Hugging Face's logo

Datasets:
YoelChornton
/
moss_RLPD_training_0_step_300

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Viewer Files Community
YoelChornton commited on
Commit
f038080
·
verified ·
1 Parent(s): 2c3e962

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 +141 -0
  4. meta/stats.json +308 -0
  5. meta/tasks.jsonl +1 -0
  6. videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
  7. videos/chunk-000/observation.images.phone/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:b593c68cc7c8cb42f7e23ab2f101f6157e017ab1d15ec96af1cbc0c5d9a4c9cb
3
+ size 25132
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["grasp_object"], "length": 320}
meta/info.json ADDED
@@ -0,0 +1,141 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "moss",
4
+ "total_episodes": 1,
5
+ "total_frames": 320,
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
+ "next.reward": {
18
+ "dtype": "int64",
19
+ "shape": [
20
+ 1
21
+ ],
22
+ "names": null
23
+ },
24
+ "intervention": {
25
+ "dtype": "int64",
26
+ "shape": [
27
+ 1
28
+ ],
29
+ "names": null
30
+ },
31
+ "action": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "main_shoulder_pan",
38
+ "main_shoulder_lift",
39
+ "main_elbow_flex",
40
+ "main_wrist_flex",
41
+ "main_wrist_roll",
42
+ "main_gripper"
43
+ ]
44
+ },
45
+ "observation.state": {
46
+ "dtype": "float32",
47
+ "shape": [
48
+ 6
49
+ ],
50
+ "names": [
51
+ "main_shoulder_pan",
52
+ "main_shoulder_lift",
53
+ "main_elbow_flex",
54
+ "main_wrist_flex",
55
+ "main_wrist_roll",
56
+ "main_gripper"
57
+ ]
58
+ },
59
+ "observation.images.laptop": {
60
+ "dtype": "video",
61
+ "shape": [
62
+ 480,
63
+ 640,
64
+ 3
65
+ ],
66
+ "names": [
67
+ "height",
68
+ "width",
69
+ "channels"
70
+ ],
71
+ "info": {
72
+ "video.fps": 30.0,
73
+ "video.height": 480,
74
+ "video.width": 640,
75
+ "video.channels": 3,
76
+ "video.codec": "av1",
77
+ "video.pix_fmt": "yuv420p",
78
+ "video.is_depth_map": false,
79
+ "has_audio": false
80
+ }
81
+ },
82
+ "observation.images.phone": {
83
+ "dtype": "video",
84
+ "shape": [
85
+ 480,
86
+ 640,
87
+ 3
88
+ ],
89
+ "names": [
90
+ "height",
91
+ "width",
92
+ "channels"
93
+ ],
94
+ "info": {
95
+ "video.fps": 30.0,
96
+ "video.height": 480,
97
+ "video.width": 640,
98
+ "video.channels": 3,
99
+ "video.codec": "av1",
100
+ "video.pix_fmt": "yuv420p",
101
+ "video.is_depth_map": false,
102
+ "has_audio": false
103
+ }
104
+ },
105
+ "timestamp": {
106
+ "dtype": "float32",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "frame_index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "episode_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ },
126
+ "index": {
127
+ "dtype": "int64",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "task_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ }
140
+ }
141
+ }
meta/stats.json ADDED
@@ -0,0 +1,308 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "next.reward": {
3
+ "mean": [
4
+ 0.15625
5
+ ],
6
+ "std": [
7
+ 0.36309221386909485
8
+ ],
9
+ "max": [
10
+ 1.0
11
+ ],
12
+ "min": [
13
+ 0.0
14
+ ]
15
+ },
16
+ "intervention": {
17
+ "mean": [
18
+ 0.6937499046325684
19
+ ],
20
+ "std": [
21
+ 0.4609348475933075
22
+ ],
23
+ "max": [
24
+ 1.0
25
+ ],
26
+ "min": [
27
+ 0.0
28
+ ]
29
+ },
30
+ "action": {
31
+ "mean": [
32
+ 57.012481689453125,
33
+ 25.407489776611328,
34
+ -28.061054229736328,
35
+ 128.48629760742188,
36
+ -19.516260147094727,
37
+ 15.636981010437012
38
+ ],
39
+ "std": [
40
+ 19.912342071533203,
41
+ 55.5521354675293,
42
+ 117.61961364746094,
43
+ 37.81454849243164,
44
+ 11.198952674865723,
45
+ 10.78542709350586
46
+ ],
47
+ "max": [
48
+ 89.19214630126953,
49
+ 196.34262084960938,
50
+ 268.76953125,
51
+ 184.33554077148438,
52
+ -1.1386375427246094,
53
+ 40.885433197021484
54
+ ],
