Initial upload of combined datasets (no splits).
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- so100_00/.gitattributes +59 -0
- so100_00/README.md +141 -0
- so100_00/data/chunk-000/episode_000000.parquet +3 -0
- so100_00/data/chunk-000/episode_000001.parquet +3 -0
- so100_00/meta/episodes.jsonl +2 -0
- so100_00/meta/info.json +104 -0
- so100_00/meta/stats.json +210 -0
- so100_00/meta/tasks.jsonl +1 -0
- so100_00/videos/chunk-000/observation.images.rgb/episode_000000.mp4 +3 -0
- so100_00/videos/chunk-000/observation.images.rgb/episode_000001.mp4 +3 -0
- so100_01/.gitattributes +59 -0
- so100_01/README.md +141 -0
- so100_01/data/chunk-000/episode_000000.parquet +3 -0
- so100_01/data/chunk-000/episode_000001.parquet +3 -0
- so100_01/meta/episodes.jsonl +2 -0
- so100_01/meta/info.json +104 -0
- so100_01/meta/stats.json +210 -0
- so100_01/meta/tasks.jsonl +1 -0
- so100_01/videos/chunk-000/observation.images.rgb/episode_000000.mp4 +3 -0
- so100_01/videos/chunk-000/observation.images.rgb/episode_000001.mp4 +3 -0
- so100_02/.gitattributes +59 -0
- so100_02/README.md +141 -0
- so100_02/data/chunk-000/episode_000000.parquet +3 -0
- so100_02/data/chunk-000/episode_000001.parquet +3 -0
- so100_02/meta/episodes.jsonl +2 -0
- so100_02/meta/info.json +104 -0
- so100_02/meta/stats.json +210 -0
- so100_02/meta/tasks.jsonl +1 -0
- so100_02/videos/chunk-000/observation.images.rgb/episode_000000.mp4 +3 -0
- so100_02/videos/chunk-000/observation.images.rgb/episode_000001.mp4 +3 -0
- so100_02_00/.gitattributes +59 -0
- so100_02_00/README.md +141 -0
- so100_02_00/data/chunk-000/episode_000000.parquet +3 -0
- so100_02_00/data/chunk-000/episode_000001.parquet +3 -0
- so100_02_00/meta/episodes.jsonl +2 -0
- so100_02_00/meta/info.json +104 -0
- so100_02_00/meta/stats.json +210 -0
- so100_02_00/meta/tasks.jsonl +1 -0
- so100_02_00/videos/chunk-000/observation.images.rgb/episode_000000.mp4 +3 -0
- so100_02_00/videos/chunk-000/observation.images.rgb/episode_000001.mp4 +3 -0
- so100_02_01/.gitattributes +59 -0
- so100_02_01/README.md +141 -0
- so100_02_01/data/chunk-000/episode_000000.parquet +3 -0
- so100_02_01/data/chunk-000/episode_000001.parquet +3 -0
- so100_02_01/meta/episodes.jsonl +2 -0
- so100_02_01/meta/info.json +104 -0
- so100_02_01/meta/stats.json +210 -0
- so100_02_01/meta/tasks.jsonl +1 -0
- so100_02_01/videos/chunk-000/observation.images.rscam/episode_000000.mp4 +3 -0
- so100_02_01/videos/chunk-000/observation.images.rscam/episode_000001.mp4 +3 -0
so100_00/.gitattributes
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saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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# Audio files - uncompressed
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*.raw filter=lfs diff=lfs merge=lfs -text
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*.wav filter=lfs diff=lfs merge=lfs -text
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# Image files - uncompressed
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*.bmp filter=lfs diff=lfs merge=lfs -text
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*.gif filter=lfs diff=lfs merge=lfs -text
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*.jpg filter=lfs diff=lfs merge=lfs -text
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*.webp filter=lfs diff=lfs merge=lfs -text
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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so100_00/README.md
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| 1 |
+
---
|
| 2 |
+
license: apache-2.0
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| 3 |
+
task_categories:
|
| 4 |
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- robotics
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| 5 |
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tags:
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| 6 |
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- LeRobot
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| 7 |
+
- so100
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| 8 |
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- tutorial
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| 9 |
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configs:
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| 10 |
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- config_name: default
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| 11 |
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data_files: data/*/*.parquet
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| 12 |
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---
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| 13 |
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| 14 |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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| 15 |
