Hugging Face's logo

Datasets:
lerobot
/
aloha_mobile_chair

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
ArXiv:
Tags:
LeRobot
aloha
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
Community
1
aractingi HF Staff commited on
Commit
dde9638
·
verified ·
1 Parent(s): 7fd5f29

Upload folder using huggingface_hub

Browse files
Files changed (11) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. meta/episodes/chunk-000/file-000.parquet +3 -0
  3. meta/info.json +25 -16
  4. meta/stats.json +530 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.cam_high/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.cam_high/chunk-000/file-001.mp4 +3 -0
  8. videos/observation.images.cam_left_wrist/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.images.cam_left_wrist/chunk-000/file-001.mp4 +3 -0
  10. videos/observation.images.cam_right_wrist/chunk-000/file-000.mp4 +3 -0
  11. videos/observation.images.cam_right_wrist/chunk-000/file-001.mp4 +3 -0
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f86a4af1cb5dcb6e22f6988875e2312254b460b5fa2c111ceced76261861468b
3
+ size 7485926
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:645f07c2bc9c05df31b2b5096a00b55117de5438882924309316026c36a8cb76
3
+ size 126724
meta/info.json CHANGED
@@ -1,18 +1,16 @@
1
  {
2
- "codebase_version": "v2.1",
3
  "robot_type": "aloha",
4
  "total_episodes": 55,
5
  "total_frames": 110000,
6
  "total_tasks": 1,
7
- "total_videos": 165,
8
- "total_chunks": 1,
9
  "chunks_size": 1000,
10
- "fps": 50,
11
  "splits": {
12
  "train": "0:55"
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.cam_high": {
18
  "dtype": "video",
@@ -96,7 +94,8 @@
96
  "right_wrist_rotate",
97
  "right_gripper"
98
  ]
99
- }
 
100
  },
101
  "observation.effort": {
102
  "dtype": "float32",
@@ -120,7 +119,8 @@
120
  "right_wrist_rotate",
121
  "right_gripper"
122
  ]
123
- }
 
124
  },
125
  "action": {
126
  "dtype": "float32",
@@ -144,49 +144,58 @@
144
  "right_wrist_rotate",
145
  "right_gripper"
146
  ]
147
- }
 
148
  },
149
  "episode_index": {
150
  "dtype": "int64",
151
  "shape": [
152
  1
153
  ],
154
- "names": null
 
155
  },
156
  "frame_index": {
157
  "dtype": "int64",
158
  "shape": [
159
  1
160
  ],
161
- "names": null
 
162
  },
163
  "timestamp": {
164
  "dtype": "float32",
165
  "shape": [
166
  1
167
  ],
168
- "names": null
 
169
  },
170
  "next.done": {
171
  "dtype": "bool",
172
  "shape": [
173
  1
174
  ],
175
- "names": null
 
176
  },
177
  "index": {
178
  "dtype": "int64",
179
  "shape": [
180
  1
181
  ],
182
- "names": null
 
183
  },
184
  "task_index": {
185
  "dtype": "int64",
186
  "shape": [
187
  1
188
  ],
189
- "names": null
 
190
  }
191
- }
 
 
192
  }
 
1
  {
2
+ "codebase_version": "v3.0",
3
  "robot_type": "aloha",
4
  "total_episodes": 55,
5
  "total_frames": 110000,
6
  "total_tasks": 1,
 
 
7
  "chunks_size": 1000,
8
+ "fps": 50.0,
9
  "splits": {
10
  "train": "0:55"
11
  },
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
  "features": {
15
  "observation.images.cam_high": {
16
  "dtype": "video",
 
94
  "right_wrist_rotate",
95
  "right_gripper"
96
  ]
97
+ },
98
+ "fps": 50.0
99
  },
100
  "observation.effort": {
101
  "dtype": "float32",
 
119
  "right_wrist_rotate",
120
  "right_gripper"
121
  ]
122
+ },
123
+ "fps": 50.0
124
  },
125
  "action": {
126
  "dtype": "float32",
 
