Add files using upload-large-folder tool
Browse files- .gitattributes +1 -58
- README.md +91 -0
- build_manifest.json +69 -0
- meta/episodes.jsonl +713 -0
- meta/episodes_stats.jsonl +0 -0
- meta/info.json +344 -0
- meta/tasks.jsonl +2 -0
- publication_manifest.json +67 -0
- validation_report.json +15 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000010.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000017.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000022.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000025.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000059.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000088.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000101.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000106.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000133.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000211.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000216.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000218.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000223.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000224.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000258.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000289.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000300.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000332.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000335.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000340.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000349.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000398.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000438.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000443.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000444.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000471.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000476.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000492.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000495.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000529.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000552.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000555.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000560.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000567.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000583.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000639.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000645.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000670.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000677.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000679.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead_vector/episode_000694.mp4 +3 -0
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README.md
ADDED
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| 1 |
+
---
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| 2 |
+
license: apache-2.0
|
| 3 |
+
task_categories:
|
| 4 |
+
- robotics
|
| 5 |
+
tags:
|
| 6 |
+
- lerobot
|
| 7 |
+
- real
|
| 8 |
+
- arx
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| 9 |
+
- pi05
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| 10 |
+
- dagger
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| 11 |
+
- intervention
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| 12 |
+
- 448x448
|
| 13 |
+
- dual-overhead
|
| 14 |
+
configs:
|
| 15 |
+
- config_name: default
|
| 16 |
+
data_files: data/*/*.parquet
|
| 17 |
+
---
|
| 18 |
+
|
| 19 |
+
# Route Subtasks + Balanced DAgger Interventions, 448px
|
| 20 |
+
|
| 21 |
+
This is a new LeRobot v2.1 dataset derived from
|
| 22 |
+
[ajaysri/route_subtasks_dual_overhead_pi05_448](https://huggingface.co/datasets/ajaysri/route_subtasks_dual_overhead_pi05_448) and a subsequent
|
| 23 |
+
DAgger collection. The original dataset is not modified.
|
| 24 |
+
|
| 25 |
+
The base contributes 495 episodes and 128,742 frames. Only
|
| 26 |
+
frames recorded while the human collector was actively intervening are added;
|
| 27 |
+
autonomous policy-control frames and `policy_target_action` are excluded from
|
| 28 |
+
the training targets. The DAgger `action` column comes from HDF5 `/action`.
|
| 29 |
+
|
| 30 |
+
## Data split and weighting
|
| 31 |
+
|
| 32 |
+
This release has a single `train` split with 713 episode
|
| 33 |
+
instances and 164,019 frames. It has no validation or test
|
| 34 |
+
split.
|
| 35 |
+
|
| 36 |
+
| Source | Unique episodes/segments | Copies per item | Dataset episodes | Dataset frames |
|
| 37 |
+
| --- | ---: | ---: | ---: | ---: |
|
| 38 |
+
| Original route dataset | 495 | 1 | 495 | 128,742 |
|
| 39 |
+
| Placement interventions | 34 | 2 | 68 | 12,966 |
|
| 40 |
+
| Routing interventions | 50 | 3 | 150 | 22,311 |
|
| 41 |
+
| **Total** | | | **713** | **164,019** |
|
| 42 |
+
|
| 43 |
+
| Task | Original frames | Weighted intervention frames | Total frames | Intervention share |
|
| 44 |
+
| --- | ---: | ---: | ---: | ---: |
|
| 45 |
+
| Placement | 46,542 | 12,966 | 59,508 | 21.8% |
|
| 46 |
+
| Routing | 82,200 | 22,311 | 104,511 | 21.3% |
|
| 47 |
+
|
| 48 |
+
The intervention collection contains 84 unique human
|
| 49 |
+
segments and 13,920 unique human frames. Placement segments
|
| 50 |
+
are represented 2x and routing segments 3x. This makes
|
| 51 |
+
weighted intervention data 21.5% of training frames while
|
| 52 |
+
keeping the within-subtask intervention shares close: 21.8% for
|
| 53 |
+
placement and 21.3% for routing. Copies change sampling exposure,
|
| 54 |
+
not the amount of unique intervention data.
|
| 55 |
+
|
| 56 |
+
## Camera streams
|
| 57 |
+
|
| 58 |
+
Every episode contains four synchronized 448x448 H.264 streams:
|
| 59 |
+
|
| 60 |
+
|
| 61 |
+
|
| 62 |
+
The preview shows the raw overhead observation on the left and the aligned
|
| 63 |
+
yellow-dot/red-arrow steering view on the right.
|
| 64 |
+
|
| 65 |
+
- `observation.images.video_overhead_vector`: overhead observation with the yellow-dot/red-arrow steering goal.
|
| 66 |
+
- `observation.images.video_overhead_raw`: the same overhead observation without the synthetic steering goal.
