Hugging Face's logo

Datasets:
maitf
/
main-liquid2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
maitf commited on
Commit
36d0b81
·
verified ·
1 Parent(s): 9bbf816

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. meta/episodes/chunk-000/file-000.parquet +3 -0
  3. meta/info.json +139 -0
  4. meta/stats.json +632 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.topdown/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.wrist/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:368d480bd48f23d366c984598d7159ee953b08eb9d831c3cbc78227a14eed762
3
+ size 420363
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:45b3b7a17b38da9bb751da824a36f3424d9fd6958ce9df3fd9199119937e624d
3
+ size 57533
meta/info.json ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 30,
4
+ "features": {
5
+ "action": {
6
+ "dtype": "float32",
7
+ "names": [
8
+ "shoulder_pan.pos",
9
+ "shoulder_lift.pos",
10
+ "elbow_flex.pos",
11
+ "wrist_flex.pos",
12
+ "wrist_roll.pos",
13
+ "gripper.pos"
14
+ ],
15
+ "shape": [
16
+ 6
17
+ ]
18
+ },
19
+ "observation.state": {
20
+ "dtype": "float32",
21
+ "names": [
22
+ "shoulder_pan.pos",
23
+ "shoulder_lift.pos",
24
+ "elbow_flex.pos",
25
+ "wrist_flex.pos",
26
+ "wrist_roll.pos",
27
+ "gripper.pos"
28
+ ],
29
+ "shape": [
30
+ 6
31
+ ]
32
+ },
33
+ "observation.images.topdown": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 480,
37
+ 640,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channels"
44
+ ],
45
+ "info": {
46
+ "is_depth_map": false,
47
+ "video.height": 480,
48
+ "video.width": 640,
49
+ "video.codec": "h264",
50
+ "video.pix_fmt": "yuv420p",
51
+ "video.fps": 30,
52
+ "video.channels": 3,
53
+ "has_audio": false,
54
+ "video.g": 2,
55
+ "video.crf": 30,
56
+ "video.preset": null,
57
+ "video.fast_decode": 0,
58
+ "video.video_backend": "pyav",
59
+ "video.extra_options": {}
60
+ }
61
+ },
62
+ "observation.images.wrist": {
63
+ "dtype": "video",
64
+ "shape": [
65
+ 480,
66
+ 640,
67
+ 3
68
+ ],
69
+ "names": [
70
+ "height",
71
+ "width",
72
+ "channels"
73
+ ],
74
+ "info": {
75
+ "is_depth_map": false,
76
+ "video.height": 480,
77
+ "video.width": 640,
78
+ "video.codec": "h264",
79
+ "video.pix_fmt": "yuv420p",
80
+ "video.fps": 30,
81
+ "video.channels": 3,
82
+ "has_audio": false,
83
+ "video.g": 2,
84
+ "video.crf": 30,
85
+ "video.preset": null,
86
+ "video.fast_decode": 0,
87
+ "video.video_backend": "pyav",
88
+ "video.extra_options": {}
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ },
127
+ "total_episodes": 4,
128
+ "total_frames": 12536,
129
+ "total_tasks": 1,
130
+ "chunks_size": 1000,
131
+ "data_files_size_in_mb": 100,
132
+ "video_files_size_in_mb": 200,
133
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
134
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
135
+ "robot_type": "so_follower",
136
+ "splits": {
137
+ "train": "0:4"
138
+ }
139
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.wrist": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.42463283936642277
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.4649542596383732
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.4328211489767692
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.4031295623462196
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.3996905709036293
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.40070216174009293
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 240691200
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ -3.9215687283254035e-13
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.0009642061667840237
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ -3.9215687283254035e-13
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ -3.9215686798095364e-13
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.009907861247449835
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ -3.9215686798095364e-13
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.32437481051349193
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.4122797586053022
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.34600045375287886
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.9921086506196176
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.9998704158477939