144
  "right_wrist_rotate",
145
  "right_gripper"
146
  ]
147
+ },
148
+ "fps": 50.0
149
  },
150
  "episode_index": {
151
  "dtype": "int64",
152
  "shape": [
153
  1
154
  ],
155
+ "names": null,
156
+ "fps": 50.0
157
  },
158
  "frame_index": {
159
  "dtype": "int64",
160
  "shape": [
161
  1
162
  ],
163
+ "names": null,
164
+ "fps": 50.0
165
  },
166
  "timestamp": {
167
  "dtype": "float32",
168
  "shape": [
169
  1
170
  ],
171
+ "names": null,
172
+ "fps": 50.0
173
  },
174
  "next.done": {
175
  "dtype": "bool",
176
  "shape": [
177
  1
178
  ],
179
+ "names": null,
180
+ "fps": 50.0
181
  },
182
  "index": {
183
  "dtype": "int64",
184
  "shape": [
185
  1
186
  ],
187
+ "names": null,
188
+ "fps": 50.0
189
  },
190
  "task_index": {
191
  "dtype": "int64",
192
  "shape": [
193
  1
194
  ],
195
+ "names": null,
196
+ "fps": 50.0
197
  }
198
+ },
199
+ "data_files_size_in_mb": 100,
200
+ "video_files_size_in_mb": 500
201
  }
meta/stats.json ADDED
@@ -0,0 +1,530 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "next.done": {
3
+ "min": [
4
+ false
5
+ ],
6
+ "max": [
7
+ true
8
+ ],
9
+ "mean": [
10
+ 0.0005
11
+ ],
12
+ "std": [
13
+ 0.022355088906108152
14
+ ],
15
+ "count": [
16
+ 110000
17
+ ]
18
+ },
19
+ "index": {
20
+ "min": [
21
+ 0
22
+ ],
23
+ "max": [
24
+ 109999
25
+ ],
26
+ "mean": [
27
+ 54999.5
28
+ ],
29
+ "std": [
30
+ 31754.264804117258
31
+ ],
32
+ "count": [
33
+ 110000
34
+ ]
35
+ },
36
+ "task_index": {
37
+ "min": [
38
+ 0
39
+ ],
40
+ "max": [
41
+ 0
42
+ ],
43
+ "mean": [
44
+ 0.0
45
+ ],
46
+ "std": [
47
+ 0.0
48
+ ],
49
+ "count": [
50
+ 110000
51
+ ]
52
+ },
53
+ "frame_index": {
54
+ "min": [
55
+ 0
56
+ ],
57
+ "max": [
58
+ 1999
59
+ ],
60
+ "mean": [
61
+ 999.5
62
+ ],
63
+ "std": [
64
+ 577.3501970208376
65
+ ],
66
+ "count": [
67
+ 110000
68
+ ]
69
+ },
70
+ "timestamp": {
71
+ "min": [
72
+ 0.0
73
+ ],
74
+ "max": [
75
+ 39.97999954223633
76
+ ],
77
+ "mean": [
78
+ 19.989999771118164
79
+ ],
80
+ "std": [
81
+ 11.547003746032717
82
+ ],
83
+ "count": [
84
+ 110000
85
+ ]
86
+ },
87
+ "action": {
88
+ "min": [
89
+ -0.9940195679664612,
90
+ -1.3744468688964844,
91
+ -0.1871456652879715,
92
+ -1.6873788833618164,
93
+ -0.7470486760139465,
94
+ -1.4695535898208618,
95
+ -0.1919591873884201,
96
+ -0.14879614114761353,
97
+ -1.2057089805603027,
98
+ -0.3160000443458557,
99
+ -0.7900001406669617,
100
+ -0.5783107876777649,
101
+ -0.2623107135295868,
102
+ -0.17752182483673096
103
+ ],
104
+ "max": [
105
+ 0.09970875084400177,
106
+ 1.2041749954223633,
107
+ 1.3499031066894531,
108
+ 1.1658254861831665,
109
+ 0.5706408619880676,
110
+ 0.424912691116333,
111
+ 1.1254596710205078,
112
+ 0.9832817316055298,
113
+ 1.2793400287628174,
114
+ 1.2686021327972412,
115
+ 1.8377090692520142,
116
+ 0.4939418137073517,
117
+ 1.1060001850128174,
118
+ 1.1326782703399658
119
+ ],
120
+ "mean": [
121
+ -0.34893560165708715,
122
+ 0.09367166916755112,
123
+ 0.7078499512238936,
124
+ -0.6018193916840987,
125
+ -0.08528175831200893,
126
+ -0.38561869128183884,
127
+ 0.6181219707835804,
128
+ 0.29861745427955283,
129
+ 0.1991760117086497,
130
+ 0.592188517071984,
131
+ 0.5609202371063557,
132
+ 0.041396647721359675,
133
+ 0.22882090292193674,
134
+ 0.6339427937160839
135
+ ],
136
+ "std": [
137
+ 0.19430444476831316,
138
+ 0.7102923820359823,
139
+ 0.3517156549344454,
140
+ 0.4813541968087248,
141
+ 0.19890263052908538,
142
+ 0.4280787387333847,
143
+ 0.40624768553625773,
144
+ 0.14399146087226516,
145
+ 0.6641029362940952,
146
+ 0.3449040745743326,
