Hugging Face's logo

Datasets:
LiamFy
/
wave_pls

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
phosphobot
so100
phospho-dk1
Libraries:
Datasets
Dataset card Data Studio Files
xet
Community
LiamFy commited on
Commit
f9afa4a
·
verified ·
1 Parent(s): 7c63c49

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/info.json +153 -0
  4. meta/stats.json +407 -0
  5. meta/tasks.jsonl +1 -0
  6. videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
  7. videos/chunk-000/observation.images.secondary_0/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:d17ae494d358fa105bc03fae640ee433fbc1aa2b5391203ddc1d43800717f9a7
3
+ size 35308
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index":0,"tasks":["wave"],"length":334}
meta/info.json ADDED
@@ -0,0 +1,153 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_type": "so-100, so-100",
3
+ "codebase_version": "v2.0",
4
+ "total_episodes": 1,
5
+ "total_frames": 334,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
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
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 12
21
+ ],
22
+ "names": [
23
+ "motor_1",
24
+ "motor_2",
25
+ "motor_3",
26
+ "motor_4",
27
+ "motor_5",
28
+ "motor_6",
29
+ "motor_1_secondary",
30
+ "motor_2_secondary",
31
+ "motor_3_secondary",
32
+ "motor_4_secondary",
33
+ "motor_5_secondary",
34
+ "motor_6_secondary"
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "motor_1",
44
+ "motor_2",
45
+ "motor_3",
46
+ "motor_4",
47
+ "motor_5",
48
+ "motor_6",
49
+ "motor_1_secondary",
50
+ "motor_2_secondary",
51
+ "motor_3_secondary",
52
+ "motor_4_secondary",
53
+ "motor_5_secondary",
54
+ "motor_6_secondary"
55
+ ]
56
+ },
57
+ "timestamp": {
58
+ "dtype": "float32",
59
+ "shape": [
60
+ 1
61
+ ],
62
+ "names": null
63
+ },
64
+ "episode_index": {
65
+ "dtype": "int64",
66
+ "shape": [
67
+ 1
68
+ ],
69
+ "names": null
70
+ },
71
+ "frame_index": {
72
+ "dtype": "int64",
73
+ "shape": [
74
+ 1
75
+ ],
76
+ "names": null
77
+ },
78
+ "task_index": {
79
+ "dtype": "int64",
80
+ "shape": [
81
+ 1
82
+ ],
83
+ "names": null
84
+ },
85
+ "index": {
86
+ "dtype": "int64",
87
+ "shape": [
88
+ 1
89
+ ],
90
+ "names": null
91
+ },
92
+ "observation.images.main": {
93
+ "dtype": "video",
94
+ "shape": [
95
+ 240,
96
+ 320,
97
+ 3
98
+ ],
99
+ "names": [
100
+ "height",
101
+ "width",
102
+ "channel"
103
+ ],
104
+ "info": {
105
+ "video.fps": 30,
106
+ "video.codec": "mp4v",
107
+ "video.pix_fmt": "yuv420p",
108
+ "video.is_depth_map": false,
109
+ "has_audio": false
110
+ }
111
+ },
112
+ "observation.images.secondary_0": {
113
+ "dtype": "video",
114
+ "shape": [
115
+ 240,
116
+ 320,
117
+ 3
118
+ ],
119
+ "names": [
120
+ "height",
121
+ "width",
122
+ "channel"
123
+ ],
124
+ "info": {
125
+ "video.fps": 30,
126
+ "video.codec": "mp4v",
127
+ "video.pix_fmt": "yuv420p",
128
+ "video.is_depth_map": false,
129
+ "has_audio": false
130
+ }
131
+ },
132
+ "observation.images.secondary_1": {
133
+ "dtype": "video",
134
+ "shape": [
135
+ 240,
136
+ 320,
137
+ 3
138
+ ],
139
+ "names": [
140
+ "height",
141
+ "width",
142
+ "channel"
143
+ ],
144
+ "info": {
145
+ "video.fps": 30,
146
+ "video.codec": "mp4v",
147
+ "video.pix_fmt": "yuv420p",
148
+ "video.is_depth_map": false,
149
+ "has_audio": false
150
+ }
151
+ }
152
+ }
153
+ }
meta/stats.json ADDED
@@ -0,0 +1,407 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "max": [
4
+ -0.543161806774499,
5
+ -0.5262838975244439,
6
+ 0.08745825702301256,
7
