Hugging Face's logo

Datasets:
lerobot
/
ucsd_pick_and_place_dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
ArXiv:
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
aliberts HF staff commited on
Commit
229c0be
•
1 Parent(s): 3fb3a31

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. meta/episodes.jsonl +0 -0
  2. meta/info.json +125 -0
  3. meta/stats.json +220 -0
  4. meta/tasks.jsonl +3 -0
meta/episodes.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
meta/info.json ADDED
@@ -0,0 +1,125 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "unknown",
4
+ "total_episodes": 1355,
5
+ "total_frames": 67750,
6
+ "total_tasks": 3,
7
+ "total_videos": 1355,
8
+ "total_chunks": 2,
9
+ "chunks_size": 1000,
10
+ "fps": 5,
11
+ "splits": {
12
+ "train": "0:1355"
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": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 224,
21
+ 224,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 5.0,
31
+ "video.codec": "av1",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ }
36
+ },
37
+ "language_instruction": {
38
+ "dtype": "string",
39
+ "shape": [
40
+ 1
41
+ ],
42
+ "names": null
43
+ },
44
+ "observation.state": {
45
+ "dtype": "float32",
46
+ "shape": [
47
+ 7
48
+ ],
49
+ "names": {
50
+ "motors": [
51
+ "motor_0",
52
+ "motor_1",
53
+ "motor_2",
54
+ "motor_3",
55
+ "motor_4",
56
+ "motor_5",
57
+ "motor_6"
58
+ ]
59
+ }
60
+ },
61
+ "action": {
62
+ "dtype": "float32",
63
+ "shape": [
64
+ 4
65
+ ],
66
+ "names": {
67
+ "motors": [
68
+ "motor_0",
69
+ "motor_1",
70
+ "motor_2",
71
+ "motor_3"
72
+ ]
73
+ }
74
+ },
75
+ "timestamp": {
76
+ "dtype": "float32",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "frame_index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "next.reward": {
97
+ "dtype": "float32",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ },
103
+ "next.done": {
104
+ "dtype": "bool",
105
+ "shape": [
106
+ 1
107
+ ],
108
+ "names": null
109
+ },
110
+ "index": {
111
+ "dtype": "int64",
112
+ "shape": [
113
+ 1
114
+ ],
115
+ "names": null
116
+ },
117
+ "task_index": {
118
+ "dtype": "int64",
119
+ "shape": [
120
+ 1
121
+ ],
122
+ "names": null
123
+ }
124
+ }
125
+ }
meta/stats.json ADDED
@@ -0,0 +1,220 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "max": [
4
+ 1.0,
5
+ 1.0,
6
+ 1.0,
7
+ 1.0
8
+ ],
9
+ "mean": [
10
+ 0.14699725806713104,
11
+ -0.12457390874624252,
12
+ 0.053909458220005035,
13
+ -0.07570009678602219
14
+ ],
15
+ "min": [
16
+ -1.0,
17
+ -1.0,
18
+ -1.0,
19
+ -1.0
20
+ ],
21
+ "std": [
22
+ 0.4849051237106323,
23
+ 0.46432146430015564,
24
+ 0.5408445000648499,
25
+ 0.8928965330123901
26
+ ]
27
+ },
28
+ "episode_index": {
29
+ "max": [
30
+ 1354.0
31
+ ],
32
+ "mean": [
33
+ 676.999267578125
34
+ ],
35
+ "min": [
36
+ 0.0
37
+ ],
38
+ "std": [
39
+ 391.1548156738281
40
+ ]
41
+ },
42
+ "frame_index": {
43
+ "max": [
44
+ 49.0
45
+ ],
46
+ "mean": [
47
+ 24.499998092651367
48
+ ],
49
+ "min": [
50
+ 0.0
51
+ ],
52
+ "std": [
53
+ 14.430869102478027
54
+ ]
55
+ },
56
+ "index": {
57
+ "max": [
58
+ 67749.0
59
+ ],
60
+ "mean": [
61
+ 33874.5078125
62
+ ],
63
+ "min": [
64
+ 0.0
65
+ ],
66
+ "std": [
67
+ 19557.7421875
68
+ ]
69
+ },
70
+ "next.done": {
71
+ "max": [
72
+ 1.0
73
+ ],
74
+ "mean": [
75
+ 0.020000029355287552
76
+ ],
77
+ "min": [
78
+ 0.0
79
+ ],
80
+ "std": [
81
+ 0.13999994099140167
82
+ ]
83
+ },
84
+ "next.reward": {
85
+ "max": [
86
+ 1.0
87
+ ],
88
+ "mean": [
89
+ 0.21303336322307587
90
+ ],
91
+ "min": [
92
+ 0.0
93
+ ],
94
+ "std": [
95
+ 0.40945103764533997
96
+ ]
97
+ },
98
+ "observation.images.image": {
99
+ "max": [
100
+ [
101
+ [
102
+ 1.0
103
+ ]
104
+ ],
105
+ [
106
+ [
107
+ 1.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 1.0
113
+ ]
114
+ ]
115
+ ],
116
+ "mean": [
117
+ [
118
+ [
119
+ 0.3146292269229889
120
+ ]
121
+ ],
122
+ [
123
+ [
124
+ 0.3343246579170227
125
+ ]
126
+ ],
127
+ [
128
+ [
129
+ 0.32470259070396423
130
+ ]
131
+ ]
132
+ ],
133
+ "min": [
134
+ [
135
+ [
136
+ 0.0
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 0.0
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.0
147
+ ]
148
+ ]
149
+ ],
150
+ "std": [
151
+ [
152
+ [
153
+ 0.28978535532951355
154
+ ]
155
+ ],
156
+ [
157
+ [
158
+ 0.2878119647502899
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.297037273645401
164
+ ]
165
+ ]
166
+ ]
167
+ },
168
+ "observation.state": {
169
+ "max": [
170
+ 5.877199649810791,
171
+ 3.1892199516296387,
172
+ 2.5071699619293213,
173
+ 1.8000001907348633,
174
+ 0.00914898980408907,
175
+ 1.3243964910507202,
176
+ 8.039999961853027
177
+ ],
178
+ "mean": [
179
+ 3.7822635173797607,
180
+ -1.0087718963623047,
181
+ 0.830890417098999,
182
+ 1.632677435874939,
183
+ -0.029454901814460754,
184
+ 0.8999563455581665,
185
+ 4.398383140563965
186
+ ],
187
+ "min": [
188
+ 0.5885599851608276,
189
+ -3.3172800540924072,
190
+ -0.5149999856948853,
191
+ -1.8000001907348633,
192
+ -0.3170192837715149,
193
+ 0.0,
194
+ 0.0
195
+ ],
196
+ "std": [
197
+ 1.051452875137329,
198
+ 1.625870704650879,
199
+ 0.6590200066566467,
200
+ 0.7543245553970337,
201
+ 0.0710396021604538,
202
+ 0.00585061265155673,
203
+ 2.671773672103882
204
+ ]
205
+ },
206
+ "timestamp": {
207
+ "max": [
208
+ 9.800000190734863
209
+ ],
210
+ "mean": [
211
+ 4.900003910064697
212
+ ],
213
+ "min": [
214
+ 0.0
215
+ ],
216
+ "std": [
217
+ 2.886171579360962
218
+ ]
219
+ }
220
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"task_index": 0, "task": "place the pot in the sink"}
2
+ {"task_index": 1, "task": "pick up the red object from the table"}
3
+ {"task_index": 2, "task": "pick up the green object from the table"}