Hugging Face's logo

Datasets:
HumanoidTeam
/
aloha_sim_insertion_scripted_multicam

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
1
ivm-skl commited on
Commit
10d2af4
·
verified ·
1 Parent(s): 8a8df73

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. meta/episodes.jsonl +50 -0
  2. meta/info.json +168 -0
  3. meta/stats.json +414 -0
  4. meta/tasks.jsonl +1 -0
meta/episodes.jsonl ADDED
@@ -0,0 +1,50 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Insert the red object into the blue object."], "length": 400}
2
+ {"episode_index": 1, "tasks": ["Insert the red object into the blue object."], "length": 400}
3
+ {"episode_index": 2, "tasks": ["Insert the red object into the blue object."], "length": 400}
4
+ {"episode_index": 3, "tasks": ["Insert the red object into the blue object."], "length": 400}
5
+ {"episode_index": 4, "tasks": ["Insert the red object into the blue object."], "length": 400}
6
+ {"episode_index": 5, "tasks": ["Insert the red object into the blue object."], "length": 400}
7
+ {"episode_index": 6, "tasks": ["Insert the red object into the blue object."], "length": 400}
8
+ {"episode_index": 7, "tasks": ["Insert the red object into the blue object."], "length": 400}
9
+ {"episode_index": 8, "tasks": ["Insert the red object into the blue object."], "length": 400}
10
+ {"episode_index": 9, "tasks": ["Insert the red object into the blue object."], "length": 400}
11
+ {"episode_index": 10, "tasks": ["Insert the red object into the blue object."], "length": 400}
12
+ {"episode_index": 11, "tasks": ["Insert the red object into the blue object."], "length": 400}
13
+ {"episode_index": 12, "tasks": ["Insert the red object into the blue object."], "length": 400}
14
+ {"episode_index": 13, "tasks": ["Insert the red object into the blue object."], "length": 400}
15
+ {"episode_index": 14, "tasks": ["Insert the red object into the blue object."], "length": 400}
16
+ {"episode_index": 15, "tasks": ["Insert the red object into the blue object."], "length": 400}
17
+ {"episode_index": 16, "tasks": ["Insert the red object into the blue object."], "length": 400}
18
+ {"episode_index": 17, "tasks": ["Insert the red object into the blue object."], "length": 400}
19
+ {"episode_index": 18, "tasks": ["Insert the red object into the blue object."], "length": 400}
20
+ {"episode_index": 19, "tasks": ["Insert the red object into the blue object."], "length": 400}
21
+ {"episode_index": 20, "tasks": ["Insert the red object into the blue object."], "length": 400}
22
+ {"episode_index": 21, "tasks": ["Insert the red object into the blue object."], "length": 400}
23
+ {"episode_index": 22, "tasks": ["Insert the red object into the blue object."], "length": 400}
24
+ {"episode_index": 23, "tasks": ["Insert the red object into the blue object."], "length": 400}
25
+ {"episode_index": 24, "tasks": ["Insert the red object into the blue object."], "length": 400}
26
+ {"episode_index": 25, "tasks": ["Insert the red object into the blue object."], "length": 400}
27
+ {"episode_index": 26, "tasks": ["Insert the red object into the blue object."], "length": 400}
28
+ {"episode_index": 27, "tasks": ["Insert the red object into the blue object."], "length": 400}
29
+ {"episode_index": 28, "tasks": ["Insert the red object into the blue object."], "length": 400}
30
+ {"episode_index": 29, "tasks": ["Insert the red object into the blue object."], "length": 400}
31
+ {"episode_index": 30, "tasks": ["Insert the red object into the blue object."], "length": 400}
32
+ {"episode_index": 31, "tasks": ["Insert the red object into the blue object."], "length": 400}
33
+ {"episode_index": 32, "tasks": ["Insert the red object into the blue object."], "length": 400}
