Hugging Face's logo

Datasets:
arclabmit
/
eval_lx7r_diffusion_pickup_model

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
Community
1
aposadasn commited on
Commit
6fbbdca
·
verified ·
1 Parent(s): 6bba21f

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. meta/episodes.jsonl +1 -0
  3. meta/episodes_stats.jsonl +1 -0
  4. meta/info.json +161 -0
  5. meta/tasks.jsonl +1 -0
  6. videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
  7. videos/chunk-000/observation.images.overhead/episode_000000.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 sha256:865610bbeee94400fd0b9159dbcbbc9ffe55d3b929481c51b14ff35caaaeb098
3
+ size 119981
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["Move the right xarm7 to the target position"], "length": 639}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.state": {"min": [-0.27353599667549133, -0.4363349974155426, -0.10578499734401703, 0.4537779986858368, -0.6193119883537292, 0.3571760058403015, -0.3496229946613312, -0.2583022713661194, -0.11711499094963074, -0.01796621084213257, 0.0, -0.3882676959037781, -0.0760800689458847, -0.1607089638710022, 0.0, -0.3667358458042145, 0.0, -0.26370489597320557, 0.0, -0.23603403568267822, 0.0, 0.0, -0.06288057565689087], "max": [0.04546099901199341, 0.41284599900245667, 0.13131099939346313, 1.0998129844665527, 0.1980929970741272, 1.031227946281433, 0.16594000160694122, 0.0, 0.523844838142395, 0.020258307456970215, 0.5983445048332214, 0.22997868061065674, 0.6380505561828613, 0.02258896827697754, 1.3961117267608643, 0.28921717405319214, 0.8382492065429688, 0.03401291370391846, 2.0031182765960693, 0.7254265546798706, 0.6395267844200134, 1.222129464149475, 0.0], "mean": [-0.1341618448495865, 0.14569872617721558, 0.0016714157536625862, 0.8279385566711426, -0.271525502204895, 0.6824405789375305, -0.08817971497774124, -0.11416245251893997, 0.05566773563623428, 0.009691489860415459, 0.14454995095729828, 0.08845192939043045, 0.07874151319265366, 0.006814669352024794, 0.19896382093429565, 0.1287502646446228, 0.30193567276000977, 0.003599676536396146, 0.28736889362335205, 0.09839366376399994, 0.6186690330505371, 1.033031940460205, -0.044332753866910934], "std": [0.07065876573324203, 0.21777786314487457, 0.06055339798331261, 0.16197694838047028, 0.18835406005382538, 0.1497231125831604, 0.13895651698112488, 0.05829659476876259, 0.19631469249725342, 0.008632444776594639, 0.15167778730392456, 0.16171607375144958, 0.20504896342754364, 0.029806287959218025, 0.30545127391815186, 0.177684023976326, 0.18161840736865997, 0.05310283601284027, 0.4338703751564026, 0.3344937860965729, 0.06553895026445389, 0.1401848942041397, 0.01265647355467081], "count": [639]}, "action": {"min": [0.345646470785141, -0.1301889717578888, 0.15775750577449799, -0.9999710917472839, -0.11871110647916794, -0.20742565393447876, 0.0012073764810338616, -0.2583022713661194, -0.11711499094963074, -0.01796621084213257, 0.026734234765172005, -0.3882676959037781, -0.0760800689458847, -0.1607089638710022, 0.03824908286333084, -0.3667358458042145, 0.10659781098365784, -0.26370489597320557, 0.05692116916179657, -0.23603403568267822, 0.6151642203330994, 0.9235440492630005, -0.06306201219558716], "max": [0.48734337091445923, 0.02926596999168396, 0.32630839943885803, 0.9999778866767883, 0.09364555776119232, 0.056012094020843506, 0.20388637483119965, -0.021755099296569824, 0.523844838142395, 0.020258307456970215, 0.5983445048332214, 0.22997868061065674, 0.6380505561828613, 0.02258896827697754, 1.3961117267608643, 0.28921717405319214, 0.8382492065429688, 0.03401291370391846, 2.0031182765960693, 0.7254265546798706, 0.6395267844200134, 1.222129464149475, -0.006078757345676422], "mean": [0.43680331110954285, -0.05336549133062363, 0.22833117842674255, 0.723651647567749, -0.00785934366285801, -0.08803819864988327, 0.0957171693444252, -0.1147693395614624, 0.05686326324939728, 0.009738387539982796, 0.14654222130775452, 0.08839910477399826, 0.0806577205657959, 0.006489347666501999, 0.2026769071817398, 0.12891297042369843, 0.3057781457901001, 0.002989503787830472, 0.2926691174507141, 0.09981018304824829, 0.6254525780677795, 1.0450408458709717, -0.04450526461005211], "std": [0.04095527157187462, 0.03849737346172333, 0.04579745605587959, 0.6625856757164001, 0.058492522686719894, 0.07748472690582275, 0.04780600965023041, 0.057959407567977905, 0.19711335003376007, 0.008650935254991055, 0.1519223153591156, 0.16247931122779846, 