|
| 67 |
+
- `observation.images.video_left`: raw left camera.
|
| 68 |
+
- `observation.images.video_right`: raw right camera.
|
| 69 |
+
|
| 70 |
+
Native 1280x800 frames are aspect-preservingly downsampled to 448x280 and
|
| 71 |
+
letterboxed with 84 black pixels above and below. The vector view is rendered
|
| 72 |
+
from the recorded per-frame goal center and direction. No frame is cropped,
|
| 73 |
+
stretched, or upsampled.
|
| 74 |
+
|
| 75 |
+
## Episode boundaries and provenance
|
| 76 |
+
|
| 77 |
+
Each DAgger intervention segment is a separate episode, so action chunks never
|
| 78 |
+
cross from human intervention into policy control. `metadata.dagger.is_dagger`
|
| 79 |
+
is true for appended intervention episodes; base episodes retain false.
|
| 80 |
+
`metadata.dagger.copy_index`, `metadata.dagger.demo_id`,
|
| 81 |
+
`metadata.dagger.rollout_id`, the source episode/frame fields, and the source
|
| 82 |
+
start/end fields preserve provenance and identify weighted copies.
|
| 83 |
+
|
| 84 |
+
The declared training cadence is 100 Hz and `timestamp = frame_index / 100`.
|
| 85 |
+
`source.action_time_s` retains the recorded action timing relative to the start
|
| 86 |
+
of its original DAgger rollout.
|
| 87 |
+
|
| 88 |
+
## Tasks
|
| 89 |
+
|
| 90 |
+
- `place the connector on the selected vector`
|
| 91 |
+
- `route the cable through the selected connector`
|
build_manifest.json
ADDED
|
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| 1 |
+
{
|
| 2 |
+
"schema_version": 2,
|
| 3 |
+
"repo_id": "ajaysri/route_subtasks_dual_overhead_pi05_448",
|
| 4 |
+
"kind": "route_only",
|
| 5 |
+
"split_rule": "maximal contiguous run of metadata.route.active_subgoal",
|
| 6 |
+
"overhead_cameras": {
|
| 7 |
+
"vector": "observation.images.video_overhead_vector",
|
| 8 |
+
"raw": "observation.images.video_overhead_raw"
|
| 9 |
+
},
|
| 10 |
+
"video_resolution": {
|
| 11 |
+
"width": 448,
|
| 12 |
+
"height": 448,
|
| 13 |
+
"base_policy": "native HDF5 JPEG frames; Lanczos downsample to 448x280 and letterbox to 448x448; no upsampling",
|
| 14 |
+
"dagger_policy": null
|
| 15 |
+
},
|
| 16 |
+
"dagger_weighting": {
|
| 17 |
+
"unique_clips": 0,
|
| 18 |
+
"copies_per_clip": 0,
|
| 19 |
+
"episode_instances": 0,
|
| 20 |
+
"unique_frames": 0,
|
| 21 |
+
"weighted_frames": 0,
|
| 22 |
+
"weighted_frame_fraction": 0.0
|
| 23 |
+
},
|
| 24 |
+
"action_label_semantics": {
|
| 25 |
+
"dagger_training_target": null,
|
| 26 |
+
"explicitly_not_used_for_dagger": null
|
| 27 |
+
},
|
| 28 |
+
"timestamp_semantics": {
|
| 29 |
+
"declared_fps": 100,
|
| 30 |
+
"training_timestamp": "frame_index / 100",
|
| 31 |
+
"dagger_source_action_time_s": null
|
| 32 |
+
},
|
| 33 |
+
"summary": {
|
| 34 |
+
"route_source_episodes": 201,
|
| 35 |
+
"route_output_episodes": 495,
|
| 36 |
+
"route_frames": 128742,
|
| 37 |
+
"route_segment_count_distribution": {
|
| 38 |
+
"1": 54,
|
| 39 |
+
"2": 49,
|
| 40 |
+
"3": 49,
|
| 41 |
+
"4": 49
|
| 42 |
+
},
|
| 43 |
+
"placement_source_episodes": 0,
|
| 44 |
+
"placement_frames": 0,
|
| 45 |
+
"combined_output_episodes": 495,
|
| 46 |
+
"combined_frames": 128742,
|
| 47 |
+
"source_resolution": [
|
| 48 |
+
1280,
|
| 49 |
+
800
|
| 50 |
+
],
|
| 51 |
+
"output_resolution": [
|
| 52 |
+
448,
|
| 53 |
+
448
|
| 54 |
+
],
|
| 55 |
+
"image_source_policy": "native HDF5 JPEG frames; Lanczos downsample to 448x280 and letterbox to 448x448; no upsampling",
|
| 56 |
+
"base_image_source_policy": "native HDF5 JPEG frames; Lanczos downsample to 448x280 and letterbox to 448x448; no upsampling",
|
| 57 |
+
"base_output_episodes": 495,
|
| 58 |
+
"base_frames": 128742,
|
| 59 |
+
"dagger_source_episodes": 0,
|
| 60 |
+
"dagger_copies_per_clip": 0,
|
| 61 |
+
"dagger_output_episodes": 0,
|
| 62 |
+
"dagger_unique_frames": 0,
|
| 63 |
+
"dagger_weighted_frames": 0,
|
| 64 |
+
"dagger_weighted_frame_fraction": 0.0
|
| 65 |
+
},
|
| 66 |
+
"total_episodes": 495,
|
| 67 |
+
"total_frames": 128742,
|
| 68 |
+
"total_videos": 1980
|
| 69 |
+
}
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,713 @@
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|
| 1 |
+
{"episode_index":0,"tasks":["route the cable through the selected connector"],"length":319}
|
| 2 |
+
{"episode_index":1,"tasks":["place the connector on the selected vector"],"length":290}
|
| 3 |
+
{"episode_index":2,"tasks":["route the cable through the selected connector"],"length":240}
|
| 4 |
+
{"episode_index":3,"tasks":["place the connector on the selected vector"],"length":259}
