Hugging Face's logo

Datasets:
lerobot
/
fmb

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
ArXiv:
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
aliberts HF staff commited on
Commit
58751d7
•
1 Parent(s): 2b064f8

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. meta/episodes.jsonl +0 -0
  2. meta/info.json +189 -0
  3. meta/stats.json +446 -0
  4. meta/tasks.jsonl +24 -0
meta/episodes.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
meta/info.json ADDED
@@ -0,0 +1,189 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "unknown",
4
+ "total_episodes": 1804,
5
+ "total_frames": 338188,
6
+ "total_tasks": 24,
7
+ "total_videos": 7216,
8
+ "total_chunks": 2,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:1804"
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
+ "observation.images.image_side_1": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 10.0,
31
+ "video.codec": "av1",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ }
36
+ },
37
+ "observation.images.image_side_2": {
38
+ "dtype": "video",
39
+ "shape": [
40
+ 256,
41
+ 256,
42
+ 3
43
+ ],
44
+ "names": [
45
+ "height",
46
+ "width",
47
+ "channel"
48
+ ],
49
+ "video_info": {
50
+ "video.fps": 10.0,
51
+ "video.codec": "av1",
52
+ "video.pix_fmt": "yuv420p",
53
+ "video.is_depth_map": false,
54
+ "has_audio": false
55
+ }
56
+ },
57
+ "observation.images.image_wrist_1": {
58
+ "dtype": "video",
59
+ "shape": [
60
+ 256,
61
+ 256,
62
+ 3
63
+ ],
64
+ "names": [
65
+ "height",
66
+ "width",
67
+ "channel"
68
+ ],
69
+ "video_info": {
70
+ "video.fps": 10.0,
71
+ "video.codec": "av1",
72
+ "video.pix_fmt": "yuv420p",
73
+ "video.is_depth_map": false,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "observation.images.image_wrist_2": {
78
+ "dtype": "video",
79
+ "shape": [
80
+ 256,
81
+ 256,
82
+ 3
83
+ ],
84
+ "names": [
85
+ "height",
86
+ "width",
87
+ "channel"
88
+ ],
89
+ "video_info": {
90
+ "video.fps": 10.0,
91
+ "video.codec": "av1",
92
+ "video.pix_fmt": "yuv420p",
93
+ "video.is_depth_map": false,
94
+ "has_audio": false
95
+ }
96
+ },
97
+ "language_instruction": {
98
+ "dtype": "string",
99
+ "shape": [
100
+ 1
101
+ ],
102
+ "names": null
103
+ },
104
+ "observation.state": {
105
+ "dtype": "float32",
106
+ "shape": [
107
+ 8
108
+ ],
109
+ "names": {
110
+ "motors": [
111
+ "motor_0",
112
+ "motor_1",
113
+ "motor_2",
114
+ "motor_3",
115
+ "motor_4",
116
+ "motor_5",
117
+ "motor_6",
118
+ "motor_7"
119
+ ]
120
+ }
121
+ },
122
+ "action": {
123
+ "dtype": "float32",
124
+ "shape": [
125
+ 7
126
+ ],
127
+ "names": {
128
+ "motors": [
129
+ "motor_0",
130
+ "motor_1",
131
+ "motor_2",
132
+ "motor_3",
133
+ "motor_4",
134
+ "motor_5",
135
+ "motor_6"
136
+ ]
137
+ }
138
+ },
139
+ "timestamp": {
140
+ "dtype": "float32",
141
+ "shape": [
142
+ 1
143
+ ],
144
+ "names": null
145
+ },
146
+ "episode_index": {
147
+ "dtype": "int64",
148
+ "shape": [
149
+ 1
150
+ ],
151
+ "names": null
152
+ },
153
+ "frame_index": {
154
+ "dtype": "int64",
155
+ "shape": [
156
+ 1
157
+ ],
158
+ "names": null
159
+ },
160
+ "next.reward": {
161
+ "dtype": "float32",
162
+ "shape": [
163
+ 1
164
+ ],
165
+ "names": null
166
+ },
167
+ "next.done": {
168
+ "dtype": "bool",
169
+ "shape": [
170
+ 1
171
+ ],
172
+ "names": null
173
+ },
174
+ "index": {
175
+ "dtype": "int64",
176
+ "shape": [
177
+ 1
178
+ ],
179
+ "names": null
180
+ },
181
+ "task_index": {
182
+ "dtype": "int64",
183
+ "shape": [
184
+ 1
185
+ ],
186
+ "names": null
187
+ }
188
+ }
189
+ }
meta/stats.json ADDED
@@ -0,0 +1,446 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "max": [
4
+ 1.399999976158142,
5
+ 1.0,
6
+ 1.399999976158142,
7
+ 1.0,
8
+ 1.0,
9
+ 1.0,
10
+ 1.0
11
+ ],
12
+ "mean": [
13