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## Dataset Description
|
| 17 |
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| 18 |
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| 19 |
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| 20 |
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- **Homepage:** [More Information Needed]
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| 21 |
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- **Paper:** [More Information Needed]
|
| 22 |
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- **License:** apache-2.0
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| 23 |
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| 24 |
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## Dataset Structure
|
| 25 |
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| 26 |
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[meta/info.json](meta/info.json):
|
| 27 |
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```json
|
| 28 |
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{
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| 29 |
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"codebase_version": "v2.0",
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| 30 |
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"robot_type": "so100",
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| 31 |
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"total_episodes": 2,
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| 32 |
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"total_frames": 1192,
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| 33 |
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"total_tasks": 1,
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| 34 |
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"total_videos": 2,
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| 35 |
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"total_chunks": 1,
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| 36 |
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"chunks_size": 1000,
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| 37 |
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"fps": 30,
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| 38 |
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"splits": {
|
| 39 |
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"train": "0:2"
|
| 40 |
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},
|
| 41 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 42 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 43 |
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"features": {
|
| 44 |
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"action": {
|
| 45 |
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"dtype": "float32",
|
| 46 |
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"shape": [
|
| 47 |
+
6
|
| 48 |
+
],
|
| 49 |
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"names": [
|
| 50 |
+
"main_shoulder_pan",
|
| 51 |
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"main_shoulder_lift",
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| 52 |
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"main_elbow_flex",
|
| 53 |
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"main_wrist_flex",
|
| 54 |
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"main_wrist_roll",
|
| 55 |
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"main_gripper"
|
| 56 |
+
]
|
| 57 |
+
},
|
| 58 |
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"observation.state": {
|
| 59 |
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"dtype": "float32",
|
| 60 |
+
"shape": [
|
| 61 |
+
6
|
| 62 |
+
],
|
| 63 |
+
"names": [
|
| 64 |
+
"main_shoulder_pan",
|
| 65 |
+
"main_shoulder_lift",
|
| 66 |
+
"main_elbow_flex",
|
| 67 |
+
"main_wrist_flex",
|
| 68 |
+
"main_wrist_roll",
|
| 69 |
+
"main_gripper"
|
| 70 |
+
]
|
| 71 |
+
},
|
| 72 |
+
"observation.images.rgb": {
|
| 73 |
+
"dtype": "video",
|
| 74 |
+
"shape": [
|
| 75 |
+
480,
|
| 76 |
+
640,
|
| 77 |
+
3
|
| 78 |
+
],
|
| 79 |
+
"names": [
|
| 80 |
+
"height",
|
| 81 |
+
"width",
|
| 82 |
+
"channels"
|
| 83 |
+
],
|
| 84 |
+
"info": {
|
| 85 |
+
"video.fps": 30.0,
|
| 86 |
+
"video.height": 480,
|
| 87 |
+
"video.width": 640,
|
| 88 |
+
"video.channels": 3,
|
| 89 |
+
"video.codec": "h264",
|
| 90 |
+
"video.pix_fmt": "yuv420p",
|
| 91 |
+
"video.is_depth_map": false,
|
| 92 |
+
"has_audio": false
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"timestamp": {
|
| 96 |
+
"dtype": "float32",
|
| 97 |
+
"shape": [
|
| 98 |
+
1
|
| 99 |
+
],
|
| 100 |
+
"names": null
|
| 101 |
+
},
|
| 102 |
+
"frame_index": {
|
| 103 |
+
"dtype": "int64",
|
| 104 |
+
"shape": [
|