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.9980776421498719
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9999732859303088
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.9999870415847795
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.9999804970515387
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "index": {
161
+ "min": [
162
+ 0.0
163
+ ],
164
+ "max": [
165
+ 12535.0
166
+ ],
167
+ "mean": [
168
+ 6267.5
169
+ ],
170
+ "std": [
171
+ 3618.8314757667285
172
+ ],
173
+ "count": [
174
+ 12536
175
+ ],
176
+ "q01": [
177
+ 4725.419348396201
178
+ ],
179
+ "q10": [
180
+ 5008.796136579371
181
+ ],
182
+ "q50": [
183
+ 6267.670788066369
184
+ ],
185
+ "q90": [
186
+ 7526.203863420629
187
+ ],
188
+ "q99": [
189
+ 7809.580651603799
190
+ ]
191
+ },
192
+ "episode_index": {
193
+ "min": [
194
+ 0.0
195
+ ],
196
+ "max": [
197
+ 3.0
198
+ ],
199
+ "mean": [
200
+ 1.474234205488194
201
+ ],
202
+ "std": [
203
+ 1.0982987674326545
204
+ ],
205
+ "count": [
206
+ 12536
207
+ ],
208
+ "q01": [
209
+ 1.4742342054881945
210
+ ],
211
+ "q10": [
212
+ 1.474234205488198
213
+ ],
214
+ "q50": [
215
+ 1.4742342054882138
216
+ ],
217
+ "q90": [
218
+ 1.47423420548823
219
+ ],
220
+ "q99": [
221
+ 1.4742342054882334
222
+ ]
223
+ },
224
+ "task_index": {
225
+ "min": [
226
+ 0.0
227
+ ],
228
+ "max": [
229
+ 0.0
230
+ ],
231
+ "mean": [
232
+ 0.0
233
+ ],
234
+ "std": [
235
+ 0.0
236
+ ],
237
+ "count": [
238
+ 12536
239
+ ],
240
+ "q01": [
241
+ 3.999999999999418e-16
242
+ ],
243
+ "q10": [
244
+ 3.999999999999417e-15
245
+ ],
246
+ "q50": [
247
+ 1.9999999999997088e-14
248
+ ],
249
+ "q90": [
250
+ 3.599999999999476e-14
251
+ ],
252
+ "q99": [
253
+ 3.959999999999424e-14
254
+ ]
255
+ },
256
+ "observation.images.topdown": {
257
+ "min": [
258
+ [
259
+ [
260
+ 0.0
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 0.0
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.0
271
+ ]
272
+ ]
273
+ ],
274
+ "max": [
275
+ [
276
+ [
277
+ 1.0
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 1.0
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 1.0
288
+ ]
289
+ ]
290
+ ],
291
+ "mean": [
292
+ [
293
+ [
294
+ 0.4436877628511392
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.495973454019258
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.45236261598599437
305
+ ]
306
+ ]
307
+ ],
308
+ "std": [
309
+ [
310
+ [
311
+ 0.41253121197514414
312
+ ]
313
+ ],
314
+ [
315
+ [
316
+ 0.4213913202334468
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.41251380118410236
322
+ ]
323
+ ]
324
+ ],
325
+ "count": [
326
+ 240691200
327
+ ],
328
+ "q01": [
329
+ [
330
+ [
331
+ -3.921568744649079e-13
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ -3.921568744649079e-13
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ -3.921568744649079e-13
342
+ ]
343
+ ]
344
+ ],
345
+ "q10": [
346
+ [
347
+ [
348
+ -3.9215686798095364e-13
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.015694927655095822
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ -3.9215686798095364e-13
359
+ ]
360
+ ]
361
+ ],
362
+ "q50": [
363
+ [
364
+ [
365
+ 0.29786901774203745
366
+ ]
367
+ ],
368
+ [
369
+ [
370
+ 0.40115895594803264
371
+ ]
372
+ ],
373
+ [
374
+ [
375
+ 0.3420528389661887
376
+ ]
377
+ ]
378
+ ],
379
+ "q90": [
380
+ [
381
+ [
382
+ 0.9921387466939791
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.9999114067529352
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.9998114679773575
393
+ ]
394
+ ]
395
+ ],
396
+ "q99": [
397
+ [
398
+ [
399
+ 0.9999740294423546
400
+ ]
401
+ ],
402
+ [
403
+ [
404
+ 0.9999911406752936
405
+ ]
406
+ ],
407
+ [
408
+ [
409
+ 0.9999811467977356
410
+ ]
411
+ ]
412
+ ]
413
+ },
414
+ "observation.state": {
415
+ "min": [
416
+ -71.07691955566406,
417
+ -101.89010620117188,
418
+ -36.57143020629883,
419
+ -76.96703338623047,
420
+ -93.14286041259766,
421
+ 1.4550265073776245
422
+ ],
423
+ "max": [
424
+ 101.4945068359375,
425
+ 43.516483306884766,
426
+ 97.93406677246094,
427
+ 102.81318664550781,
428
+ 96.3956069946289,
429
+ 95.17195892333984
430
+ ],
431
+ "mean": [
432
+ 11.468737824106187,
433
+ -24.080524173601464,
434
+ 44.131618915733135,