34
+ {"episode_index": 33, "tasks": ["Insert the red object into the blue object."], "length": 400}
35
+ {"episode_index": 34, "tasks": ["Insert the red object into the blue object."], "length": 400}
36
+ {"episode_index": 35, "tasks": ["Insert the red object into the blue object."], "length": 400}
37
+ {"episode_index": 36, "tasks": ["Insert the red object into the blue object."], "length": 400}
38
+ {"episode_index": 37, "tasks": ["Insert the red object into the blue object."], "length": 400}
39
+ {"episode_index": 38, "tasks": ["Insert the red object into the blue object."], "length": 400}
40
+ {"episode_index": 39, "tasks": ["Insert the red object into the blue object."], "length": 400}
41
+ {"episode_index": 40, "tasks": ["Insert the red object into the blue object."], "length": 400}
42
+ {"episode_index": 41, "tasks": ["Insert the red object into the blue object."], "length": 400}
43
+ {"episode_index": 42, "tasks": ["Insert the red object into the blue object."], "length": 400}
44
+ {"episode_index": 43, "tasks": ["Insert the red object into the blue object."], "length": 400}
45
+ {"episode_index": 44, "tasks": ["Insert the red object into the blue object."], "length": 400}
46
+ {"episode_index": 45, "tasks": ["Insert the red object into the blue object."], "length": 400}
47
+ {"episode_index": 46, "tasks": ["Insert the red object into the blue object."], "length": 400}
48
+ {"episode_index": 47, "tasks": ["Insert the red object into the blue object."], "length": 400}
49
+ {"episode_index": 48, "tasks": ["Insert the red object into the blue object."], "length": 400}
50
+ {"episode_index": 49, "tasks": ["Insert the red object into the blue object."], "length": 400}
meta/info.json ADDED
@@ -0,0 +1,168 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "unknown",
4
+ "total_episodes": 50,
5
+ "total_frames": 20000,
6
+ "total_tasks": 1,
7
+ "total_videos": 150,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 50,
11
+ "splits": {
12
+ "train": "0:50"
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.left_wrist": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 480,
21
+ 640,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 50.0,
31
+ "video.codec": "h264",
32
+ "video.pix_fmt": "yuv444p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ }
36
+ },
37
+ "observation.images.right_wrist": {
38
+ "dtype": "video",
39
+ "shape": [
40
+ 480,
41
+ 640,
42
+ 3
43
+ ],
44
+ "names": [
45
+ "height",
46
+ "width",
47
+ "channel"
48
+ ],
49
+ "video_info": {
50
+ "video.fps": 50.0,
51
+ "video.codec": "h264",
52
+ "video.pix_fmt": "yuv444p",
53
+ "video.is_depth_map": false,
54
+ "has_audio": false
55
+ }
56
+ },
57
+ "observation.images.top": {
58
+ "dtype": "video",
59
+ "shape": [
60
+ 480,
61
+ 640,
62
+ 3
63
+ ],
64
+ "names": [
65
+ "height",
66
+ "width",
67
+ "channel"
68
+ ],
69
+ "video_info": {
70
+ "video.fps": 50.0,
71
+ "video.codec": "h264",
72
+ "video.pix_fmt": "yuv444p",
73
+ "video.is_depth_map": false,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "observation.state": {
78
+ "dtype": "float32",
79
+ "shape": [
80
+ 14
81
+ ],
82
+ "names": {
83
+ "motors": [
84
+ "motor_0",
85
+ "motor_1",
86
+ "motor_2",
87
+ "motor_3",
88
+ "motor_4",
89
+ "motor_5",
90
+ "motor_6",
91
+ "motor_7",
92
+ "motor_8",
93
+ "motor_9",
94
+ "motor_10",
95
+ "motor_11",
96
+ "motor_12",
97
+ "motor_13"
98
+ ]
99
+ }
100
+ },
101
+ "action": {
102
+ "dtype": "float32",
103
+ "shape": [
104
+ 14
105
+ ],
106
+ "names": {
107
+ "motors": [
108
+ "motor_0",
109
+ "motor_1",
110
+ "motor_2",
111
+ "motor_3",
112
+ "motor_4",
113
+ "motor_5",
114
+ "motor_6",
115