+ 0.027618396954635544,
8
+ 0.2807870357054614,
9
+ 0.8454298178891214,
10
+ -0.5508335837063423,
11
+ -0.5278182529108126,
12
+ 0.09206132318211849,
13
+ 0.0260840415682669,
14
+ 0.24242815104624532,
15
+ 0.7549028500933715
16
+ ],
17
+ "min": [
18
+ -1.9394252083699626,
19
+ -1.236690441413125,
20
+ -0.6106734437747192,
21
+ -0.5876581129791897,
22
+ -0.07211470315932614,
23
+ 0.0,
24
+ -1.608004444914336,
25
+ -1.244362218344968,
26
+ -0.6060703776156133,
27
+ -0.5784519806609778,
28
+ -0.03375581850011011,
29
+ 0.007671776931843207
30
+ ],
31
+ "mean": [
32
+ -1.2183976176151607,
33
+ -0.9745775214130185,
34
+ -0.15490098584719872,
35
+ -0.2526173733425496,
36
+ 0.1140338435803259,
37
+ 0.30437200742287684,
38
+ -1.1844442623437517,
39
+ -0.9982130257928596,
40
+ -0.13924964213055804,
41
+ -0.24825318886036318,
42
+ 0.11371227209216477,
43
+ 0.30397234000187656
44
+ ],
45
+ "std": null,
46
+ "sum": [
47
+ -406.94480428346367,
48
+ -325.50889215194815,
49
+ -51.736929272964375,
50
+ -84.37420269641156,
51
+ 38.08730375582885,
52
+ 101.66025047924087,
53
+ -395.60438362281303,
54
+ -333.4031506148151,
55
+ -46.509380471606384,
56
+ -82.9165650793613,
57
+ 37.97989887878303,
58
+ 101.52676156062677
59
+ ],
60
+ "square_sum": [
61
+ 539.4554738459148,
62
+ 324.1989870693597,
63
+ 17.411542970062925,
64
+ 26.541054096808757,
65
+ 5.239486127793645,
66
+ 44.892113261082386,
67
+ 499.5203748063683,
68
+ 340.45207598794553,
69
+ 16.462115398290702,
70
+ 25.670401965556124,
71
+ 5.066990490279164,
72
+ 40.705229555805815
73
+ ],
74
+ "count": 334
75
+ },
76
+ "action": {
77
+ "max": [
78
+ -0.543161806774499,
79
+ -0.5262838975244439,
80
+ 0.08745825702301256,
81
+ 0.027618396954635544,
82
+ 0.2807870357054614,
83
+ 0.8454298178891214,
84
+ -0.5508335837063423,
85
+ -0.5278182529108126,
86
+ 0.09206132318211849,
87
+ 0.0260840415682669,
88
+ 0.24242815104624532,
89
+ 0.7549028500933715
90
+ ],
91
+ "min": [
92
+ -1.9394252083699626,
93
+ -1.236690441413125,
94
+ -0.6106734437747192,
95
+ -0.5876581129791897,
96
+ -0.07211470315932614,
97
+ 0.0,
98
+ -1.608004444914336,
99
+ -1.244362218344968,
100
+ -0.6060703776156133,
101
+ -0.5784519806609778,
102
+ -0.03375581850011011,
103
+ 0.007671776931843207
104
+ ],
105
+ "mean": [
106
+ -1.2183976176151607,
107
+ -0.9745775214130185,
108
+ -0.15490098584719872,
109
+ -0.2526173733425496,
110
+ 0.1140338435803259,
111
+ 0.30437200742287684,
112
+ -1.1844442623437517,
113
+ -0.9982130257928596,
114
+ -0.13924964213055804,
115
+ -0.24825318886036318,
116
+ 0.11371227209216477,
117
+ 0.30397234000187656
118
+ ],
119
+ "std": null,
120
+ "sum": [
121
+ -406.94480428346367,
122
+ -325.50889215194815,
123
+ -51.736929272964375,
124
+ -84.37420269641156,
125
+ 38.08730375582885,
126
+ 101.66025047924087,
127
+ -395.60438362281303,
128
+ -333.4031506148151,
129
+ -46.509380471606384,
130
+ -82.9165650793613,
131
+ 37.97989887878303,
132
+ 101.52676156062677
133
+ ],
134
+ "square_sum": [
135
+ 539.4554738459148,
136
+ 324.1989870693597,
137
+ 17.411542970062925,
138
+ 26.541054096808757,
139
+ 5.239486127793645,
140
+ 44.892113261082386,
141
+ 499.5203748063683,
142
+ 340.45207598794553,
143
+ 16.462115398290702,
144
+ 25.670401965556124,
145
+ 5.066990490279164,
146
+ 40.705229555805815
147
+ ],
148
+ "count": 334
149
+ },
150
+ "timestamp": {
151
+ "max": [
152
+ 25.210655708040576
153
+ ],
154
+ "min": [
155
+ 0.06455425004241988
156
+ ],
157
+ "mean": [
158
+ 12.544827716375567
159
+ ],
160
+ "std": null,
