Hugging Face's logo

Datasets:
dwellbot
/
eval_act_aloha_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
aloha
tutorial
eval
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
1
brian4dwell commited on
Commit
bf811d6
·
verified ·
1 Parent(s): bf21551

Upload folder using huggingface_hub

Browse files
Files changed (12) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. meta/episodes.jsonl +2 -0
  4. meta/info.json +156 -0
  5. meta/stats.json +374 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.cam_high/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.cam_high/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.cam_low/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.cam_low/episode_000001.mp4 +3 -0
  11. videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 +3 -0
  12. videos/chunk-000/observation.images.cam_right_wrist/episode_000001.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 sha256:1228a7353bc96d95eb8425fc641c3497e6c59b0937f026e8d699941ec5ced5a7
3
+ size 44202
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:87eabd801cd1f223430a7850cc078e3766e3ebe70cef5a436e4d8ff6748afbc9
3
+ size 43574
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["SINGLE_TASK"], "length": 439}
2
+ {"episode_index": 1, "tasks": ["SINGLE_TASK"], "length": 449}
meta/info.json ADDED
@@ -0,0 +1,156 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "aloha",
4
+ "total_episodes": 2,
5
+ "total_frames": 888,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
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
+ 9
21
+ ],
22
+ "names": [
23
+ "right_waist",
24
+ "right_shoulder",
25
+ "right_shoulder_shadow",
26
+ "right_elbow",
27
+ "right_elbow_shadow",
28
+ "right_forearm_roll",
29
+ "right_wrist_angle",
30
+ "right_wrist_rotate",
31
+ "right_gripper"
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "dtype": "float32",
36
+ "shape": [
37
+ 9
38
+ ],
39
+ "names": [
40
+ "right_waist",
41
+ "right_shoulder",
42
+ "right_shoulder_shadow",
43
+ "right_elbow",
44
+ "right_elbow_shadow",
45
+ "right_forearm_roll",
46
+ "right_wrist_angle",
47
+ "right_wrist_rotate",
48
+ "right_gripper"
49
+ ]
50
+ },
51
+ "observation.images.cam_high": {
52
+ "dtype": "video",
53
+ "shape": [
54
+ 480,
55
+ 640,
56
+ 3
57
+ ],
58
+ "names": [
59
+ "height",
60
+ "width",
61
+ "channels"
62
+ ],
63
+ "info": {
64
+ "video.fps": 30.0,
65
+ "video.height": 480,
66
+ "video.width": 640,
67
+ "video.channels": 3,
68
+ "video.codec": "av1",
69
+ "video.pix_fmt": "yuv420p",
70
+ "video.is_depth_map": false,
71
+ "has_audio": false
72
+ }
73
+ },
74
+ "observation.images.cam_low": {
75
+ "dtype": "video",
76
+ "shape": [
77
+ 480,
78
+ 640,
79
+ 3
80
+ ],
81
+ "names": [
82
+ "height",
83
+ "width",
84
+ "channels"
85
+ ],
86
+ "info": {
87
+ "video.fps": 30.0,
88
+ "video.height": 480,
89
+ "video.width": 640,
90
+ "video.channels": 3,
91
+ "video.codec": "av1",
92
+ "video.pix_fmt": "yuv420p",
93
+ "video.is_depth_map": false,
94
+ "has_audio": false
95
+ }
96
+ },
97
+ "observation.images.cam_right_wrist": {
98
+ "dtype": "video",
99
+ "shape": [
100
+ 480,
101
+ 640,
102
+ 3
103
+ ],
104
+ "names": [
105
+ "height",
106
+ "width",
107
+ "channels"
108
+ ],
109
+ "info": {
110
+ "video.fps": 30.0,
111
+ "video.height": 480,
112
+ "video.width": 640,
113
+ "video.channels": 3,
114
+ "video.codec": "av1",
115
+ "video.pix_fmt": "yuv420p",
116
+ "video.is_depth_map": false,
117
