Hugging Face's logo

Datasets:
lerobot
/
berkeley_autolab_ur5

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
aliberts HF staff commited on
Commit
ce16252
•
1 Parent(s): 21470ca

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. meta/episodes.json +0 -0
  2. meta/info.json +95 -0
  3. meta/stats.json +376 -0
  4. meta/tasks.json +22 -0
meta/episodes.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/info.json ADDED
@@ -0,0 +1,95 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
4
+ "robot_type": "unknown",
5
+ "total_episodes": 1000,
6
+ "total_frames": 97939,
7
+ "total_tasks": 5,
8
+ "fps": 5,
9
+ "splits": {
10
+ "train": "0:1000"
11
+ },
12
+ "keys": [
13
+ "observation.state",
14
+ "action"
15
+ ],
16
+ "video_keys": [
17
+ "observation.images.image_with_depth",
18
+ "observation.images.image",
19
+ "observation.images.hand_image"
20
+ ],
21
+ "image_keys": [],
22
+ "shapes": {
23
+ "observation.state": 8,
24
+ "action": 7,
25
+ "observation.images.image_with_depth": {
26
+ "width": 640,
27
+ "height": 480,
28
+ "channels": 3
29
+ },
30
+ "observation.images.image": {
31
+ "width": 640,
32
+ "height": 480,
33
+ "channels": 3
34
+ },
35
+ "observation.images.hand_image": {
36
+ "width": 640,
37
+ "height": 480,
38
+ "channels": 3
39
+ }
40
+ },
41
+ "names": {
42
+ "observation.state": [
43
+ "motor_0",
44
+ "motor_1",
45
+ "motor_2",
46
+ "motor_3",
47
+ "motor_4",
48
+ "motor_5",
49
+ "motor_6",
50
+ "motor_7"
51
+ ],
52
+ "action": [
53
+ "motor_0",
54
+ "motor_1",
55
+ "motor_2",
56
+ "motor_3",
57
+ "motor_4",
58
+ "motor_5",
59
+ "motor_6"
60
+ ]
61
+ },
62
+ "videos": {
63
+ "videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4",
64
+ "observation.images.image_with_depth": {
65
+ "video.fps": 5.0,
66
+ "video.width": 640,
67
+ "video.height": 480,
68
+ "video.channels": 3,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "has_audio": false
73
+ },
74
+ "observation.images.image": {
75
+ "video.fps": 5.0,
76
+ "video.width": 640,
77
+ "video.height": 480,
78
+ "video.channels": 3,
79
+ "video.codec": "av1",
80
+ "video.pix_fmt": "yuv420p",
81
+ "video.is_depth_map": false,
82
+ "has_audio": false
83
+ },
84
+ "observation.images.hand_image": {
85
+ "video.fps": 5.0,
86
+ "video.width": 640,
87
+ "video.height": 480,
88
+ "video.channels": 3,
89
+ "video.codec": "av1",
90
+ "video.pix_fmt": "yuv420p",
91
+ "video.is_depth_map": false,
92
+ "has_audio": false
93
+ }
94
+ }
95
+ }
meta/stats.json ADDED
@@ -0,0 +1,376 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "max": [
4
+ 0.019999999552965164,
5
+ 0.019999999552965164,
6
+ 0.019999999552965164,
7
+ 0.06666667014360428,
8
+ 0.06666667014360428,
9
+ 0.06666667014360428,
10
+ 1.0
11
+ ],
12
+ "mean": [
13
+ 0.0005683363415300846,
14
+ 0.0012176939053460956,
15
+ -0.0005296145100146532,
16
+ 0.00021029793424531817,
17
+ 6.069481969461776e-05,
18
+ 0.0012049812357872725,
19
+ 0.6298305988311768
20
+ ],
21
+ "min": [
22
+ -0.019999999552965164,
23
+ -0.019999999552965164,
24
+ -0.019999999552965164,
25
+ -0.06666667014360428,
26
+ -0.06666667014360428,
27
+ -0.06666667014360428,
28
+ 0.0
29
+ ],
30
+ "std": [
31
+ 0.011534244753420353,
32
+ 0.007991538383066654,
33
+ 0.009576713666319847,
34
+ 0.009434128180146217,
35
+ 0.01642785035073757,
36
+ 0.011051024310290813,
37
+ 0.48284974694252014
38
+ ]
39
+ },
40
+ "episode_index": {
41
+ "max": [
42
+ 999.0
43
+ ],
44
+ "mean": [
45
+ 497.9327087402344
46
+ ],
47
+ "min": [
48
+ 0.0
49
+ ],
50
+ "std": [
51
+ 289.2009582519531
52
+ ]
53
+ },
54
+ "frame_index": {
55
+ "max": [
56
+ 163.0
57
+ ],
58
+ "mean": [
59
+ 49.667198181152344
60
+ ],
61
+ "min": [
62
+ 0.0
63
+ ],
64
+ "std": [
65
+ 30.252321243286133
66
+ ]
67
+ },
68
+ "index": {
69
+ "max": [
