Hugging Face's logo

Datasets:
TrossenRoboticsCommunity
/
aloha_ai_block_transfer

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
shantanu-tr commited on
Commit
4f745fa
·
verified ·
1 Parent(s): 993ce87

Upload folder using huggingface_hub

Browse files
Files changed (14) 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 +189 -0
  5. meta/stats.json +484 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.cam_high/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.cam_high/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4 +3 -0
  11. videos/chunk-000/observation.images.cam_low/episode_000000.mp4 +3 -0
  12. videos/chunk-000/observation.images.cam_low/episode_000001.mp4 +3 -0
  13. videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 +3 -0
  14. videos/chunk-000/observation.images.cam_right_wrist/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:cd8d328b297c0ade73c06ea5d49fbd68e8994368d70d8a248255c06201c0a6d4
3
+ size 12803
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0345b26a635af1fef580c19ef966ae2fe2d2cf03f3376847d4f129d270d68d87
3
+ size 12819
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Pick red block using right arm and transfer it to the left arm."], "length": 460}
2
+ {"episode_index": 1, "tasks": ["Pick red block using right arm and transfer it to the left arm."], "length": 480}
meta/info.json ADDED
@@ -0,0 +1,189 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "aloha_ai",
4
+ "total_episodes": 2,
5
+ "total_frames": 940,
6
+ "total_tasks": 1,
7
+ "total_videos": 8,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 100,
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
+ 14
21
+ ],
22
+ "names": [
23
+ "left_waist",
24
+ "left_shoulder",
25
+ "left_elbow",
26
+ "left_forearm_roll",
27
+ "left_wrist_angle",
28
+ "left_wrist_rotate",
29
+ "left_gripper",
30
+ "right_waist",
31
+ "right_shoulder",
32
+ "right_elbow",
33
+ "right_forearm_roll",
34
+ "right_wrist_angle",
35
+ "right_wrist_rotate",
36
+ "right_gripper"
37
+ ]
38
+ },
39
+ "observation.state": {
40
+ "dtype": "float32",
41
+ "shape": [
42
+ 14
43
+ ],
44
+ "names": [
45
+ "left_waist",
46
+ "left_shoulder",
47
+ "left_elbow",
48
+ "left_forearm_roll",
49
+ "left_wrist_angle",
50
+ "left_wrist_rotate",
51
+ "left_gripper",
52
+ "right_waist",
53
+ "right_shoulder",
54
+ "right_elbow",
55
+ "right_forearm_roll",
56
+ "right_wrist_angle",
57
+ "right_wrist_rotate",
58
+ "right_gripper"
59
+ ]
60
+ },
61
+ "observation.images.cam_high": {
62
+ "dtype": "video",
63
+ "shape": [
64
+ 480,
65
+ 640,
66
+ 3
67
+ ],
68
+ "names": [
69
+ "height",
70
+ "width",
71
+ "channels"
72
+ ],
73
+ "info": {
74
+ "video.fps": 100.0,
75
+ "video.height": 480,
76
+ "video.width": 640,
77
+ "video.channels": 3,
78
+ "video.codec": "h264",
79
+ "video.pix_fmt": "yuv420p",
80
+ "video.is_depth_map": false,
81
+ "has_audio": false
82
+ }
83
+ },
84
+ "observation.images.cam_low": {
85
+ "dtype": "video",
86
+ "shape": [
87
+ 480,
88
+ 640,
89
+ 3
90
+ ],
91
+ "names": [
92
+ "height",
93
+ "width",
94
+ "channels"
95
+ ],
96
+ "info": {
97
+ "video.fps": 100.0,