| 105 |
+
1
|
| 106 |
+
],
|
| 107 |
+
"names": null
|
| 108 |
+
},
|
| 109 |
+
"episode_index": {
|
| 110 |
+
"dtype": "int64",
|
| 111 |
+
"shape": [
|
| 112 |
+
1
|
| 113 |
+
],
|
| 114 |
+
"names": null
|
| 115 |
+
},
|
| 116 |
+
"index": {
|
| 117 |
+
"dtype": "int64",
|
| 118 |
+
"shape": [
|
| 119 |
+
1
|
| 120 |
+
],
|
| 121 |
+
"names": null
|
| 122 |
+
},
|
| 123 |
+
"task_index": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"names": null
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
```
|
| 133 |
+
|
| 134 |
+
|
| 135 |
+
## Citation
|
| 136 |
+
|
| 137 |
+
**BibTeX:**
|
| 138 |
+
|
| 139 |
+
```bibtex
|
| 140 |
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[More Information Needed]
|
| 141 |
+
```
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so100_00/data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:46c7b2ea113d35da1a25e6e88b59cd3986ce48025ec62be942048523887449c0
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size 25747
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so100_00/data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:625ff9dea36f5b96e2fa8338a749f5e02213e5def941188583434a3fa61213a6
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size 27129
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so100_00/meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 596}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 596}
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so100_00/meta/info.json
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| 1 |
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|
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|
so100_00/meta/stats.json
ADDED
|
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so100_00/meta/tasks.jsonl
ADDED
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@@ -0,0 +1 @@
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|
| 1 |
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{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
|
so100_00/videos/chunk-000/observation.images.rgb/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:315dabe11385e566697cb926411f074544cad5cfbe447d5d9920edc02acd8b4e
|
| 3 |
+
size 6556844
|
so100_00/videos/chunk-000/observation.images.rgb/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:81fdcf23757eca5e4dfc39da30f5b29a433e22765f4301c12bd489692ffa7aab
|
| 3 |
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size 5829322
|
so100_01/.gitattributes
ADDED
|
@@ -0,0 +1,59 @@
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*.7z filter=lfs diff=lfs merge=lfs -text
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| 3 |
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| 4 |
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*.bz2 filter=lfs diff=lfs merge=lfs -text
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*.ckpt filter=lfs diff=lfs merge=lfs -text
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*.ftz filter=lfs diff=lfs merge=lfs -text
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| 7 |
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*.gz filter=lfs diff=lfs merge=lfs -text
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| 8 |
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*.h5 filter=lfs diff=lfs merge=lfs -text
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| 9 |
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*.joblib filter=lfs diff=lfs merge=lfs -text
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*.lfs.* filter=lfs diff=lfs merge=lfs -text
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| 11 |
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*.lz4 filter=lfs diff=lfs merge=lfs -text
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*.mds filter=lfs diff=lfs merge=lfs -text
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*.mlmodel filter=lfs diff=lfs merge=lfs -text
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| 14 |
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*.model filter=lfs diff=lfs merge=lfs -text
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| 15 |
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*.msgpack filter=lfs diff=lfs merge=lfs -text
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| 16 |
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*.npy filter=lfs diff=lfs merge=lfs -text
|
| 17 |
+
*.npz filter=lfs diff=lfs merge=lfs -text
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| 18 |
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*.onnx filter=lfs diff=lfs merge=lfs -text
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| 19 |
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*.ot filter=lfs diff=lfs merge=lfs -text
|
| 20 |
+
*.parquet filter=lfs diff=lfs merge=lfs -text
|
| 21 |
+
*.pb filter=lfs diff=lfs merge=lfs -text
|
| 22 |
+
