names": null
146
+ },
147
+ "index": {
148
+ "dtype": "int64",
149
+ "shape": [
150
+ 1
151
+ ],
152
+ "names": null
153
+ },
154
+ "task_index": {
155
+ "dtype": "int64",
156
+ "shape": [
157
+ 1
158
+ ],
159
+ "names": null
160
+ }
161
+ }
162
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab and handover the red cube to the other arm"}
videos/chunk-000/observation.images.left/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:051d9c345fc5d665872a61a580ffafdf2e322c248fa6dcf8c06871f7b831e7a3
3
+ size 8980008
videos/chunk-000/observation.images.left/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4d870d20f33c606bd4185f9564dfc3bbceb61f16c7abf849a421decbe33eb994
3
+ size 12328568
videos/chunk-000/observation.images.right/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5bb64bd73c11590f7ecdccd7191828798371114b5ea88a9c724a4a1cd52e9992
3
+ size 9250790
videos/chunk-000/observation.images.right/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d32d11727b54b86659e53d65217a5fc234fbd9e6b6283222bd7431dc290ab0f4
3
+ size 8573231
videos/chunk-000/observation.images.top/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0f29a9cc1ae32565c55eac8fe59b4e45d39ce3aa427d8b4584ec0c67093ae8b0
3
+ size 19364362
videos/chunk-000/observation.images.top/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6fc6bbe9e31911a0dd5899ee453e8caf74389e5dbc2e584d624fb48606df7dba
3
+ size 19151493