+ 0.04970182850956917,
14
+ -0.08721935749053955,
15
+ -0.07115846872329712,
16
+ 0.003890090389177203,
17
+ -0.0021935589611530304,
18
+ -0.009235382080078125,
19
+ 0.6831387877464294
20
+ ],
21
+ "min": [
22
+ -1.399999976158142,
23
+ -1.399999976158142,
24
+ -1.0,
25
+ -1.0,
26
+ -1.0,
27
+ -1.0,
28
+ 0.0
29
+ ],
30
+ "std": [
31
+ 0.26994815468788147,
32
+ 0.31632477045059204,
33
+ 0.39457428455352783,
34
+ 0.3189215660095215,
35
+ 0.11227674037218094,
36
+ 0.21851366758346558,
37
+ 0.4652537405490875
38
+ ]
39
+ },
40
+ "episode_index": {
41
+ "max": [
42
+ 1803.0
43
+ ],
44
+ "mean": [
45
+ 909.9603271484375
46
+ ],
47
+ "min": [
48
+ 0.0
49
+ ],
50
+ "std": [
51
+ 516.9951171875
52
+ ]
53
+ },
54
+ "frame_index": {
55
+ "max": [
56
+ 516.0
57
+ ],
58
+ "mean": [
59
+ 108.4843521118164
60
+ ],
61
+ "min": [
62
+ 0.0
63
+ ],
64
+ "std": [
65
+ 78.42987060546875
66
+ ]
67
+ },
68
+ "index": {
69
+ "max": [
70
+ 338187.0
71
+ ],
72
+ "mean": [
73
+ 169093.3125
74
+ ],
75
+ "min": [
76
+ 0.0
77
+ ],
78
+ "std": [
79
+ 97626.5625
80
+ ]
81
+ },
82
+ "next.done": {
83
+ "max": [
84
+ 1.0
85
+ ],
86
+ "mean": [
87
+ 0.005334306973963976
88
+ ],
89
+ "min": [
90
+ 0.0
91
+ ],
92
+ "std": [
93
+ 0.07284130156040192
94
+ ]
95
+ },
96
+ "next.reward": {
97
+ "max": [
98
+ 1.0
99
+ ],
100
+ "mean": [
101
+ 0.005334306973963976
102
+ ],
103
+ "min": [
104
+ 0.0
105
+ ],
106
+ "std": [
107
+ 0.07284130156040192
108
+ ]
109
+ },
110
+ "observation.images.image_side_1": {
111
+ "max": [
112
+ [
113
+ [
114
+ 1.0
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 1.0
120
+ ]
121
+ ],
122
+ [
123
+ [
124
+ 1.0
125
+ ]
126
+ ]
127
+ ],
128
+ "mean": [
129
+ [
130
+ [
131
+ 0.3470233976840973
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.3851381838321686
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 0.38994547724723816
142
+ ]
143
+ ]
144
+ ],
145
+ "min": [
146
+ [
147
+ [
148
+ 0.0
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.0
154
+ ]
155
+ ],
156
+ [
157
+ [
158
+ 0.0
159
+ ]
160
+ ]
161
+ ],
162
+ "std": [
163
+ [
164
+ [
165
+ 0.19059234857559204
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.18178877234458923
171
+ ]
172
+ ],
173
+ [
174
+ [
175
+ 0.23123140633106232
176
+ ]
177
+ ]
178
+ ]
179
+ },
180
+ "observation.images.image_side_2": {
181
+ "max": [
182
+ [
183
+ [
184
+ 1.0
185
+ ]
186
+ ],
187
+ [
188
+ [
189
+ 1.0
190
+ ]
191
+ ],
192
+ [
193
+ [
194
+ 1.0
195
+ ]
196
+ ]
197
+ ],
198
+ "mean": [
199
+ [
200
+ [
201
+ 0.4096105396747589
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 0.4480617046356201
207
+ ]
208
+ ],
209
+ [
210
+ [
211
+ 0.4246169924736023
212
+ ]
213
+ ]
214
+ ],
215
+ "min": [
216
+ [
217
+ [
218
+ 0.0
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.0
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.0
229
+ ]
230
+ ]
231
+ ],
232
+ "std": [
233
+ [
234
+ [
235
+ 0.13771407306194305
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.14630888402462006
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.17002131044864655
246
+ ]
247
+ ]
248
+ ]
249
+ },
250
+ "observation.images.image_wrist_1": {
251
+ "max": [
252
+ [
253
+ [
254
+ 1.0
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 1.0
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 1.0
265
+ ]
266
+ ]
267
+ ],
268
+ "mean": [
269
+ [
270
+ [
271
+ 0.41241586208343506
272
+ ]
273
+ ],
274
+ [
275
+ [
276
+ 0.4567331373691559
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ 0.4540608525276184
282
+ ]
283
+ ]
284
+ ],
285
+ "min": [
286
+ [
287
+ [
288
+ 0.0
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.0
294
+ ]
295
+ ],
296
+ [
297
+ [
298
+ 0.0
299
+ ]
300
+ ]
301
+ ],
302
+ "std": [
303
+ [
304
+ [
305
+ 0.22837167978286743