*.pickle filter=lfs diff=lfs merge=lfs -text
|
| 23 |
+
*.pkl filter=lfs diff=lfs merge=lfs -text
|
| 24 |
+
*.pt filter=lfs diff=lfs merge=lfs -text
|
| 25 |
+
*.pth filter=lfs diff=lfs merge=lfs -text
|
| 26 |
+
*.rar filter=lfs diff=lfs merge=lfs -text
|
| 27 |
+
*.safetensors filter=lfs diff=lfs merge=lfs -text
|
| 28 |
+
saved_model/**/* filter=lfs diff=lfs merge=lfs -text
|
| 29 |
+
*.tar.* filter=lfs diff=lfs merge=lfs -text
|
| 30 |
+
*.tar filter=lfs diff=lfs merge=lfs -text
|
| 31 |
+
*.tflite filter=lfs diff=lfs merge=lfs -text
|
| 32 |
+
*.tgz filter=lfs diff=lfs merge=lfs -text
|
| 33 |
+
*.wasm filter=lfs diff=lfs merge=lfs -text
|
| 34 |
+
*.xz filter=lfs diff=lfs merge=lfs -text
|
| 35 |
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*.zip filter=lfs diff=lfs merge=lfs -text
|
| 36 |
+
*.zst filter=lfs diff=lfs merge=lfs -text
|
| 37 |
+
*tfevents* filter=lfs diff=lfs merge=lfs -text
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| 38 |
+
# Audio files - uncompressed
|
| 39 |
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*.pcm filter=lfs diff=lfs merge=lfs -text
|
| 40 |
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*.sam filter=lfs diff=lfs merge=lfs -text
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| 41 |
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*.raw filter=lfs diff=lfs merge=lfs -text
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| 42 |
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# Audio files - compressed
|
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*.aac filter=lfs diff=lfs merge=lfs -text
|
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*.flac filter=lfs diff=lfs merge=lfs -text
|
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*.mp3 filter=lfs diff=lfs merge=lfs -text
|
| 46 |
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*.ogg filter=lfs diff=lfs merge=lfs -text
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*.wav filter=lfs diff=lfs merge=lfs -text
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+
# Image files - uncompressed
|
| 49 |
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*.bmp filter=lfs diff=lfs merge=lfs -text
|
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*.gif filter=lfs diff=lfs merge=lfs -text
|
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*.png filter=lfs diff=lfs merge=lfs -text
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*.tiff filter=lfs diff=lfs merge=lfs -text
|
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# Image files - compressed
|
| 54 |
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*.jpg filter=lfs diff=lfs merge=lfs -text
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*.jpeg filter=lfs diff=lfs merge=lfs -text
|
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*.webp filter=lfs diff=lfs merge=lfs -text
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# Video files - compressed
|
| 58 |
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*.mp4 filter=lfs diff=lfs merge=lfs -text
|
| 59 |
+
*.webm filter=lfs diff=lfs merge=lfs -text
|
so100_01/README.md
ADDED
|
@@ -0,0 +1,141 @@
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
license: apache-2.0
|
| 3 |
+
task_categories:
|
| 4 |
+
- robotics
|
| 5 |
+
tags:
|
| 6 |
+
- LeRobot
|
| 7 |
+
- so100
|
| 8 |
+
- tutorial
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/*/*.parquet
|
| 12 |
+
---
|
| 13 |
+
|
| 14 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
|
| 15 |
+
|
| 16 |
+
## Dataset Description
|
| 17 |
+
|
| 18 |
+
|
| 19 |
+
|
| 20 |
+
- **Homepage:** [More Information Needed]
|
| 21 |
+
- **Paper:** [More Information Needed]
|
| 22 |
+
- **License:** apache-2.0
|
| 23 |
+
|
| 24 |
+
## Dataset Structure
|
| 25 |
+
|
| 26 |
+
[meta/info.json](meta/info.json):
|
| 27 |
+
```json
|
| 28 |
+
{
|
| 29 |
+
"codebase_version": "v2.0",
|
| 30 |
+
"robot_type": "so100",
|
| 31 |
+
"total_episodes": 2,
|
| 32 |
+
"total_frames": 1192,
|
| 33 |
+
"total_tasks": 1,
|
| 34 |
+
"total_videos": 2,
|
| 35 |
+
"total_chunks": 1,
|
| 36 |
+
"chunks_size": 1000,
|
| 37 |
+
"fps": 30,
|
| 38 |
+
"splits": {
|
| 39 |
+
"train": "0:2"
|
| 40 |
+
},
|
| 41 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 42 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 43 |
+
"features": {
|
| 44 |
+
"action": {
|
| 45 |
+
"dtype": "float32",
|
| 46 |
+
"shape": [
|
| 47 |
+
6
|
| 48 |
+
],
|
| 49 |
+
"names": [
|
| 50 |
+
"main_shoulder_pan",
|
| 51 |
+
"main_shoulder_lift",
|
| 52 |
+
"main_elbow_flex",
|
| 53 |
+
"main_wrist_flex",
|
| 54 |
+
"main_wrist_roll",
|
| 55 |
+
"main_gripper"
|
| 56 |
+
]
|
| 57 |
+
},
|
| 58 |
+
"observation.state": {
|
| 59 |
+
"dtype": "float32",
|
| 60 |
+
"shape": [
|
| 61 |
+
6
|
| 62 |
+
],
|
| 63 |
+
"names": [
|
| 64 |
+
"main_shoulder_pan",
|
| 65 |
+
"main_shoulder_lift",
|
| 66 |
+