0.20618104934692383, 0.0307735837996006, 0.3085156977176666, 0.17828932404518127, 0.18023064732551575, 0.054532490670681, 0.438905268907547, 0.3355272710323334, 0.007519451901316643, 0.088734932243824, 0.012285076081752777], "count": [639]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4476946165277134]], [[0.4275182842493953]], [[0.4084963701688024]]], "std": [[[0.28488248162949786]], [[0.2881707889742229]], [[0.2886920827474502]]], "count": [127]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5351799814085739]], [[0.5309369210282538]], [[0.5331796629741135]]], "std": [[[0.22676390377638708]], [[0.23232724210067257]], [[0.24470619702872942]]], "count": [127]}, "timestamp": {"min": [0.0], "max": [21.266666666666666], "mean": [10.633333333333333], "std": [6.148772837518671], "count": [639]}, "frame_index": {"min": [0], "max": [638], "mean": [319.0], "std": [184.46318512556013], "count": [639]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [639]}, "index": {"min": [0], "max": [638], "mean": [319.0], "std": [184.46318512556013], "count": [639]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [639]}}}
meta/info.json ADDED
@@ -0,0 +1,161 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "multi_robot",
4
+ "total_episodes": 1,
5
+ "total_frames": 639,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
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
+ "observation.state": {
18
+ "shape": [
19
+ 23
20
+ ],
21
+ "dtype": "float32",
22
+ "names": [
23
+ "xarm7_joint_0",
24
+ "xarm7_joint_1",
25
+ "xarm7_joint_2",
26
+ "xarm7_joint_3",
27
+ "xarm7_joint_4",
28
+ "xarm7_joint_5",
29
+ "xarm7_joint_6",
30
+ "leap_joint_0",
31
+ "leap_joint_1",
32
+ "leap_joint_2",
33
+ "leap_joint_3",
34
+ "leap_joint_4",
35
+ "leap_joint_5",
36
+ "leap_joint_6",
37
+ "leap_joint_7",
38
+ "leap_joint_8",
39
+ "leap_joint_9",
40
+ "leap_joint_10",
41
+ "leap_joint_11",
42
+ "leap_joint_12",
43
+ "leap_joint_13",
44
+ "leap_joint_14",
45
+ "leap_joint_15"
46
+ ]
47
+ },
48
+ "action": {
49
+ "shape": [
50
+ 23
51
+ ],
52
+ "dtype": "float32",
53
+ "names": [
54
+ "xarm7_x",
55
+ "xarm7_y",
56
+ "xarm7_z",
57
+ "xarm7_qx",
58
+ "xarm7_qy",
59
+ "xarm7_qz",
60
+ "xarm7_qw",
61
+ "leap_cmd_0",
62
+ "leap_cmd_1",
63
+ "leap_cmd_2",
64
+ "leap_cmd_3",
65
+ "leap_cmd_4",
66
+ "leap_cmd_5",
67
+ "leap_cmd_6",
68
+ "leap_cmd_7",
69
+ "leap_cmd_8",
70
+ "leap_cmd_9",
71
+ "leap_cmd_10",
72
+ "leap_cmd_11",
73
+ "leap_cmd_12",
74
+ "leap_cmd_13",
75
+ "leap_cmd_14",
76
+ "leap_cmd_15"
77
+ ]
78
+ },
79
+ "observation.images.front": {
80
+ "dtype": "video",
81
+ "shape": [
82
+ 480,
83
+ 640,
84
+ 3
85
+ ],
86
+ "names": [
87
+ "height",
88
+ "width",
89
+ "channels"
90
+ ],
91
+ "info": {
92
+ "video.height": 480,
93
+ "video.width": 640,
94
+ "video.codec": "av1",
95
+ "video.pix_fmt": "yuv420p",
96
+ "video.is_depth_map": false,
97
+ "video.fps": 30,
98
+ "video.channels": 3,
99
+ "has_audio": false
100
+ }
101
+ },
102
+ "observation.images.overhead": {
103
+ "dtype": "video",
104
+ "shape": [
105
+ 480,
106
+ 640,
107
+ 3
108
+ ],
109
+ "names": [
110
+ "height",
111
+ "width",
112
+ "channels"
113
+ ],
114
+ "info": {
115
+ "video.height": 480,
116
+ "video.width": 640,
117
+ "video.codec": "av1",
118
+ "video.pix_fmt": "yuv420p",
119
+ "video.is_depth_map": false,
120
+ "video.fps": 30,
121
+ "video.channels": 3,
122
+ "has_audio": false
123
+ }
124
+ },
125
+ "timestamp": {
126
+ "dtype": "float32",
127
+ "shape": [
128
+ 1
129
+ ],
130
+ "names": null
131
+ },
132
+ "frame_index": {
133
+ "dtype": "int64",
134
+ "shape": [
135
+ 1
136
+ ],
137
+ "names": null
138
+ },
139
+ "episode_index": {
140
+ "dtype": "int64",
141
+ "shape": [
142
+ 1
143
+ ],
144
+ "names": null
145
+ },
146
+ "index": {
147
+ "dtype": "int64",
148
+ "shape": [
149
+ 1
150
+ ],
151
+ "names": null
152
+ },
153
+ "task_index": {
154
+ "dtype": "int64",
155
+ "shape": [
156
+ 1
157
+ ],
158
+ "names": null
159
+ }
160
+ }
161
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Move the right xarm7 to the target position"}
videos/chunk-000/observation.images.front/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:08cc896e1c07b020ff3c8c5f757ec60cd277860e55eae6ffcaaef4b55f3608b9
3
+ size 17032172
videos/chunk-000/observation.images.overhead/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b8f18cce8bcc92da6f8cc6ac4a0922f9c06dacc297a46431accb32f4e33243b7
3
+ size 7546173