98
+ "video.height": 480,
99
+ "video.width": 640,
100
+ "video.channels": 3,
101
+ "video.codec": "h264",
102
+ "video.pix_fmt": "yuv420p",
103
+ "video.is_depth_map": false,
104
+ "has_audio": false
105
+ }
106
+ },
107
+ "observation.images.cam_left_wrist": {
108
+ "dtype": "video",
109
+ "shape": [
110
+ 480,
111
+ 640,
112
+ 3
113
+ ],
114
+ "names": [
115
+ "height",
116
+ "width",
117
+ "channels"
118
+ ],
119
+ "info": {
120
+ "video.fps": 100.0,
121
+ "video.height": 480,
122
+ "video.width": 640,
123
+ "video.channels": 3,
124
+ "video.codec": "h264",
125
+ "video.pix_fmt": "yuv420p",
126
+ "video.is_depth_map": false,
127
+ "has_audio": false
128
+ }
129
+ },
130
+ "observation.images.cam_right_wrist": {
131
+ "dtype": "video",
132
+ "shape": [
133
+ 480,
134
+ 640,
135
+ 3
136
+ ],
137
+ "names": [
138
+ "height",
139
+ "width",
140
+ "channels"
141
+ ],
142
+ "info": {
143
+ "video.fps": 100.0,
144
+ "video.height": 480,
145
+ "video.width": 640,
146
+ "video.channels": 3,
147
+ "video.codec": "h264",
148
+ "video.pix_fmt": "yuv420p",
149
+ "video.is_depth_map": false,
150
+ "has_audio": false
151
+ }
152
+ },
153
+ "timestamp": {
154
+ "dtype": "float32",
155
+ "shape": [
156
+ 1
157
+ ],
158
+ "names": null
159
+ },
160
+ "frame_index": {
161
+ "dtype": "int64",
162
+ "shape": [
163
+ 1
164
+ ],
165
+ "names": null
166
+ },
167
+ "episode_index": {
168
+ "dtype": "int64",
169
+ "shape": [
170
+ 1
171
+ ],
172
+ "names": null
173
+ },
174
+ "index": {
175
+ "dtype": "int64",
176
+ "shape": [
177
+ 1
178
+ ],
179
+ "names": null
180
+ },
181
+ "task_index": {
182
+ "dtype": "int64",
183
+ "shape": [
184
+ 1
185
+ ],
186
+ "names": null
187
+ }
188
+ }
189
+ }
meta/stats.json ADDED
@@ -0,0 +1,484 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 2047.0,
5
+ 2217.0,
6
+ 2216.0,
7
+ 2047.0,
8
+ 2047.0,
9
+ 2047.52783203125,
10
+ 2793.873046875,
11
+ 2047.0,
12
+ 2217.0,
13
+ 2217.0,
14
+ 2042.9898681640625,
15
+ 2045.0,
16
+ 2048.0,
17
+ 2267.0
18
+ ],
19
+ "std": [
20
+ 0.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.4992344081401825,
26
+ 0.8446839451789856,
27
+ 0.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.10259326547384262,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0
34
+ ],
35
+ "max": [
36
+ 2047.0,
37
+ 2217.0,
38
+ 2216.0,
39
+ 2047.0,
40
+ 2047.0,
41
+ 2048.0,
42
+ 2799.0,
43
+ 2047.0,
44
+ 2217.0,
45
+ 2217.0,
46
+ 2043.0,
47
+ 2045.0,
48
+ 2048.0,
49
+ 2267.0
50
+ ],
51
+ "min": [
52
+ 2047.0,
53
+ 2217.0,
54
+ 2216.0,
55
+ 2047.0,
56
+ 2047.0,
57
+ 2047.0,
58
+ 2789.0,
59
+ 2047.0,
60
+ 2217.0,
61
+ 2217.0,
62
+ 2042.0,
63
+ 2045.0,
64
+ 2048.0,
65
+ 2267.0
66
+ ]
67
+ },
68
+ "observation.state": {
69
+ "mean": [
70
+ 2047.0,
71
+ 2217.0,
72
+ 2216.0,
73
+ 2046.315673828125,
74
+ 2047.5447998046875,
75
+ 2047.09130859375,
76
+ 2793.01220703125,
77
+ 2047.0,
78
+ 2217.0,
79
+ 2216.0,
80
+ 2042.0,
81
+ 2044.0,
82
+ 2046.0,
83
+ 2265.0
84
+ ],
85
+ "std": [
86
+ 0.0,
87
+ 0.0,
88
+ 0.0,
89
+ 0.46489617228507996,
90
+ 0.4979996681213379,
91
+ 0.28830382227897644,
92
+ 0.348014235496521,
93
+ 0.0,
94
