Hugging Face's logo

Datasets:
cfy789
/
piper_real_test_0121_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
piper
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
cfy789 commited on
Commit
6296088
·
verified ·
1 Parent(s): 90ff14d

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/info.json +129 -0
  5. meta/stats.json +288 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.laptop/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.phone/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 sha256:4dcbb38d731962123658aac64e12ef30d045f83513987e5f69c4f6794b701833
3
+ size 39117
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9d7afb3552bbbbb359411356145962d4061c6123da186da6974d3bd4fa269d96
3
+ size 38166
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["piper_real_test_0121_1"], "length": 793}
2
+ {"episode_index": 1, "tasks": ["piper_real_test_0121_1"], "length": 620}
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "piper",
4
+ "total_episodes": 2,
5
+ "total_frames": 1413,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
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
+ 7
21
+ ],
22
+ "names": [
23
+ "main_shoulder_pan",
24
+ "main_shoulder_lift",
25
+ "main_elbow_flex",
26
+ "main_wrist_flex",
27
+ "main_wrist_angle",
28
+ "main_wrist_roll",
29
+ "main_gripper"
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "shape": [
35
+ 7
36
+ ],
37
+ "names": [
38
+ "main_shoulder_pan",
39
+ "main_shoulder_lift",
40
+ "main_elbow_flex",
41
+ "main_wrist_flex",
42
+ "main_wrist_angle",
43
+ "main_wrist_roll",
44
+ "main_gripper"
45
+ ]
46
+ },
47
+ "observation.images.laptop": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.fps": 30.0,
61
+ "video.height": 480,
62
+ "video.width": 640,
63
+ "video.channels": 3,
64
+ "video.codec": "av1",
65
+ "video.pix_fmt": "yuv420p",
66
+ "video.is_depth_map": false,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.phone": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.fps": 30.0,
84
+ "video.height": 480,
85
+ "video.width": 640,
86
+ "video.channels": 3,
87
+ "video.codec": "av1",
88
+ "video.pix_fmt": "yuv420p",
89
+ "video.is_depth_map": false,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "timestamp": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "frame_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "task_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ }
128
+ }
129
+ }
meta/stats.json ADDED
@@ -0,0 +1,288 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ -6.045485496520996,
5
+ 65.36983489990234,
6
+ -42.36426544189453,
7
+ 6.073805332183838,
8
+ 15.025269508361816,
9
+ -7.909558296203613,
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 4.619693279266357,
14
+ 39.65943145751953,
15
+ 27.070281982421875,
16
+ 0.98470139503479,
17
+ 8.960895538330078,
18
+ 3.086219549179077,
19
+ 0.0
20
+ ],
21
+ "max": [
22
+ 8.524999618530273,
23
+ 125.25700378417969,
24
+ -4.48199987411499,
25
+ 8.060999870300293,
26
+ 31.038000106811523,
27
+ -3.25600004196167,
28
+ 0.0
29
+ ],
30
+ "min": [
31
+ -12.357000350952148,
32
+ 15.496999740600586,
33
+ -76.41899871826172,
34
+ 4.6539998054504395,
35
+ -4.251999855041504,
36
+ -13.618000030517578,
37
+ 0.0
38
+ ]
39
+ },
40
+ "observation.state": {
41
+ "mean": [
42
+ -6.045485496520996,
43
+ 65.36983489990234,
44
+ -42.36426544189453,
45
+ 6.073805332183838,
46
+ 15.025269508361816,
47
+ -7.909558296203613,
48
+ 0.0
49
+ ],
50
+ "std": [
51
+ 4.619693279266357,
52
+ 39.65943145751953,
53
+ 27.070281982421875,
54
+ 0.98470139503479,
55
+ 8.960895538330078,
56
+ 3.086219549179077,
57
+ 0.0
58
+ ],
59
+ "max": [
60
+ 8.524999618530273,
61
+ 125.25700378417969,
62