"main_elbow_flex",
|
| 67 |
+
"main_wrist_flex",
|
| 68 |
+
"main_wrist_roll",
|
| 69 |
+
"main_gripper"
|
| 70 |
+
]
|
| 71 |
+
},
|
| 72 |
+
"observation.images.rgb": {
|
| 73 |
+
"dtype": "video",
|
| 74 |
+
"shape": [
|
| 75 |
+
480,
|
| 76 |
+
640,
|
| 77 |
+
3
|
| 78 |
+
],
|
| 79 |
+
"names": [
|
| 80 |
+
"height",
|
| 81 |
+
"width",
|
| 82 |
+
"channels"
|
| 83 |
+
],
|
| 84 |
+
"info": {
|
| 85 |
+
"video.fps": 30.0,
|
| 86 |
+
"video.height": 480,
|
| 87 |
+
"video.width": 640,
|
| 88 |
+
"video.channels": 3,
|
| 89 |
+
"video.codec": "h264",
|
| 90 |
+
"video.pix_fmt": "yuv420p",
|
| 91 |
+
"video.is_depth_map": false,
|
| 92 |
+
"has_audio": false
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"timestamp": {
|
| 96 |
+
"dtype": "float32",
|
| 97 |
+
"shape": [
|
| 98 |
+
1
|
| 99 |
+
],
|
| 100 |
+
"names": null
|
| 101 |
+
},
|
| 102 |
+
"frame_index": {
|
| 103 |
+
"dtype": "int64",
|
| 104 |
+
"shape": [
|
| 105 |
+
1
|
| 106 |
+
],
|
| 107 |
+
"names": null
|
| 108 |
+
},
|
| 109 |
+
"episode_index": {
|
| 110 |
+
"dtype": "int64",
|
| 111 |
+
"shape": [
|
| 112 |
+
1
|
| 113 |
+
],
|
| 114 |
+
"names": null
|
| 115 |
+
},
|
| 116 |
+
"index": {
|
| 117 |
+
"dtype": "int64",
|
| 118 |
+
"shape": [
|
| 119 |
+
1
|
| 120 |
+
],
|
| 121 |
+
"names": null
|
| 122 |
+
},
|
| 123 |
+
"task_index": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"names": null
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
```
|
| 133 |
+
|
| 134 |
+
|
| 135 |
+
## Citation
|
| 136 |
+
|
| 137 |
+
**BibTeX:**
|
| 138 |
+
|
| 139 |
+
```bibtex
|
| 140 |
+
[More Information Needed]
|
| 141 |
+
```
|
so100_01/data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0f7246e14c468d0f9900a3e95bb65289673d9bc4067d08084e323bc7bb00a76e
|
| 3 |
+
size 27851
|
so100_01/data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:141b0deb67d87a1dc90bf080deaccb86e949ea38881b2baf2a8684eef9a65886
|
| 3 |
+
size 27784
|
so100_01/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 596}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 596}
|
so100_01/meta/info.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "so100",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 1192,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:2"
|
| 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 |
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| 4 |
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*.bz2 filter=lfs diff=lfs merge=lfs -text
|
| 5 |
+
*.ckpt filter=lfs diff=lfs merge=lfs -text
|
| 6 |
+
*.ftz filter=lfs diff=lfs merge=lfs -text
|
| 7 |
+
*.gz filter=lfs diff=lfs merge=lfs -text
|
| 8 |
+
*.h5 filter=lfs diff=lfs merge=lfs -text
|
| 9 |
+
*.joblib filter=lfs diff=lfs merge=lfs -text
|
| 10 |
+
*.lfs.* filter=lfs diff=lfs merge=lfs -text
|
| 11 |
+
*.lz4 filter=lfs diff=lfs merge=lfs -text
|
| 12 |
+
*.mds filter=lfs diff=lfs merge=lfs -text
|
| 13 |
+
*.mlmodel filter=lfs diff=lfs merge=lfs -text
|
| 14 |
+
*.model filter=lfs diff=lfs merge=lfs -text
|
| 15 |
+
*.msgpack filter=lfs diff=lfs merge=lfs -text
|
| 16 |
+
*.npy filter=lfs diff=lfs merge=lfs -text
|
| 17 |
+
*.npz filter=lfs diff=lfs merge=lfs -text
|
| 18 |
+
*.onnx filter=lfs diff=lfs merge=lfs -text
|
| 19 |
+
*.ot filter=lfs diff=lfs merge=lfs -text
|
| 20 |
+
*.parquet filter=lfs diff=lfs merge=lfs -text
|
| 21 |
+
*.pb filter=lfs diff=lfs merge=lfs -text
|
| 22 |
+
*.pickle filter=lfs diff=lfs merge=lfs -text
|
| 23 |
+
*.pkl filter=lfs diff=lfs merge=lfs -text
|
| 24 |
+
*.pt filter=lfs diff=lfs merge=lfs -text
|
| 25 |
+
*.pth filter=lfs diff=lfs merge=lfs -text
|
| 26 |
+
*.rar filter=lfs diff=lfs merge=lfs -text
|
| 27 |
+
*.safetensors filter=lfs diff=lfs merge=lfs -text
|
| 28 |
+
saved_model/**/* filter=lfs diff=lfs merge=lfs -text
|
| 29 |
+
*.tar.* filter=lfs diff=lfs merge=lfs -text
|
| 30 |
+
*.tar filter=lfs diff=lfs merge=lfs -text
|
| 31 |
+
*.tflite filter=lfs diff=lfs merge=lfs -text
|
| 32 |
+
*.tgz filter=lfs diff=lfs merge=lfs -text
|
| 33 |
+
*.wasm filter=lfs diff=lfs merge=lfs -text
|
| 34 |
+
*.xz filter=lfs diff=lfs merge=lfs -text
|
| 35 |
+
*.zip filter=lfs diff=lfs merge=lfs -text
|
| 36 |
+
*.zst filter=lfs diff=lfs merge=lfs -text
|
| 37 |
+
*tfevents* filter=lfs diff=lfs merge=lfs -text
|
| 38 |
+
# Audio files - uncompressed
|
| 39 |
+
*.pcm filter=lfs diff=lfs merge=lfs -text
|
| 40 |
+
*.sam filter=lfs diff=lfs merge=lfs -text
|
| 41 |
+
*.raw filter=lfs diff=lfs merge=lfs -text
|
| 42 |
+
# Audio files - compressed
|
| 43 |
+
*.aac filter=lfs diff=lfs merge=lfs -text
|
| 44 |
+
*.flac filter=lfs diff=lfs merge=lfs -text
|
| 45 |
+
*.mp3 filter=lfs diff=lfs merge=lfs -text
|
| 46 |
+
*.ogg filter=lfs diff=lfs merge=lfs -text
|
| 47 |
+
*.wav filter=lfs diff=lfs merge=lfs -text
|
| 48 |
+
# Image files - uncompressed
|
| 49 |
+
*.bmp filter=lfs diff=lfs merge=lfs -text
|
| 50 |