435
+ 10.549290780284714,
436
+ 47.23460664517878,
437
+ 23.517151831819817
438
+ ],
439
+ "std": [
440
+ 56.490973967301834,
441
+ 40.601851937673246,
442
+ 33.58657338933698,
443
+ 49.43518446171952,
444
+ 70.26684326956787,
445
+ 28.783412513952637
446
+ ],
447
+ "count": [
448
+ 12536
449
+ ],
450
+ "q01": [
451
+ -67.58729294030243,
452
+ -101.63868954379201,
453
+ -18.54401450001077,
454
+ -73.73193026471458,
455
+ -90.2062141215767,
456
+ 1.6503431096457566
457
+ ],
458
+ "q10": [
459
+ -61.168298721700474,
460
+ -94.45897248165998,
461
+ 2.6512491645755225,
462
+ -59.86219393571248,
463
+ -86.33922918752288,
464
+ 1.65489429045717
465
+ ],
466
+ "q50": [
467
+ 3.1242504957638353,
468
+ -25.636220064144663,
469
+ 38.88077166394386,
470
+ 13.5478846124412,
471
+ 87.79340051924203,
472
+ 7.887475859240454
473
+ ],
474
+ "q90": [
475
+ 94.63201466841821,
476
+ 22.701124228494532,
477
+ 96.84082477670695,
478
+ 74.77136723472147,
479
+ 93.15395330273762,
480
+ 73.05049652876599
481
+ ],
482
+ "q99": [
483
+ 98.6401429587688,
484
+ 36.98946662902715,
485
+ 97.54210587464766,
486
+ 90.23688917282757,
487
+ 93.3616431163232,
488
+ 74.2053447664169
489
+ ]
490
+ },
491
+ "timestamp": {
492
+ "min": [
493
+ 0.0
494
+ ],
495
+ "max": [
496
+ 113.86666666666666
497
+ ],
498
+ "mean": [
499
+ 52.43737236758137
500
+ ],
501
+ "std": [
502
+ 30.534935153849343
503
+ ],
504
+ "count": [
505
+ 12536
506
+ ],
507
+ "q01": [
508
+ 1.0346839806932946
509
+ ],
510
+ "q10": [
511
+ 10.480576920149726
512
+ ],
513
+ "q50": [
514
+ 52.443065303127
515
+ ],
516
+ "q90": [
517
+ 94.394167815013
518
+ ],
519
+ "q99": [
520
+ 103.84006075446943
521
+ ]
522
+ },
523
+ "frame_index": {
524
+ "min": [
525
+ 0.0
526
+ ],
527
+ "max": [
528
+ 3416.0
529
+ ],
530
+ "mean": [
531
+ 1573.121171027441
532
+ ],
533
+ "std": [
534
+ 916.0480546154803
535
+ ],
536
+ "count": [
537
+ 12536
538
+ ],
539
+ "q01": [
540
+ 31.040519423641605
541
+ ],
542
+ "q10": [
543
+ 314.41730760681213
544
+ ],
545
+ "q50": [
546
+ 1573.29195909381
547
+ ],
548
+ "q90": [
549
+ 2831.8250344480693
550
+ ],
551
+ "q99": [
552
+ 3115.2018226312407
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -70.94505310058594,
558
+ -106.19779968261719,
559
+ -41.010990142822266,
560
+ -78.02198028564453,
561
+ -93.05494689941406,
562
+ 0.47656869888305664
563
+ ],
564
+ "max": [
565
+ 102.85713958740234,
566
+ 41.14285659790039,
567
+ 98.15384674072266,
568
+ 110.28571319580078,
569
+ 96.65933990478516,
570
+ 95.71088409423828
571
+ ],
572
+ "mean": [
573
+ 11.400843303904994,
574
+ -26.016321101003037,
575
+ 42.546887774488766,
576
+ 10.144955934273185,
577
+ 47.241062642969595,
578
+ 20.284391775356408
579
+ ],
580
+ "std": [
581
+ 56.145233777783645,
582
+ 40.64798033956243,
583
+ 34.5863808307184,
584
+ 49.81363913796985,
585
+ 70.29863533125831,
586
+ 30.83285180050263
587
+ ],
588
+ "count": [
589
+ 12536
590
+ ],
591
+ "q01": [
592
+ -67.49036610230961,
593
+ -104.95090897989117,
594
+ -22.069753969152302,
595
+ -74.72027412494018,
596
+ -90.25318664967487,
597
+ 1.1027669796279511
598
+ ],
599
+ "q10": [
600
+ -60.858886227676074,
601
+ -96.10103799414989,
602
+ -1.0504119849501707,
603
+ -60.46344815197756,
604
+ -86.43062967800398,
605
+ 1.1658511906461846
606
+ ],
607
+ "q50": [
608
+ 3.3304516151676626,
609
+ -28.022150382670567,
610
+ 37.56510118158642,
611
+ 12.311390833498185,
612
+ 87.89894471030263,
613
+ 1.7024075052269436
614
+ ],
615
+ "q90": [
616
+ 94.3590330750117,
617
+ 20.570160131793447,
618
+ 97.37754413566668,
619
+ 75.16783036669906,
620
+ 93.30272046201661,
621
+ 73.3960865865109
622
+ ],
623
+ "q99": [
624
+ 99.45171511365146,
625
+ 35.034419974279416,
626
+ 97.85284603470483,
627
+ 91.94404543882865,
628
+ 93.57517655309454,
629
+ 74.49265626642578
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a28b22bc84e99eb27eecbd477378493e71b5b6c1a8f189d77196e8e18eb7721e
3
+ size 2354
videos/observation.images.topdown/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2d9616ddac0a065368baf6788308683d466e1b633e82ea7bcdf56b66bd8c2e0e
3
+ size 91547753
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:664fcc04f3e9caef8e79166cc8a81efa15e3eb22a9701cbf8a8d12914d7ba4d7
3
+ size 68047821