+ 0.0,
95
+ 0.0,
96
+ 0.0,
97
+ 0.0,
98
+ 0.0,
99
+ 0.0
100
+ ],
101
+ "max": [
102
+ 2047.0,
103
+ 2217.0,
104
+ 2216.0,
105
+ 2047.0,
106
+ 2048.0,
107
+ 2048.0,
108
+ 2796.0,
109
+ 2047.0,
110
+ 2217.0,
111
+ 2216.0,
112
+ 2042.0,
113
+ 2044.0,
114
+ 2046.0,
115
+ 2265.0
116
+ ],
117
+ "min": [
118
+ 2047.0,
119
+ 2217.0,
120
+ 2216.0,
121
+ 2046.0,
122
+ 2047.0,
123
+ 2047.0,
124
+ 2791.0,
125
+ 2047.0,
126
+ 2217.0,
127
+ 2216.0,
128
+ 2042.0,
129
+ 2044.0,
130
+ 2046.0,
131
+ 2265.0
132
+ ]
133
+ },
134
+ "observation.images.cam_high": {
135
+ "mean": [
136
+ [
137
+ [
138
+ 0.4609338939189911
139
+ ]
140
+ ],
141
+ [
142
+ [
143
+ 0.4772801101207733
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.4683610498905182
149
+ ]
150
+ ]
151
+ ],
152
+ "std": [
153
+ [
154
+ [
155
+ 0.3453945219516754
156
+ ]
157
+ ],
158
+ [
159
+ [
160
+ 0.32861560583114624
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.33920609951019287
166
+ ]
167
+ ]
168
+ ],
169
+ "max": [
170
+ [
171
+ [
172
+ 1.0
173
+ ]
174
+ ],
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ]
185
+ ],
186
+ "min": [
187
+ [
188
+ [
189
+ 0.0
190
+ ]
191
+ ],
192
+ [
193
+ [
194
+ 0.0
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.0
200
+ ]
201
+ ]
202
+ ]
203
+ },
204
+ "observation.images.cam_low": {
205
+ "mean": [
206
+ [
207
+ [
208
+ 0.44289547204971313
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.45003947615623474
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 0.43484196066856384
219
+ ]
220
+ ]
221
+ ],
222
+ "std": [
223
+ [
224
+ [
225
+ 0.23045450448989868
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.2218131721019745
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.22897830605506897
236
+ ]
237
+ ]
238
+ ],
239
+ "max": [
240
+ [
241
+ [
242
+ 0.8941176533699036
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.8235294222831726
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.8666666746139526
253
+ ]
254
+ ]
255
+ ],
256
+ "min": [
257
+ [
258
+ [
259
+ 0.0
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.0
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 0.0
270
+ ]
271
+ ]
272
+ ]
273
+ },
274
+ "observation.images.cam_left_wrist": {
275
+ "mean": [
276
+ [
277
+ [
278
+ 0.39508309960365295
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.4133322238922119
284
+ ]
285
+ ],
286
+ [
287
+ [
288
+ 0.40263980627059937
289
+ ]
290
+ ]
291
+ ],
292
+ "std": [
293
+ [
294
+ [
295
+ 0.36527228355407715
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.35703161358833313
301
+ ]
302
+ ],
303
+ [
304
+ [
305
+ 0.35796788334846497
306
+ ]
307
+ ]
308
+ ],
309
+ "max": [
310
+ [
311
+ [
312
+ 1.0
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 1.0
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ]
325
+ ],
326
+ "min": [
327
+ [
328
+ [
329
+ 0.0
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.0
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.0
340
+ ]
341
+ ]
342
+ ]
343
+ },
344
+ "observation.images.cam_right_wrist": {
345
+ "mean": [
346
+ [
347
+ [
348
+ 0.25905895233154297