+ "motor_7",
116
+ "motor_8",
117
+ "motor_9",
118
+ "motor_10",
119
+ "motor_11",
120
+ "motor_12",
121
+ "motor_13"
122
+ ]
123
+ }
124
+ },
125
+ "episode_index": {
126
+ "dtype": "int64",
127
+ "shape": [
128
+ 1
129
+ ],
130
+ "names": null
131
+ },
132
+ "frame_index": {
133
+ "dtype": "int64",
134
+ "shape": [
135
+ 1
136
+ ],
137
+ "names": null
138
+ },
139
+ "timestamp": {
140
+ "dtype": "float32",
141
+ "shape": [
142
+ 1
143
+ ],
144
+ "names": null
145
+ },
146
+ "next.done": {
147
+ "dtype": "bool",
148
+ "shape": [
149
+ 1
150
+ ],
151
+ "names": null
152
+ },
153
+ "index": {
154
+ "dtype": "int64",
155
+ "shape": [
156
+ 1
157
+ ],
158
+ "names": null
159
+ },
160
+ "task_index": {
161
+ "dtype": "int64",
162
+ "shape": [
163
+ 1
164
+ ],
165
+ "names": null
166
+ }
167
+ }
168
+ }
meta/stats.json ADDED
@@ -0,0 +1,414 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "max": [
4
+ 0.3648574650287628,
5
+ 0.0696754977107048,
6
+ 1.208503246307373,
7
+ 0.8076673746109009,
8
+ 0.7942246198654175,
9
+ 1.0575522184371948,
10
+ 1.0,
11
+ 0.48435428738594055,
12
+ 0.072994664311409,
13
+ 1.2085037231445312,
14
+ 0.8199155330657959,
15
+ 0.7994313836097717,
16
+ 1.2629587650299072,
17
+ 1.0
18
+ ],
19
+ "mean": [
20
+ -0.023028312250971794,
21
+ -0.48255395889282227,
22
+ 0.8346196413040161,
23
+ 0.03243762254714966,
24
+ 0.5421320199966431,
25
+ -0.05047233775258064,
26
+ 0.3375001847743988,
27
+ -0.007939496077597141,
28
+ -0.48343130946159363,
29
+ 0.8269940614700317,
30
+ 0.012426771223545074,
31
+ 0.553233802318573,
32
+ -0.01839161477982998,
33
+ 0.3375001847743988
34
+ ],
35
+ "min": [
36
+ -0.4319332242012024,
37
+ -1.604669213294983,
38
+ 0.4282502830028534,
39
+ -0.755599319934845,
40
+ -0.30000001192092896,
41
+ -1.165526032447815,
42
+ 0.0,
43
+ -0.4207826256752014,
44
+ -1.604912281036377,
45
+ 0.41183921694755554,
46
+ -0.8599915504455566,
47
+ -0.30000001192092896,
48
+ -1.167452096939087,
49
+ 0.0
50
+ ],
51
+ "std": [
52
+ 0.14131498336791992,
53
+ 0.5271368622779846,
54
+ 0.2627200186252594,
55
+ 0.23239293694496155,
56
+ 0.1840318739414215,
57
+ 0.3394995331764221,
58
+ 0.3908608853816986,
59
+ 0.15916995704174042,
60
+ 0.5260410904884338,
61
+ 0.26856938004493713,
62
+ 0.2528211772441864,
63
+ 0.18728871643543243,
64
+ 0.37379923462867737,
65
+ 0.3908608853816986
66
+ ]
67
+ },
68
+ "episode_index": {
69
+ "max": [
70
+ 49.0
71
+ ],
72
+ "mean": [
73
+ 24.500011444091797
74
+ ],
75
+ "min": [
76
+ 0.0
77
+ ],
78
+ "std": [
79
+ 14.430870056152344
80
+ ]
81
+ },
82
+ "frame_index": {
83
+ "max": [
84
+ 399.0
85
+ ],
86
+ "mean": [
87
+ 199.5000762939453
88
+ ],
89
+ "min": [
90
+ 0.0
91
+ ],
92
+ "std": [
93
+ 115.46966552734375
94
+ ]
95
+ },
96
+ "index": {
97
+ "max": [
98
+ 19999.0
99
+ ],
100
+ "mean": [
101
+ 9999.5
102
+ ],
103
+ "min": [
104
+ 0.0
105
+ ],
106
+ "std": [
107
+ 5773.5029296875
108
+ ]
109
+ },
110
+ "next.done": {
111
+ "max": [
112
+ 1.0
113
+ ],
114
+ "mean": [
115
+ 0.002499999012798071
116
+ ],
117
+ "min": [
118
+ 0.0
119
+ ],
120
+ "std": [
121
+ 0.04993745684623718
122
+ ]
123
+ },
124
+ "observation.images.left_wrist": {
125
+ "max": [
126
+ [
127
+ [
128
+ 1.0
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 1.0
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 1.0
139
+ ]
140
+ ]
141
+ ],
142
+ "mean": [
143
+ [
144
+ [
145
+ 0.3454168736934662
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.34123435616493225
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.4121647775173187
156
+ ]
157
+ ]
158
+ ],
159
+ "min": [
160
+ [
161
+ [
162
+ 0.0
163
+ ]
164
+ ],
165
+ [
166
+ [
167
+ 0.0
168
+ ]
169
+ ],
170
+ [
171
+ [
172
+ 0.0
173