70
+ 97938.0
71
+ ],
72
+ "mean": [
73
+ 48969.0078125
74
+ ],
75
+ "min": [
76
+ 0.0
77
+ ],
78
+ "std": [
79
+ 28272.556640625
80
+ ]
81
+ },
82
+ "next.done": {
83
+ "max": [
84
+ 1.0
85
+ ],
86
+ "mean": [
87
+ 0.010210426524281502
88
+ ],
89
+ "min": [
90
+ 0.0
91
+ ],
92
+ "std": [
93
+ 0.10052947700023651
94
+ ]
95
+ },
96
+ "next.reward": {
97
+ "max": [
98
+ 1.0
99
+ ],
100
+ "mean": [
101
+ 0.010210445150732994
102
+ ],
103
+ "min": [
104
+ 0.0
105
+ ],
106
+ "std": [
107
+ 0.10052946954965591
108
+ ]
109
+ },
110
+ "observation.images.hand_image": {
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
+ 0.5031245350837708
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.5350615978240967
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 0.5496675968170166
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
+ 0.24869443476200104
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.27413225173950195
171
+ ]
172
+ ],
173
+ [
174
+ [
175
+ 0.299251526594162
176
+ ]
177
+ ]
178
+ ]
179
+ },
180
+ "observation.images.image": {
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
+ 0.35083287954330444
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 0.3352801501750946
207
+ ]
208
+ ],
209
+ [
210
+ [
211
+ 0.31776371598243713
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
+ 0.35236856341362
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.27197203040122986
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.2311393767595291
246
+ ]
247
+ ]
248
+ ]
249
+ },
250
+ "observation.images.image_with_depth": {
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
+ 0.33743974566459656
272
+ ]
273
+ ],
274
+ [
275
+ [
276
+ 0.3322037160396576
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ 0.29028379917144775
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
+ 0.3039819598197937
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.2955440282821655
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.34358224272727966
316
+ ]
317
+ ]
318
+ ]
319
+ },
320
+ "observation.state": {
321
+ "max": [
322
+ 0.6610942482948303,
323
+ 0.38513994216918945,
324
+ 0.2049914449453354,
325
+ 0.9066603779792786,
326
+ 0.954436182975769,
327
+ 0.44504696130752563,
328
+ 0.4383974075317383,
329
+ 1.0
330
+ ],
331
+ "mean": [
332
+ 0.4534812569618225,
333
+ 0.0573393888771534,
334
+ -0.03507745638489723,
335
+ 0.6932869553565979,
336
+ 0.7082117795944214,
337
+ 0.0025385001208633184,
338
+ 0.003228777553886175,
339
+ 0.37029170989990234
340
+ ],
341
+ "min": [
342
+ 0.1970997005701065,
343
+ -0.27643972635269165,
344
+ -0.20529526472091675,
345
+ 0.26870065927505493,
346
+ 0.35680291056632996,
347
+ -0.3774329125881195,
348
+ -0.3982788026332855,
349
+ 0.0
350
+ ],
351
+ "std": [
352
+ 0.0793442577123642,
353
+ 0.12474066764116287,
354
+ 0.0805247575044632,
355
+ 0.06340298801660538,
356
+ 0.061099015176296234,
357
+ 0.071357861161232,
358
+ 0.0702039822936058,
359
+ 0.4828827977180481
360
+ ]
361
+ },
362
+ "timestamp": {
363
+ "max": [
364
+ 32.599998474121094
365
+ ],
366
+ "mean": [
367
+ 9.93344783782959
368
+ ],
369
+ "min": [
370
+ 0.0
371
+ ],
372
+ "std": [
373
+ 6.050464630126953
374
+ ]
375
+ }
376
+ }
meta/tasks.json ADDED
@@ -0,0 +1,22 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "task_index": 0,
4
+ "task": "sweep the green cloth to the left side of the table"
5
+ },
6
+ {
7
+ "task_index": 1,
8
+ "task": "put the ranch bottle into the pot"
9
+ },
10
+ {
11
+ "task_index": 2,
12
+ "task": "pick up the blue cup and put it into the brown cup. "
13
+ },
14
+ {
15
+ "task_index": 3,
16
+ "task": "take the tiger out of the red bowl and put it in the grey bowl"
17
+ },
18
+ {
19
+ "task_index": 4,
20
+ "task": "put the marker into the bowl"
21
+ }
22
+ ]