+ "has_audio": false
118
+ }
119
+ },
120
+ "timestamp": {
121
+ "dtype": "float32",
122
+ "shape": [
123
+ 1
124
+ ],
125
+ "names": null
126
+ },
127
+ "frame_index": {
128
+ "dtype": "int64",
129
+ "shape": [
130
+ 1
131
+ ],
132
+ "names": null
133
+ },
134
+ "episode_index": {
135
+ "dtype": "int64",
136
+ "shape": [
137
+ 1
138
+ ],
139
+ "names": null
140
+ },
141
+ "index": {
142
+ "dtype": "int64",
143
+ "shape": [
144
+ 1
145
+ ],
146
+ "names": null
147
+ },
148
+ "task_index": {
149
+ "dtype": "int64",
150
+ "shape": [
151
+ 1
152
+ ],
153
+ "names": null
154
+ }
155
+ }
156
+ }
meta/stats.json ADDED
@@ -0,0 +1,374 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 7.260217189788818,
5
+ -100.42495727539062,
6
+ -99.9663314819336,
7
+ 118.71328735351562,
8
+ 122.88965606689453,
9
+ 4.257678508758545,
10
+ 36.194122314453125,
11
+ -4.5802741050720215,
12
+ 82.76547241210938
13
+ ],
14
+ "std": [
15
+ 11.123017311096191,
16
+ 27.376556396484375,
17
+ 27.628204345703125,
18
+ 15.895415306091309,
19
+ 15.633867263793945,
20
+ 2.3071515560150146,
21
+ 4.211790084838867,
22
+ 4.045459747314453,
23
+ 17.672107696533203
24
+ ],
25
+ "max": [
26
+ 36.62504196166992,
27
+ -61.875457763671875,
28
+ -60.66307067871094,
29
+ 170.23681640625,
30
+ 174.54141235351562,
31
+ 12.077508926391602,
32
+ 45.968387603759766,
33
+ 5.2555155754089355,
34
+ 94.1867446899414
35
+ ],
36
+ "min": [
37
+ -6.296089172363281,
38
+ -184.769287109375,
39
+ -184.59263610839844,
40
+ 87.7318115234375,
41
+ 92.66735076904297,
42
+ -0.1215057373046875,
43
+ 25.79754066467285,
44
+ -10.17091178894043,
45
+ 35.24213409423828
46
+ ]
47
+ },
48
+ "observation.state": {
49
+ "mean": [
50
+ 6.870808124542236,
51
+ -99.85443878173828,
52
+ -98.78560638427734,
53
+ 120.33313751220703,
54
+ 122.29595184326172,
55
+ 3.6243999004364014,
56
+ 35.800682067871094,
57
+ -4.223994731903076,
58
+ 82.07026672363281
59
+ ],
60
+ "std": [
61
+ 10.866366386413574,
62
+ 28.577899932861328,
63
+ 28.651185989379883,
64
+ 16.363170623779297,
65
+ 16.236297607421875,
66
+ 2.2424309253692627,
67
+ 4.2031331062316895,
68
+ 3.797581672668457,
69
+ 17.710111618041992
70
+ ],
71
+ "max": [
72
+ 35.595703125,
73
+ -60.8203125,
74
+ -59.150390625,
75
+ 182.8125,
76
+ 184.21875,
77
+ 10.986328125,
78
+ 45.17578125,
79
+ 4.833984375,
80
+ 93.95018005371094
81
+ ],
82
+ "min": [
83
+ -5.625,
84
+ -196.787109375,
85
+ -195.46875,
86
+ 90.0,
87
+ 92.197265625,
88
+ -0.17578125,
89
+ 25.400390625,
90
+ -9.931640625,
91
+ 35.82443618774414
92
+ ]
93
+ },
94
+ "observation.images.cam_high": {
95
+ "mean": [
96
+ [
97
+ [
98
+ 0.533197283744812
99
+ ]
100
+ ],
101
+ [
102
+ [
103
+ 0.5074337124824524
104
+ ]
105
+ ],
106
+ [
107
+ [
108
+ 0.4741625487804413
109
+ ]
110
+ ]
111
+ ],
112
+ "std": [
113
+ [
114
+ [
115
+ 0.21016599237918854
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.2061108946800232
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.20530448853969574
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "min": [
147
+ [
148
+ [
149
+ 0.0
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.0
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.0
160
+ ]
161
+ ]
162
+ ]
163
+ },
164
+ "observation.images.cam_low": {
165
+ "mean": [
166
+ [
167
+ [
168
+ 0.4734535217285156
169
+ ]
170
+ ],
171
+ [
172
+ [
173
+ 0.4636085033416748
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ 0.4534813463687897
179
+ ]
180
+ ]
181