+
*.gif filter=lfs diff=lfs merge=lfs -text
|
| 51 |
+
*.png filter=lfs diff=lfs merge=lfs -text
|
| 52 |
+
*.tiff filter=lfs diff=lfs merge=lfs -text
|
| 53 |
+
# Image files - compressed
|
| 54 |
+
*.jpg filter=lfs diff=lfs merge=lfs -text
|
| 55 |
+
*.jpeg filter=lfs diff=lfs merge=lfs -text
|
| 56 |
+
*.webp filter=lfs diff=lfs merge=lfs -text
|
| 57 |
+
# Video files - compressed
|
| 58 |
+
*.mp4 filter=lfs diff=lfs merge=lfs -text
|
| 59 |
+
*.webm filter=lfs diff=lfs merge=lfs -text
|
so100_02/README.md
ADDED
|
@@ -0,0 +1,141 @@
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
license: apache-2.0
|
| 3 |
+
task_categories:
|
| 4 |
+
- robotics
|
| 5 |
+
tags:
|
| 6 |
+
- LeRobot
|
| 7 |
+
- so100
|
| 8 |
+
- tutorial
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/*/*.parquet
|
| 12 |
+
---
|
| 13 |
+
|
| 14 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
|
| 15 |
+
|
| 16 |
+
## Dataset Description
|
| 17 |
+
|
| 18 |
+
|
| 19 |
+
|
| 20 |
+
- **Homepage:** [More Information Needed]
|
| 21 |
+
- **Paper:** [More Information Needed]
|
| 22 |
+
- **License:** apache-2.0
|
| 23 |
+
|
| 24 |
+
## Dataset Structure
|
| 25 |
+
|
| 26 |
+
[meta/info.json](meta/info.json):
|
| 27 |
+
```json
|
| 28 |
+
{
|
| 29 |
+
"codebase_version": "v2.0",
|
| 30 |
+
"robot_type": "so100",
|
| 31 |
+
"total_episodes": 2,
|
| 32 |
+
"total_frames": 1192,
|
| 33 |
+
"total_tasks": 1,
|
| 34 |
+
"total_videos": 2,
|
| 35 |
+
"total_chunks": 1,
|
| 36 |
+
"chunks_size": 1000,
|
| 37 |
+
"fps": 30,
|
| 38 |
+
"splits": {
|
| 39 |
+
"train": "0:2"
|
| 40 |
+
},
|
| 41 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 42 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 43 |
+
"features": {
|
| 44 |
+
"action": {
|
| 45 |
+
"dtype": "float32",
|
| 46 |
+
"shape": [
|
| 47 |
+
6
|
| 48 |
+
],
|
| 49 |
+
"names": [
|
| 50 |
+
"main_shoulder_pan",
|
| 51 |
+
"main_shoulder_lift",
|
| 52 |
+
"main_elbow_flex",
|
| 53 |
+
"main_wrist_flex",
|
| 54 |
+
"main_wrist_roll",
|
| 55 |
+
"main_gripper"
|
| 56 |
+
]
|
| 57 |
+
},
|
| 58 |
+
"observation.state": {
|
| 59 |
+
"dtype": "float32",
|
| 60 |
+
"shape": [
|
| 61 |
+
6
|
| 62 |
+
],
|
| 63 |
+
"names": [
|
| 64 |
+
"main_shoulder_pan",
|
| 65 |
+
"main_shoulder_lift",
|
| 66 |
+
"main_elbow_flex",
|
| 67 |
+
"main_wrist_flex",
|
| 68 |
+
"main_wrist_roll",
|
| 69 |
+
"main_gripper"
|
| 70 |
+
]
|
| 71 |
+
},
|
| 72 |
+
"observation.images.rgb": {
|
| 73 |
+
"dtype": "video",
|
| 74 |
+
"shape": [
|
| 75 |
+
480,
|
| 76 |
+
640,
|
| 77 |
+
3
|
| 78 |
+
],
|
| 79 |
+
"names": [
|
| 80 |
+
"height",
|
| 81 |
+
"width",
|
| 82 |
+
"channels"
|
| 83 |
+
],
|
| 84 |
+
"info": {
|
| 85 |
+
"video.fps": 30.0,
|
| 86 |
+
"video.height": 480,
|
| 87 |
+
"video.width": 640,
|
| 88 |
+
"video.channels": 3,
|
| 89 |
+
"video.codec": "h264",
|
| 90 |
+
"video.pix_fmt": "yuv420p",
|
| 91 |
+
"video.is_depth_map": false,
|
| 92 |
+
"has_audio": false
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"timestamp": {
|
| 96 |
+
"dtype": "float32",
|
| 97 |
+
"shape": [
|
| 98 |
+
1
|
| 99 |
+
],
|
| 100 |
+
"names": null
|
| 101 |
+
},
|
| 102 |
+
"frame_index": {
|
| 103 |
+
"dtype": "int64",
|
| 104 |
+
"shape": [
|
| 105 |
+
1
|
| 106 |
+
],
|
| 107 |
+
"names": null
|
| 108 |
+
},
|
| 109 |
+
"episode_index": {
|
| 110 |
+
"dtype": "int64",
|
| 111 |
+
"shape": [
|
| 112 |
+
1
|
| 113 |
+
],
|
| 114 |
+
"names": null
|
| 115 |
+
},
|
| 116 |
+
"index": {
|
| 117 |
+
"dtype": "int64",
|
| 118 |
+
"shape": [
|
| 119 |
+
1
|
| 120 |
+
],
|
| 121 |
+
"names": null
|
| 122 |
+
},
|
| 123 |
+
"task_index": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"names": null
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
```
|
| 133 |
+
|
| 134 |
+
|
| 135 |
+
## Citation
|
| 136 |
+
|
| 137 |
+
**BibTeX:**
|
| 138 |
+
|
| 139 |
+
```bibtex
|
| 140 |
+
[More Information Needed]
|
| 141 |
+
```
|
so100_02/data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:99b44555d1246d5d5c6b99e74c8e84991daa4fd46b6e955f4a1b69a7e5fbf728
|
| 3 |
+
size 29933
|
so100_02/data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:394794753ad553b80a0ca198d33202ce5ff0a6e0580204611ec8c95a073ac12b
|
| 3 |
+
size 29287
|
so100_02/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 596}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 596}
|
so100_02/meta/info.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "so100",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 1192,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:2"
|
| 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 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"main_shoulder_pan",
|
| 24 |
+
"main_shoulder_lift",
|
| 25 |
+
"main_elbow_flex",
|
| 26 |
+
"main_wrist_flex",
|
| 27 |
+
"main_wrist_roll",
|
| 28 |
+
"main_gripper"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"main_shoulder_pan",