+ ]
174
+ ]
175
+ ],
176
+ "std": [
177
+ [
178
+ [
179
+ 0.18975165486335754
180
+ ]
181
+ ],
182
+ [
183
+ [
184
+ 0.18801087141036987
185
+ ]
186
+ ],
187
+ [
188
+ [
189
+ 0.22800222039222717
190
+ ]
191
+ ]
192
+ ]
193
+ },
194
+ "observation.images.right_wrist": {
195
+ "max": [
196
+ [
197
+ [
198
+ 1.0
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 1.0
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 1.0
209
+ ]
210
+ ]
211
+ ],
212
+ "mean": [
213
+ [
214
+ [
215
+ 0.3759039044380188
216
+ ]
217
+ ],
218
+ [
219
+ [
220
+ 0.3493233025074005
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.3493500351905823
226
+ ]
227
+ ]
228
+ ],
229
+ "min": [
230
+ [
231
+ [
232
+ 0.0
233
+ ]
234
+ ],
235
+ [
236
+ [
237
+ 0.0
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.0
243
+ ]
244
+ ]
245
+ ],
246
+ "std": [
247
+ [
248
+ [
249
+ 0.19778643548488617
250
+ ]
251
+ ],
252
+ [
253
+ [
254
+ 0.1797705590724945
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.17973639070987701
260
+ ]
261
+ ]
262
+ ]
263
+ },
264
+ "observation.images.top": {
265
+ "max": [
266
+ [
267
+ [
268
+ 1.0
269
+ ]
270
+ ],
271
+ [
272
+ [
273
+ 1.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 1.0
279
+ ]
280
+ ]
281
+ ],
282
+ "mean": [
283
+ [
284
+ [
285
+ 0.1598270684480667
286
+ ]
287
+ ],
288
+ [
289
+ [
290
+ 0.1589597910642624
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.161089226603508
296
+ ]
297
+ ]
298
+ ],
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
+ "std": [
317
+ [
318
+ [
319
+ 0.20071707665920258
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.19906768202781677
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.20326022803783417
330
+ ]
331
+ ]
332
+ ]
333
+ },
334
+ "observation.state": {
335
+ "max": [
336
+ 0.3648259937763214,
337
+ 0.07047756761312485,
338
+ 1.1975663900375366,
339
+ 0.8073941469192505,
340
+ 0.801397442817688,
341
+ 1.0582071542739868,
342
+ 0.9747899770736694,
343
+ 0.4841918647289276,
344
+ 0.07376640290021896,
345
+ 1.1977338790893555,
346
+ 0.8147813081741333,
347
+ 0.8066120743751526,
348
+ 1.2631665468215942,
349
+ 0.9747862219810486
350
+ ],
351
+ "mean": [
352
+ -0.023049021139740944,
353
+ -0.4947895109653473,
354
+ 0.8417876362800598,
355
+ 0.029968390241265297,
356
+ 0.5420515537261963,
357
+ -0.0504179373383522,
358
+ 0.6431229710578918,
359
+ -0.007924619130790234,
360
+ -0.4954622983932495,
361
+ 0.8342886567115784,
362
+ 0.010074721649289131,
363
+ 0.5530453324317932,
364
+ -0.018371615558862686,
365
+ 0.4947732985019684
366
+ ],
367
+ "min": [
368
+ -0.43190276622772217,
369
+ -1.6038053035736084,
370
+ 0.43237388134002686,
371
+ -0.756019115447998,
372
+ -0.30000001192092896,
373
+ -1.1662455797195435,
374
+ 0.09984833002090454,
375
+ -0.4207456111907959,
376
+ -1.6040679216384888,
377
+ 0.4160066545009613,
378
+ -0.8559671640396118,
379
+ -0.30000001192092896,
380
+ -1.1664414405822754,
381
+ 0.09984833002090454
382
+ ],
383
+ "std": [
384
+ 0.14059297740459442,
385
+ 0.5338987112045288,
386
+ 0.2617453336715698,
387
+ 0.23067133128643036,
388
+ 0.1951078176498413,
389
+ 0.33947840332984924,
390
+ 0.22514688968658447,
391
+ 0.15842226147651672,
392
+ 0.5328484773635864,
393
+ 0.2676064968109131,
394
+ 0.25032925605773926,
395
+ 0.1982312649488449,
396
+ 0.373828262090683,
397
+ 0.26332274079322815
398
+ ]
399
+ },
400
+ "timestamp": {
401
+ "max": [
402
+ 7.980000019073486
403
+ ],
404
+ "mean": [
405
+ 3.9900012016296387
406
+ ],
407
+ "min": [
408
+ 0.0
409
+ ],
410
+ "std": [
411
+ 2.3093934059143066
412
+ ]
413
+ }
414
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Insert the red object into the blue object."}