147
+ 0.5290283962754885,
148
+ 0.1535671014423544,
149
+ 0.2612256022101711,
150
+ 0.41122353064654177
151
+ ],
152
+ "count": [
153
+ 110000
154
+ ]
155
+ },
156
+ "observation.images.cam_left_wrist": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.4362070387059992
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.4481102341955358
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.48455396565524017
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.22477363603081318
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.21781348093021388
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.22839447724671033
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 16445
227
+ ]
228
+ },
229
+ "observation.state": {
230
+ "min": [
231
+ -0.9909515976905823,
232
+ -1.3805826902389526,
233
+ -0.15493206679821014,
234
+ -1.6935148239135742,
235
+ -0.7271069288253784,
236
+ -1.4787575006484985,
237
+ -0.01832391880452633,
238
+ -0.14726215600967407,
239
+ -1.211844801902771,
240
+ -0.2761165499687195,
241
+ -0.7869321703910828,
242
+ -0.5675728917121887,
243
+ -0.26077672839164734,
244
+ -0.004564686678349972
245
+ ],
246
+ "max": [
247
+ 0.10124273598194122,
248
+ 1.2103108167648315,
249
+ 1.3575730323791504,
250
+ 1.1535536050796509,
251
+ 0.5721748471260071,
252
+ 0.42337870597839355,
253
+ 0.9999830722808838,
254
+ 0.9786797761917114,
255
+ 1.2440584897994995,
256
+ 1.277806043624878,
257
+ 1.8377090692520142,
258
+ 0.48473793268203735,
259
+ 1.104466199874878,
260
+ 0.9999999403953552
261
+ ],
262
+ "mean": [
263
+ -0.35074335363778203,
264
+ 0.10538948204114355,
265
+ 0.7244058977473866,
266
+ -0.6015757866881111,
267
+ -0.07900392205285078,
268
+ -0.3927451090379195,
269
+ 0.6950434543869712,
270
+ 0.29431297399780965,
271
+ 0.20879174254157326,
272
+ 0.6083946531469172,
273
+ 0.5636146948418834,
274
+ 0.04413124261244031,
275
+ 0.24052441824566234,
276
+ 0.7185640389269049
277
+ ],
278
+ "std": [
279
+ 0.19710620731466197,
280
+ 0.7237686991857474,
281
+ 0.3511477626798351,
282
+ 0.4833153611483545,
283
+ 0.1972513068336785,
284
+ 0.4341777225560448,
285
+ 0.37453610875088766,
286
+ 0.14358842514113743,
287
+ 0.6712746183925388,
288
+ 0.34858186602022573,
289
+ 0.5339637958713358,
290
+ 0.15364058252644872,
291
+ 0.2655599634935613,
292
+ 0.3616080028053473
293
+ ],
294
+ "count": [
295
+ 110000
296
+ ]
297
+ },
298
+ "observation.images.cam_right_wrist": {
299
+ "min": [
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.0
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.0
313
+ ]
314
+ ]
315
+ ],
316
+ "max": [
317
+ [
318
+ [
319
+ 1.0
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 1.0
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 1.0
330
+ ]
331
+ ]
332
+ ],
333
+ "mean": [
334
+ [
335
+ [
336
+ 0.4479645653204484
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.45997795083306053
342
+ ]
343
+ ],
344
+ [
345
+ [
346
+ 0.47472764253616334
347
+ ]
348
+ ]
349
+ ],
350
+ "std": [
351
+ [
352
+ [
353
+ 0.2244997667901022
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ 0.21778293748586064
359
+ ]
360
+ ],
361
+ [
362
+ [
363
+ 0.2189995800267657
364
+ ]
365
+ ]
366
+ ],
367
+ "count": [
368
+ 16445
369
+ ]
370
+ },
371
+ "observation.images.cam_high": {
372
+ "min": [
373
+ [
374
+ [
375
+ 0.0
376
+ ]
377
+ ],
378
+ [
379
+ [
380
+ 0.0
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.0
386
+ ]
387
+ ]
388
+ ],
389
+ "max": [
390
+ [
391
+ [
392
+ 1.0
393
+ ]
394
+ ],
395
+ [
396
+ [
397
+ 1.0
398
+ ]
399
+ ],