55
+ "min": [
56
+ 11.865234375,
57
+ -32.51953125,
58
+ -124.1015625,
59
+ 13.00947380065918,
60
+ -51.807376861572266,
61
+ -0.5409582853317261
62
+ ]
63
+ },
64
+ "observation.state": {
65
+ "mean": [
66
+ 57.10720443725586,
67
+ 19.514741897583008,
68
+ -42.26934814453125,
69
+ 130.50880432128906,
70
+ -18.613037109375,
71
+ 16.833158493041992
72
+ ],
73
+ "std": [
74
+ 18.08447265625,
75
+ 42.33880615234375,
76
+ 48.76787185668945,
77
+ 30.402481079101562,
78
+ 9.289679527282715,
79
+ 7.398229122161865
80
+ ],
81
+ "max": [
82
+ 86.044921875,
83
+ 157.5,
84
+ 51.50390625,
85
+ 171.123046875,
86
+ -1.0546875,
87
+ 36.49962615966797
88
+ ],
89
+ "min": [
90
+ 13.974609375,
91
+ -31.728515625,
92
+ -91.845703125,
93
+ 32.783203125,
94
+ -45.966796875,
95
+ 0.07479431480169296
96
+ ]
97
+ },
98
+ "observation.images.laptop": {
99
+ "mean": [
100
+ [
101
+ [
102
+ 0.18285436928272247
103
+ ]
104
+ ],
105
+ [
106
+ [
107
+ 0.17375324666500092
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 0.14672401547431946
113
+ ]
114
+ ]
115
+ ],
116
+ "std": [
117
+ [
118
+ [
119
+ 0.22550614178180695
120
+ ]
121
+ ],
122
+ [
123
+ [
124
+ 0.2127199023962021
125
+ ]
126
+ ],
127
+ [
128
+ [
129
+ 0.19342413544654846
130
+ ]
131
+ ]
132
+ ],
133
+ "max": [
134
+ [
135
+ [
136
+ 1.0
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 1.0
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.9686274528503418
147
+ ]
148
+ ]
149
+ ],
150
+ "min": [
151
+ [
152
+ [
153
+ 0.0
154
+ ]
155
+ ],
156
+ [
157
+ [
158
+ 0.0
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.0
164
+ ]
165
+ ]
166
+ ]
167
+ },
168
+ "observation.images.phone": {
169
+ "mean": [
170
+ [
171
+ [
172
+ 0.5101140737533569
173
+ ]
174
+ ],
175
+ [
176
+ [
177
+ 0.46470752358436584
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.4227277636528015
183
+ ]
184
+ ]
185
+ ],
186
+ "std": [
187
+ [
188
+ [
189
+ 0.21657656133174896
190
+ ]
191
+ ],
192
+ [
193
+ [
194
+ 0.23570716381072998
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.2542073130607605
200
+ ]
201
+ ]
202
+ ],
203
+ "max": [
204
+ [
205
+ [
206
+ 1.0
207
+ ]
208
+ ],
209
+ [
210
+ [
211
+ 1.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 1.0
217
+ ]
218
+ ]
219
+ ],
220
+ "min": [
221
+ [
222
+ [
223
+ 0.0
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.0
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 0.0
234
+ ]
235
+ ]
236
+ ]
237
+ },
238
+ "timestamp": {
239
+ "mean": [
240
+ 5.316666603088379
241
+ ],
242
+ "std": [
243
+ 3.07918643951416
244
+ ],
245
+ "max": [
246
+ 10.633333206176758
247
+ ],
248
+ "min": [
249
+ 0.0
250
+ ]
251
+ },
252
+ "frame_index": {
253
+ "mean": [
254
+ 159.5
255
+ ],
256
+ "std": [
257
+ 92.3755874633789
258
+ ],
259
+ "max": [
260
+ 319.0
261
+ ],
262
+ "min": [
263
+ 0.0
264
+ ]
265
+ },
266
+ "episode_index": {
267
+ "mean": [
268
+ 0.0
269
+ ],
270
+ "std": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 0.0
275
+ ],
276
+ "min": [
277
+ 0.0
278
+ ]
279
+ },
280
+ "index": {
281
+ "mean": [
282
+ 159.5
283
+ ],
284
+ "std": [
285
+ 92.3755874633789
286
+ ],
287
+ "max": [
288
+ 319.0
289
+ ],
290
+ "min": [
291
+ 0.0
292
+ ]
293
+ },
294
+ "task_index": {
295
+ "mean": [
296
+ 0.0
297
+ ],
298
+ "std": [
299
+ 0.0
300
+ ],
301
+ "max": [
302
+ 0.0
303
+ ],
304
+ "min": [
305
+ 0.0
306
+ ]
307
+ }
308
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "grasp_object"}
videos/chunk-000/observation.images.laptop/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:082fa3a172ed57f7f1493368b5c427e0e9c0ce4f79a0c9ba146af5cdc45ac731
3
+ size 1170326
videos/chunk-000/observation.images.phone/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:47e8b864c48d387155b735d4b18fe0678b8eb18e53ac26c8cbfdf396d422e3b4
3
+ size 5667946