|
| 38 |
+
"main_shoulder_lift",
|
| 39 |
+
"main_elbow_flex",
|
| 40 |
+
"main_wrist_flex",
|
| 41 |
+
"main_wrist_roll",
|
| 42 |
+
"main_gripper"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.rgb": {
|
| 46 |
+
"dtype": "video",
|
| 47 |
+
"shape": [
|
| 48 |
+
480,
|
| 49 |
+
640,
|
| 50 |
+
3
|
| 51 |
+
],
|
| 52 |
+
"names": [
|
| 53 |
+
"height",
|
| 54 |
+
"width",
|
| 55 |
+
"channels"
|
| 56 |
+
],
|
| 57 |
+
"info": {
|
| 58 |
+
"video.fps": 30.0,
|
| 59 |
+
"video.height": 480,
|
| 60 |
+
"video.width": 640,
|
| 61 |
+
"video.channels": 3,
|
| 62 |
+
"video.codec": "h264",
|
| 63 |
+
"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"has_audio": false
|
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| 34 |
+
*.xz filter=lfs diff=lfs merge=lfs -text
|
| 35 |
+
*.zip filter=lfs diff=lfs merge=lfs -text
|
| 36 |
+
*.zst filter=lfs diff=lfs merge=lfs -text
|
| 37 |
+
*tfevents* filter=lfs diff=lfs merge=lfs -text
|
| 38 |
+
# Audio files - uncompressed
|
| 39 |
+
*.pcm filter=lfs diff=lfs merge=lfs -text
|
| 40 |
+
*.sam filter=lfs diff=lfs merge=lfs -text
|
| 41 |
+
*.raw filter=lfs diff=lfs merge=lfs -text
|
| 42 |
+
# Audio files - compressed
|
| 43 |
+
*.aac filter=lfs diff=lfs merge=lfs -text
|
| 44 |
+
*.flac filter=lfs diff=lfs merge=lfs -text
|
| 45 |
+
*.mp3 filter=lfs diff=lfs merge=lfs -text
|
| 46 |
+
*.ogg filter=lfs diff=lfs merge=lfs -text
|
| 47 |
+
*.wav filter=lfs diff=lfs merge=lfs -text
|
| 48 |
+
# Image files - uncompressed
|
| 49 |
+
*.bmp filter=lfs diff=lfs merge=lfs -text
|
| 50 |
+
*.gif filter=lfs diff=lfs merge=lfs -text
|
| 51 |
+
*.png filter=lfs diff=lfs merge=lfs -text
|
| 52 |
+
*.tiff filter=lfs diff=lfs merge=lfs -text
|
| 53 |
+
# Image files - compressed
|
| 54 |
+
*.jpg filter=lfs diff=lfs merge=lfs -text
|
| 55 |
+
*.jpeg filter=lfs diff=lfs merge=lfs -text
|
| 56 |
+
*.webp filter=lfs diff=lfs merge=lfs -text
|
| 57 |
+
# Video files - compressed
|
| 58 |
+
*.mp4 filter=lfs diff=lfs merge=lfs -text
|
| 59 |
+
*.webm filter=lfs diff=lfs merge=lfs -text
|
so100_02_00/README.md
ADDED
|
@@ -0,0 +1,141 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
license: apache-2.0
|
| 3 |
+
task_categories:
|
| 4 |
+
- robotics
|
| 5 |
+
tags:
|
| 6 |
+
- LeRobot
|
| 7 |
+
- so100
|
| 8 |
+
- tutorial
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/*/*.parquet
|
| 12 |
+
---
|
| 13 |
+
|
| 14 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
|
| 15 |
+
|
| 16 |
+
## Dataset Description
|
| 17 |
+
|
| 18 |
+
|
| 19 |
+
|
| 20 |
+
- **Homepage:** [More Information Needed]
|
| 21 |
+
- **Paper:** [More Information Needed]
|
| 22 |
+
- **License:** apache-2.0
|
| 23 |
+
|
| 24 |
+
## Dataset Structure
|
| 25 |
+
|
| 26 |
+
[meta/info.json](meta/info.json):
|
| 27 |
+
```json
|
| 28 |
+
{
|
| 29 |
+
"codebase_version": "v2.0",
|
| 30 |
+
"robot_type": "so100",
|
| 31 |
+
"total_episodes": 2,
|
| 32 |
+
"total_frames": 1192,
|
| 33 |
+
"total_tasks": 1,
|
| 34 |
+
"total_videos": 2,
|
| 35 |
+
"total_chunks": 1,
|
| 36 |
+
"chunks_size": 1000,
|
| 37 |
+
"fps": 30,
|
| 38 |
+
"splits": {
|
| 39 |
+
"train": "0:2"
|
| 40 |
+
},
|
| 41 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 42 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 43 |
+
"features": {
|
| 44 |
+
"action": {
|
| 45 |
+
"dtype": "float32",
|
| 46 |
+
"shape": [
|
| 47 |
+
6
|
| 48 |
+
],
|
| 49 |
+
"names": [
|
| 50 |
+
"main_shoulder_pan",
|
| 51 |
+
"main_shoulder_lift",
|
| 52 |
+
"main_elbow_flex",
|
| 53 |
+
"main_wrist_flex",
|
| 54 |
+
"main_wrist_roll",
|
| 55 |
+
"main_gripper"
|
| 56 |
+
]
|
| 57 |
+
},
|
| 58 |
+
"observation.state": {
|
| 59 |
+
"dtype": "float32",
|
| 60 |
+
"shape": [
|
| 61 |
+
6
|
| 62 |
+
],
|
| 63 |
+
"names": [
|
| 64 |
+
"main_shoulder_pan",
|
| 65 |
+
"main_shoulder_lift",
|
| 66 |
+
"main_elbow_flex",
|
| 67 |
+
"main_wrist_flex",
|
| 68 |
+
"main_wrist_roll",
|
| 69 |
+
"main_gripper"
|
| 70 |
+
]
|
| 71 |
+
},
|
| 72 |
+
"observation.images.rgb": {
|
| 73 |
+
"dtype": "video",
|
| 74 |
+
"shape": [
|
| 75 |
+
480,
|
| 76 |
+
640,
|
| 77 |
+
3
|
| 78 |
+
],
|
| 79 |
+
"names": [
|
| 80 |
+
"height",
|
| 81 |
+
"width",
|
| 82 |
+
"channels"
|
| 83 |
+
],
|
| 84 |
+
"info": {
|
| 85 |
+
"video.fps": 30.0,
|
| 86 |
+
"video.height": 480,
|
| 87 |
+
"video.width": 640,
|
| 88 |
+
"video.channels": 3,
|
| 89 |
+
"video.codec": "h264",
|
| 90 |
+
"video.pix_fmt": "yuv420p",
|
| 91 |
+
"video.is_depth_map": false,
|
| 92 |
+
"has_audio": false
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"timestamp": {
|
| 96 |
+
"dtype": "float32",
|
| 97 |
+
"shape": [
|
| 98 |
+
1
|
| 99 |
+
],
|
| 100 |
+
"names": null
|
| 101 |
+
},
|
| 102 |
+
"frame_index": {
|
| 103 |
+
"dtype": "int64",
|
| 104 |
+
"shape": [
|
| 105 |
+
1
|
| 106 |
+
],
|
| 107 |
+
"names": null
|
| 108 |
+
},
|
| 109 |
+