|
| 5 |
+
{"episode_index":4,"tasks":["route the cable through the selected connector"],"length":218}
|
| 6 |
+
{"episode_index":5,"tasks":["place the connector on the selected vector"],"length":221}
|
| 7 |
+
{"episode_index":6,"tasks":["route the cable through the selected connector"],"length":250}
|
| 8 |
+
{"episode_index":7,"tasks":["place the connector on the selected vector"],"length":654}
|
| 9 |
+
{"episode_index":8,"tasks":["route the cable through the selected connector"],"length":354}
|
| 10 |
+
{"episode_index":9,"tasks":["place the connector on the selected vector"],"length":314}
|
| 11 |
+
{"episode_index":10,"tasks":["route the cable through the selected connector"],"length":50}
|
| 12 |
+
{"episode_index":11,"tasks":["place the connector on the selected vector"],"length":385}
|
| 13 |
+
{"episode_index":12,"tasks":["route the cable through the selected connector"],"length":308}
|
| 14 |
+
{"episode_index":13,"tasks":["place the connector on the selected vector"],"length":314}
|
| 15 |
+
{"episode_index":14,"tasks":["route the cable through the selected connector"],"length":281}
|
| 16 |
+
{"episode_index":15,"tasks":["route the cable through the selected connector"],"length":360}
|
| 17 |
+
{"episode_index":16,"tasks":["place the connector on the selected vector"],"length":303}
|
| 18 |
+
{"episode_index":17,"tasks":["route the cable through the selected connector"],"length":256}
|
| 19 |
+
{"episode_index":18,"tasks":["place the connector on the selected vector"],"length":315}
|
| 20 |
+
{"episode_index":19,"tasks":["route the cable through the selected connector"],"length":326}
|
| 21 |
+
{"episode_index":20,"tasks":["place the connector on the selected vector"],"length":289}
|
| 22 |
+
{"episode_index":21,"tasks":["route the cable through the selected connector"],"length":318}
|
| 23 |
+
{"episode_index":22,"tasks":["place the connector on the selected vector"],"length":365}
|
| 24 |
+
{"episode_index":23,"tasks":["route the cable through the selected connector"],"length":278}
|
| 25 |
+
{"episode_index":24,"tasks":["place the connector on the selected vector"],"length":292}
|
| 26 |
+
{"episode_index":25,"tasks":["route the cable through the selected connector"],"length":270}
|
| 27 |
+
{"episode_index":26,"tasks":["place the connector on the selected vector"],"length":329}
|
| 28 |
+
{"episode_index":27,"tasks":["route the cable through the selected connector"],"length":454}
|
| 29 |
+
{"episode_index":28,"tasks":["route the cable through the selected connector"],"length":251}
|
| 30 |
+
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| 708 |
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{"episode_index":707,"tasks":["route the cable through the selected connector"],"length":188}
|
| 709 |
+
{"episode_index":708,"tasks":["place the connector on the selected vector"],"length":118}
|
| 710 |
+
{"episode_index":709,"tasks":["place the connector on the selected vector"],"length":118}
|
| 711 |
+
{"episode_index":710,"tasks":["route the cable through the selected connector"],"length":139}
|
| 712 |
+
{"episode_index":711,"tasks":["route the cable through the selected connector"],"length":139}
|
| 713 |
+
{"episode_index":712,"tasks":["route the cable through the selected connector"],"length":139}
|
meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/info.json
ADDED
|
@@ -0,0 +1,344 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
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"robot_type": "arx",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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},
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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| 56 |
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| 57 |
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| 59 |
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| 60 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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|
| 77 |
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| 124 |
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| 131 |
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meta/tasks.jsonl
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{"task_index":0,"task":"place the connector on the selected vector"}
|
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publication_manifest.json
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