161
+ "sum": [
162
+ 4189.9724572694395
163
+ ],
164
+ "square_sum": [
165
+ 70552.78202834295
166
+ ],
167
+ "count": 334
168
+ },
169
+ "frame_index": {
170
+ "max": [
171
+ 333
172
+ ],
173
+ "min": [
174
+ 0
175
+ ],
176
+ "mean": [
177
+ 166.5
178
+ ],
179
+ "std": null,
180
+ "sum": [
181
+ 55611
182
+ ],
183
+ "square_sum": [
184
+ 12364179
185
+ ],
186
+ "count": 334
187
+ },
188
+ "episode_index": {
189
+ "max": [
190
+ 0
191
+ ],
192
+ "min": [
193
+ 0
194
+ ],
195
+ "mean": [
196
+ 0.0
197
+ ],
198
+ "std": null,
199
+ "sum": [
200
+ 0
201
+ ],
202
+ "square_sum": [
203
+ 0
204
+ ],
205
+ "count": 334
206
+ },
207
+ "index": {
208
+ "max": [
209
+ 333
210
+ ],
211
+ "min": [
212
+ 0
213
+ ],
214
+ "mean": [
215
+ 166.5
216
+ ],
217
+ "std": null,
218
+ "sum": [
219
+ 55611
220
+ ],
221
+ "square_sum": [
222
+ 12364179
223
+ ],
224
+ "count": 334
225
+ },
226
+ "task_index": {
227
+ "max": [
228
+ 0
229
+ ],
230
+ "min": [
231
+ 0
232
+ ],
233
+ "mean": [
234
+ 0.0
235
+ ],
236
+ "std": null,
237
+ "sum": [
238
+ 0
239
+ ],
240
+ "square_sum": [
241
+ 0
242
+ ],
243
+ "count": 334
244
+ },
245
+ "observation.images.main": {
246
+ "max": [
247
+ [
248
+ [
249
+ 1.0
250
+ ]
251
+ ],
252
+ [
253
+ [
254
+ 1.0
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 1.0
260
+ ]
261
+ ]
262
+ ],
263
+ "min": [
264
+ [
265
+ [
266
+ 0.0
267
+ ]
268
+ ],
269
+ [
270
+ [
271
+ 0.0313725508749485
272
+ ]
273
+ ],
274
+ [
275
+ [
276
+ 0.0
277
+ ]
278
+ ]
279
+ ],
280
+ "mean": [
281
+ [
282
+ [
283
+ 0.554165770022455
284
+ ]
285
+ ],
286
+ [
287
+ [
288
+ 0.5900161785803393
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.5788425102919161
294
+ ]
295
+ ]
296
+ ],
297
+ "std": [
298
+ [
299
+ [
300
+ 0.23047720768021768
301
+ ]
302
+ ],
303
+ [
304
+ [
305
+ 0.22981993058260655
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.23860545082977364
311
+ ]
312
+ ]
313
+ ],
314
+ "sum": [
315
+ 14215017.0,
316
+ 15134623.0,
317
+ 14848005.0
318
+ ],
319
+ "square_sum": [
320
+ 9240061.0,
321
+ 10284497.0,
322
+ 10055045.0
323
+ ],
324
+ "count": 25651200
325
+ },
326
+ "observation.images.secondary_0": {
327
+ "max": [
328
+ [
329
+ [
330
+ 1.0
331
+ ]
332
+ ],
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ]
343
+ ],
344
+ "min": [
345
+ [
346
+ [
347
+ 0.0
348
+ ]
349
+ ],
350
+ [
351
+ [
352
+ 0.0
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.0
358
+ ]
359
+ ]
360
+ ],
361
+ "mean": [
362
+ [
363
+ [
364
+ 0.4796829388098802
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ 0.46275160616267463
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.4637366672904192
375
+ ]
376
+ ]
377
+ ],
378
+ "std": [
379
+ [
380
+ [
381
+ 0.18917335073060065
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.19985911155900868
387
+ ]
388
+ ],
389
+ [
390
+ [
391
+ 0.20752643644497124
392
+ ]
393
+ ]
394
+ ],
395
+ "sum": [
396
+ 12304443.0,
397
+ 11870134.0,
398
+ 11895402.0
399
+ ],
400
+ "square_sum": [
401
+ 6820199.5,
402
+ 6517526.5,
403
+ 6621060.0
404
+ ],
405
+ "count": 25651200
406
+ }
407
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index":0,"task":"wave"}
videos/chunk-000/observation.images.main/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0616cda23972c33afae432cdff4bf006829ae9ea167033fc4d0d0e67794595f0
3
+ size 960357
videos/chunk-000/observation.images.secondary_0/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:faec3500c4d2965efcadd3adbad7172d0849796d079732fbf2c4b8b0a08419f7
3
+ size 1870605