+ ],
182
+ "std": [
183
+ [
184
+ [
185
+ 0.2518436908721924
186
+ ]
187
+ ],
188
+ [
189
+ [
190
+ 0.23821130394935608
191
+ ]
192
+ ],
193
+ [
194
+ [
195
+ 0.22843597829341888
196
+ ]
197
+ ]
198
+ ],
199
+ "max": [
200
+ [
201
+ [
202
+ 1.0
203
+ ]
204
+ ],
205
+ [
206
+ [
207
+ 1.0
208
+ ]
209
+ ],
210
+ [
211
+ [
212
+ 1.0
213
+ ]
214
+ ]
215
+ ],
216
+ "min": [
217
+ [
218
+ [
219
+ 0.0
220
+ ]
221
+ ],
222
+ [
223
+ [
224
+ 0.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.0
230
+ ]
231
+ ]
232
+ ]
233
+ },
234
+ "observation.images.cam_right_wrist": {
235
+ "mean": [
236
+ [
237
+ [
238
+ 0.4327991008758545
239
+ ]
240
+ ],
241
+ [
242
+ [
243
+ 0.45080864429473877
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.4645177125930786
249
+ ]
250
+ ]
251
+ ],
252
+ "std": [
253
+ [
254
+ [
255
+ 0.22274380922317505
256
+ ]
257
+ ],
258
+ [
259
+ [
260
+ 0.22740882635116577
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 0.23206430673599243
266
+ ]
267
+ ]
268
+ ],
269
+ "max": [
270
+ [
271
+ [
272
+ 1.0
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 1.0
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 1.0
283
+ ]
284
+ ]
285
+ ],
286
+ "min": [
287
+ [
288
+ [
289
+ 0.0
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.0
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.0
300
+ ]
301
+ ]
302
+ ]
303
+ },
304
+ "timestamp": {
305
+ "mean": [
306
+ 7.38427209854126
307
+ ],
308
+ "std": [
309
+ 4.274005889892578
310
+ ],
311
+ "max": [
312
+ 14.933333396911621
313
+ ],
314
+ "min": [
315
+ 0.0
316
+ ]
317
+ },
318
+ "frame_index": {
319
+ "mean": [
320
+ 221.52816772460938
321
+ ],
322
+ "std": [
323
+ 128.22019958496094
324
+ ],
325
+ "max": [
326
+ 448.0
327
+ ],
328
+ "min": [
329
+ 0.0
330
+ ]
331
+ },
332
+ "episode_index": {
333
+ "mean": [
334
+ 0.5056304931640625
335
+ ],
336
+ "std": [
337
+ 0.4999683201313019
338
+ ],
339
+ "max": [
340
+ 1.0
341
+ ],
342
+ "min": [
343
+ 0.0
344
+ ]
345
+ },
346
+ "index": {
347
+ "mean": [
348
+ 443.5000305175781
349
+ ],
350
+ "std": [
351
+ 256.3433837890625
352
+ ],
353
+ "max": [
354
+ 887.0
355
+ ],
356
+ "min": [
357
+ 0.0
358
+ ]
359
+ },
360
+ "task_index": {
361
+ "mean": [
362
+ 0.0
363
+ ],
364
+ "std": [
365
+ 0.0
366
+ ],
367
+ "max": [
368
+ 0.0
369
+ ],
370
+ "min": [
371
+ 0.0
372
+ ]
373
+ }
374
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "SINGLE_TASK"}
videos/chunk-000/observation.images.cam_high/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:feed1c2d77aef9ca2905fc0300ff1665900081b44068371ccf2684432c689d3f
3
+ size 12568915
videos/chunk-000/observation.images.cam_high/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ac1bf6ffeb0905f6612b07df31f70c4cea2bd96ec96b7c928458d3d9699dc739
3
+ size 10285686
videos/chunk-000/observation.images.cam_low/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:93f5f680cfb5d3965b87f4758831d98f50beedaa07e12f34913fc9e15fd9e686
3
+ size 14501163
videos/chunk-000/observation.images.cam_low/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:250c4d07d494627512a930d01567fd04335afd43cd98a2a2639d5fb42358fb46
3
+ size 14014297
videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6d7fdb4f5b5b14d9953f3498e0f44e48a6af0a25d7afb7f61f306529e045e3f5
3
+ size 2863853
videos/chunk-000/observation.images.cam_right_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9f358e4bf33e0a4282d92185068cee9bd76fe9b66f94f96c2db8a560a871d2be
3
+ size 3161532