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.2250257432460785
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.2640201151371002
316
+ ]
317
+ ]
318
+ ]
319
+ },
320
+ "observation.images.image_wrist_2": {
321
+ "max": [
322
+ [
323
+ [
324
+ 1.0
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 1.0
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 1.0
335
+ ]
336
+ ]
337
+ ],
338
+ "mean": [
339
+ [
340
+ [
341
+ 0.41027432680130005
342
+ ]
343
+ ],
344
+ [
345
+ [
346
+ 0.44988155364990234
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.4325059652328491
352
+ ]
353
+ ]
354
+ ],
355
+ "min": [
356
+ [
357
+ [
358
+ 0.0
359
+ ]
360
+ ],
361
+ [
362
+ [
363
+ 0.0
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.0
369
+ ]
370
+ ]
371
+ ],
372
+ "std": [
373
+ [
374
+ [
375
+ 0.20576709508895874
376
+ ]
377
+ ],
378
+ [
379
+ [
380
+ 0.20800399780273438
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.2502586543560028
386
+ ]
387
+ ]
388
+ ]
389
+ },
390
+ "observation.state": {
391
+ "max": [
392
+ 0.7458599805831909,
393
+ 0.24012182652950287,
394
+ 0.373060405254364,
395
+ 0.9999994039535522,
396
+ 0.9586428999900818,
397
+ 0.4042605459690094,
398
+ 0.46682778000831604,
399
+ 1.0
400
+ ],
401
+ "mean": [
402
+ 0.5226219892501831,
403
+ -0.043000660836696625,
404
+ 0.15645110607147217,
405
+ 0.7318785190582275,
406
+ 0.6271701455116272,
407
+ 0.01353359967470169,
408
+ -0.016095951199531555,
409
+ 0.6778054237365723
410
+ ],
411
+ "min": [
412
+ 0.33080577850341797,
413
+ -0.32044777274131775,
414
+ 0.02930581010878086,
415
+ 0.26320791244506836,
416
+ -0.20787718892097473,
417
+ -0.38019081950187683,
418
+ -0.43462422490119934,
419
+ 0.0
420
+ ],
421
+ "std": [
422
+ 0.0790124461054802,
423
+ 0.1346016675233841,
424
+ 0.07882087677717209,
425
+ 0.08894452452659607,
426
+ 0.18333005905151367,
427
+ 0.11831115186214447,
428
+ 0.12267721444368362,
429
+ 0.4673163890838623
430
+ ]
431
+ },
432
+ "timestamp": {
433
+ "max": [
434
+ 51.599998474121094
435
+ ],
436
+ "mean": [
437
+ 10.848454475402832
438
+ ],
439
+ "min": [
440
+ 0.0
441
+ ],
442
+ "std": [
443
+ 7.842984676361084
444
+ ]
445
+ }
446
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1,24 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"task_index": 0, "task": "Pick up the blue object."}
2
+ {"task_index": 1, "task": "Move up."}
3
+ {"task_index": 2, "task": "Move to above the board."}
4
+ {"task_index": 3, "task": "Insert the blue object."}
5
+ {"task_index": 4, "task": "Pick up the yellow object."}
6
+ {"task_index": 5, "task": "Insert the yellow object."}
7
+ {"task_index": 6, "task": "Pick up the purple object."}
8
+ {"task_index": 7, "task": "Place the purple object on the fixture."}
9
+ {"task_index": 8, "task": "Regrasp the purple object."}
10
+ {"task_index": 9, "task": "Insert the purple object."}
11
+ {"task_index": 10, "task": "Pick up the brown object."}
12
+ {"task_index": 11, "task": "Insert the brown object."}
13
+ {"task_index": 12, "task": "Place the blue object on the fixture."}
14
+ {"task_index": 13, "task": "Regrasp the blue object."}
15
+ {"task_index": 14, "task": "Place the brown object on the fixture."}
16
+ {"task_index": 15, "task": "Regrasp the brown object."}
17
+ {"task_index": 16, "task": "Pick up the red object."}
18
+ {"task_index": 17, "task": "Insert the red object."}
19
+ {"task_index": 18, "task": "Place the red object on the fixture."}
20
+ {"task_index": 19, "task": "Regrasp the red object."}
21
+ {"task_index": 20, "task": "Pick up the green object."}
22
+ {"task_index": 21, "task": "Insert the green object."}
23
+ {"task_index": 22, "task": "Place the green object on the fixture."}
24
+ {"task_index": 23, "task": "Regrasp the green object."}