+ -4.48199987411499,
63
+ 8.060999870300293,
64
+ 31.038000106811523,
65
+ -3.25600004196167,
66
+ 0.0
67
+ ],
68
+ "min": [
69
+ -12.357000350952148,
70
+ 15.496999740600586,
71
+ -76.41899871826172,
72
+ 4.6539998054504395,
73
+ -4.251999855041504,
74
+ -13.618000030517578,
75
+ 0.0
76
+ ]
77
+ },
78
+ "observation.images.laptop": {
79
+ "mean": [
80
+ [
81
+ [
82
+ 0.4720480442047119
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.4564727246761322
88
+ ]
89
+ ],
90
+ [
91
+ [
92
+ 0.43263986706733704
93
+ ]
94
+ ]
95
+ ],
96
+ "std": [
97
+ [
98
+ [
99
+ 0.1671047806739807
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.15552450716495514
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.1734285205602646
110
+ ]
111
+ ]
112
+ ],
113
+ "max": [
114
+ [
115
+ [
116
+ 1.0
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 1.0
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 1.0
127
+ ]
128
+ ]
129
+ ],
130
+ "min": [
131
+ [
132
+ [
133
+ 0.0
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.0
139
+ ]
140
+ ],
141
+ [
142
+ [
143
+ 0.0
144
+ ]
145
+ ]
146
+ ]
147
+ },
148
+ "observation.images.phone": {
149
+ "mean": [
150
+ [
151
+ [
152
+ 0.37596333026885986
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.4061432182788849
158
+ ]
159
+ ],
160
+ [
161
+ [
162
+ 0.411803275346756
163
+ ]
164
+ ]
165
+ ],
166
+ "std": [
167
+ [
168
+ [
169
+ 0.2223966121673584
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 0.20210930705070496
175
+ ]
176
+ ],
177
+ [
178
+ [
179
+ 0.20293155312538147
180
+ ]
181
+ ]
182
+ ],
183
+ "max": [
184
+ [
185
+ [
186
+ 1.0
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 1.0
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 1.0
197
+ ]
198
+ ]
199
+ ],
200
+ "min": [
201
+ [
202
+ [
203
+ 0.0
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.0
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.0
214
+ ]
215
+ ]
216
+ ]
217
+ },
218
+ "timestamp": {
219
+ "mean": [
220
+ 11.934842109680176
221
+ ],
222
+ "std": [
223
+ 7.095240592956543
224
+ ],
225
+ "max": [
226
+ 26.399999618530273
227
+ ],
228
+ "min": [
229
+ 0.0
230
+ ]
231
+ },
232
+ "frame_index": {
233
+ "mean": [
234
+ 358.0452880859375
235
+ ],
236
+ "std": [
237
+ 212.85723876953125
238
+ ],
239
+ "max": [
240
+ 792.0
241
+ ],
242
+ "min": [
243
+ 0.0
244
+ ]
245
+ },
246
+ "episode_index": {
247
+ "mean": [
248
+ 0.43878263235092163
249
+ ],
250
+ "std": [
251
+ 0.49623823165893555
252
+ ],
253
+ "max": [
254
+ 1.0
255
+ ],
256
+ "min": [
257
+ 0.0
258
+ ]
259
+ },
260
+ "index": {
261
+ "mean": [
262
+ 706.000244140625
263
+ ],
264
+ "std": [
265
+ 407.8978271484375
266
+ ],
267
+ "max": [
268
+ 1412.0
269
+ ],
270
+ "min": [
271
+ 0.0
272
+ ]
273
+ },
274
+ "task_index": {
275
+ "mean": [
276
+ 0.0
277
+ ],
278
+ "std": [
279
+ 0.0
280
+ ],
281
+ "max": [
282
+ 0.0
283
+ ],
284
+ "min": [
285
+ 0.0
286
+ ]
287
+ }
288
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "piper_real_test_0121_1"}
videos/chunk-000/observation.images.laptop/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89904b4e8fc7c4b8f1cfb2bd2666e31aeabfe0a976a6057f32fca804b645e5e1
3
+ size 4337798
videos/chunk-000/observation.images.laptop/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:25f4c2f4a00c1982839dbd33946102a25988a303ce702df91688a8c5977a7fac
3
+ size 3109571
videos/chunk-000/observation.images.phone/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9de81207942c04ebb307cd65c075c11b167a06bdbbe8d1dfd406e3e0eecd142a
3
+ size 8899609
videos/chunk-000/observation.images.phone/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c40c37719c0dce65e91e653db2b59d7f913783a9a41a5b148cb4695bc9c90826
3
+ size 7064322