400
+ [
401
+ [
402
+ 1.0
403
+ ]
404
+ ]
405
+ ],
406
+ "mean": [
407
+ [
408
+ [
409
+ 0.4337029668417844
410
+ ]
411
+ ],
412
+ [
413
+ [
414
+ 0.41787164373831315
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.4008658820932562
420
+ ]
421
+ ]
422
+ ],
423
+ "std": [
424
+ [
425
+ [
426
+ 0.25178296326282396
427
+ ]
428
+ ],
429
+ [
430
+ [
431
+ 0.2502370343841241
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 0.25481624774771466
437
+ ]
438
+ ]
439
+ ],
440
+ "count": [
441
+ 16445
442
+ ]
443
+ },
444
+ "observation.effort": {
445
+ "min": [
446
+ -1121.72998046875,
447
+ -3628.81005859375,
448
+ -2754.56005859375,
449
+ -882.3200073242188,
450
+ -2313.400146484375,
451
+ -462.6800231933594,
452
+ -1172.8399658203125,
453
+ -1245.469970703125,
454
+ -2773.39013671875,
455
+ -1923.35009765625,
456
+ -2907.89013671875,
457
+ -1127.1099853515625,
458
+ -2141.239990234375,
459
+ -1188.97998046875
460
+ ],
461
+ "max": [
462
+ 4209.85009765625,
463
+ 1705.4600830078125,
464
+ 1428.3900146484375,
465
+ 1608.6199951171875,
466
+ 1248.1600341796875,
467
+ 1605.9300537109375,
468
+ 954.9500122070312,
469
+ 2208.489990234375,
470
+ 2337.610107421875,
471
+ 1339.6199951171875,
472
+ 702.0900268554688,
473
+ 841.9700317382812,
474
+ 780.1000366210938,
475
+ 968.4000244140625
476
+ ],
477
+ "mean": [
478
+ 81.9236420544711,
479
+ -425.4660916415128,
480
+ -380.6223566228693,
481
+ 71.24118097478693,
482
+ -153.63504680286755,
483
+ 91.2785024469549,
484
+ -164.12185336026278,
485
+ 87.38039553664963,
486
+ -366.85945892333984,
487
+ -349.14289079145954,
488
+ -128.39177672646264,
489
+ -80.30172126076438,
490
+ -142.8595366044478,
491
+ -172.8465684370561
492
+ ],
493
+ "std": [
494
+ 397.20054326492846,
495
+ 522.4952328693378,
496
+ 257.33440605090277,
497
+ 166.72435503302043,
498
+ 192.28684159783617,
499
+ 222.43120370185704,
500
+ 324.5200439570571,
501
+ 258.3546066245245,
502
+ 463.23611510863293,
503
+ 241.33876203828575,
504
+ 338.02300017477165,
505
+ 117.00910286701864,
506
+ 319.6689401650403,
507
+ 324.92168900322963
508
+ ],
509
+ "count": [
510
+ 110000
511
+ ]
512
+ },
513
+ "episode_index": {
514
+ "min": [
515
+ 0
516
+ ],
517
+ "max": [
518
+ 54
519
+ ],
520
+ "mean": [
521
+ 27.0
522
+ ],
523
+ "std": [
524
+ 15.874507866387544
525
+ ],
526
+ "count": [
527
+ 110000
528
+ ]
529
+ }
530
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:85b838dee90e2903cbbbff70aec4ce44405605e833baa92c53f1299c773e41e7
3
+ size 2355
videos/observation.images.cam_high/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:656e48c549f0fc9ba89b680a54be2d57cfa31c5c76f7ee1aa81eaa6171449bc2
3
+ size 508476237
videos/observation.images.cam_high/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d45d200be40d93dfbd3d4c5aa1fffcc927c6686ea251504892d07983a1a0106e
3
+ size 478598117
videos/observation.images.cam_left_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:edf53776ee165e5def537953566c526168652d5a5e07259ff4d448068e83a00c
3
+ size 519317548
videos/observation.images.cam_left_wrist/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e6bdbb3e3cfde8f4e616e8d348d1f4a921adc2b947dbf117ca64ac1e665c4123
3
+ size 62868765
videos/observation.images.cam_right_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b81340bc2896b8c5d2dadc87ae2ddd476c5a0b43bfecdf206737062ddcab3a4
3
+ size 523023962
videos/observation.images.cam_right_wrist/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0ac4ba4c69213a786158dad402c9ff4c3acc372568fa015bc1a5960ddb60692f
3
+ size 64484210