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.27157479524612427
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ 0.25480008125305176
359
+ ]
360
+ ]
361
+ ],
362
+ "std": [
363
+ [
364
+ [
365
+ 0.24335584044456482
366
+ ]
367
+ ],
368
+ [
369
+ [
370
+ 0.23462463915348053
371
+ ]
372
+ ],
373
+ [
374
+ [
375
+ 0.23984971642494202
376
+ ]
377
+ ]
378
+ ],
379
+ "max": [
380
+ [
381
+ [
382
+ 1.0
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.9843137264251709
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 1.0
393
+ ]
394
+ ]
395
+ ],
396
+ "min": [
397
+ [
398
+ [
399
+ 0.0
400
+ ]
401
+ ],
402
+ [
403
+ [
404
+ 0.0
405
+ ]
406
+ ],
407
+ [
408
+ [
409
+ 0.0
410
+ ]
411
+ ]
412
+ ]
413
+ },
414
+ "timestamp": {
415
+ "mean": [
416
+ 2.3460636138916016
417
+ ],
418
+ "std": [
419
+ 1.3586111068725586
420
+ ],
421
+ "max": [
422
+ 4.789999961853027
423
+ ],
424
+ "min": [
425
+ 0.0
426
+ ]
427
+ },
428
+ "frame_index": {
429
+ "mean": [
430
+ 234.60643005371094
431
+ ],
432
+ "std": [
433
+ 135.86109924316406
434
+ ],
435
+ "max": [
436
+ 479.0
437
+ ],
438
+ "min": [
439
+ 0.0
440
+ ]
441
+ },
442
+ "episode_index": {
443
+ "mean": [
444
+ 0.5106381773948669
445
+ ],
446
+ "std": [
447
+ 0.49988681077957153
448
+ ],
449
+ "max": [
450
+ 1.0
451
+ ],
452
+ "min": [
453
+ 0.0
454
+ ]
455
+ },
456
+ "index": {
457
+ "mean": [
458
+ 469.5000305175781
459
+ ],
460
+ "std": [
461
+ 271.3544921875
462
+ ],
463
+ "max": [
464
+ 939.0
465
+ ],
466
+ "min": [
467
+ 0.0
468
+ ]
469
+ },
470
+ "task_index": {
471
+ "mean": [
472
+ 0.0
473
+ ],
474
+ "std": [
475
+ 0.0
476
+ ],
477
+ "max": [
478
+ 0.0
479
+ ],
480
+ "min": [
481
+ 0.0
482
+ ]
483
+ }
484
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Pick red block using right arm and transfer it to the left arm."}
videos/chunk-000/observation.images.cam_high/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:45f8a6dd54af5dfb441855284a32c06dabe2746141279032558c420ed71ca6c8
3
+ size 3969137
videos/chunk-000/observation.images.cam_high/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:10d530d2e1957a1dc0d25c10ef050a66a42825de74d635a723de2e06853b4c8d
3
+ size 4136623
videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:930028c5251fad809385c4ebab85d18300d40c7e3dcad1cd2667b767da3b3c60
3
+ size 4037253
videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:848a3768cc7d8fb83637d6a4168996f4f6595be52db68946ef36c7930f26fea7
3
+ size 4233507
videos/chunk-000/observation.images.cam_low/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:df86c6e31e0b0ac4d5689941d8ba904d8a661b8d2c7cf54b483b9baf4ee8bf5c
3
+ size 1915894
videos/chunk-000/observation.images.cam_low/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d704e26df9fdecf8de04df46e34459d533111741e589b0f8628c0f5355161b8b
3
+ size 2002628
videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:75c51b0b1f0009b5eeac39c2c874298df84506af9948d073f8f7b591969a9790
3
+ size 3632751
videos/chunk-000/observation.images.cam_right_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3e8902bb6f40c6639a160dd0b84055381ad19175551c613141a21167e8d878dd
3
+ size 3713292