"episode_index": {
|
| 110 |
+
"dtype": "int64",
|
| 111 |
+
"shape": [
|
| 112 |
+
1
|
| 113 |
+
],
|
| 114 |
+
"names": null
|
| 115 |
+
},
|
| 116 |
+
"index": {
|
| 117 |
+
"dtype": "int64",
|
| 118 |
+
"shape": [
|
| 119 |
+
1
|
| 120 |
+
],
|
| 121 |
+
"names": null
|
| 122 |
+
},
|
| 123 |
+
"task_index": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"names": null
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
```
|
| 133 |
+
|
| 134 |
+
|
| 135 |
+
## Citation
|
| 136 |
+
|
| 137 |
+
**BibTeX:**
|
| 138 |
+
|
| 139 |
+
```bibtex
|
| 140 |
+
[More Information Needed]
|
| 141 |
+
```
|
so100_02_00/data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ff2556313d266cc03d5438b50d8f9d14d314576ffe1f7acbc9e3959377586be7
|
| 3 |
+
size 27951
|
so100_02_00/data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f4f0cb1d69635cd3b2a2dae337b0aac46079ef3aca9f2a03aecf080ab8c33d96
|
| 3 |
+
size 31100
|
so100_02_00/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 596}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 596}
|
so100_02_00/meta/info.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "so100",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 1192,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:2"
|
| 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 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"main_shoulder_pan",
|
| 24 |
+
"main_shoulder_lift",
|
| 25 |
+
"main_elbow_flex",
|
| 26 |
+
"main_wrist_flex",
|
| 27 |
+
"main_wrist_roll",
|
| 28 |
+
"main_gripper"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"main_shoulder_pan",
|
| 38 |
+
"main_shoulder_lift",
|
| 39 |
+
"main_elbow_flex",
|
| 40 |
+
"main_wrist_flex",
|
| 41 |
+
"main_wrist_roll",
|
| 42 |
+
"main_gripper"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.rgb": {
|
| 46 |
+
"dtype": "video",
|
| 47 |
+
"shape": [
|
| 48 |
+
480,
|
| 49 |
+
640,
|
| 50 |
+
3
|
| 51 |
+
],
|
| 52 |
+
"names": [
|
| 53 |
+
"height",
|
| 54 |
+
"width",
|
| 55 |
+
"channels"
|
| 56 |
+
],
|
| 57 |
+
"info": {
|
| 58 |
+
"video.fps": 30.0,
|
| 59 |
+
"video.height": 480,
|
| 60 |
+
"video.width": 640,
|
| 61 |
+
"video.channels": 3,
|
| 62 |
+
"video.codec": "h264",
|
| 63 |
+
"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"timestamp": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"names": null
|
| 74 |
+
},
|
| 75 |
+
"frame_index": {
|
| 76 |
+
"dtype": "int64",
|
| 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 |
+
"index": {
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"task_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
}
|
so100_02_00/meta/stats.json
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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so100_02_00/meta/tasks.jsonl
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|
| 1 |
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{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
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so100_02_00/videos/chunk-000/observation.images.rgb/episode_000000.mp4
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size 7904195
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so100_02_00/videos/chunk-000/observation.images.rgb/episode_000001.mp4
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so100_02_01/.gitattributes
ADDED
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so100_02_01/README.md
ADDED
|
@@ -0,0 +1,141 @@
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
license: apache-2.0
|
| 3 |
+
task_categories:
|
| 4 |
+
- robotics
|
| 5 |
+
tags:
|
| 6 |
+
- LeRobot
|
| 7 |
+
- so100
|
| 8 |
+
- biJCR
|
| 9 |
+
configs:
|
| 10 |
+
- config_name: default
|
| 11 |
+
data_files: data/*/*.parquet
|
| 12 |
+
---
|
| 13 |
+
|
| 14 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
|
| 15 |
+
|
| 16 |
+
## Dataset Description
|
| 17 |
+
|
| 18 |
+
|
| 19 |
+
|
| 20 |
+
- **Homepage:** [More Information Needed]
|
| 21 |
+
- **Paper:** [More Information Needed]
|
| 22 |
+
- **License:** apache-2.0
|
| 23 |
+
|
| 24 |
+
## Dataset Structure
|
| 25 |
+
|
| 26 |
+
[meta/info.json](meta/info.json):
|
| 27 |
+
```json
|
| 28 |
+
{
|
| 29 |
+
"codebase_version": "v2.0",
|
| 30 |
+
"robot_type": "so100",
|
| 31 |
+
"total_episodes": 2,
|
| 32 |
+
"total_frames": 1789,
|
| 33 |
+
"total_tasks": 1,
|
| 34 |
+
"total_videos": 2,
|
| 35 |
+
"total_chunks": 1,
|
| 36 |
+
"chunks_size": 1000,
|
| 37 |
+
"fps": 30,
|
| 38 |
+
"splits": {
|
| 39 |
+
"train": "0:2"
|
| 40 |
+
},
|
| 41 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 42 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 43 |
+
"features": {
|
| 44 |
+
"action": {
|
| 45 |
+
"dtype": "float32",
|
| 46 |
+
"shape": [
|
| 47 |
+
6
|
| 48 |
+
],
|
| 49 |
+
"names": [
|
| 50 |
+
"main_shoulder_pan",
|
| 51 |
+
"main_shoulder_lift",
|
| 52 |
+
"main_elbow_flex",
|
| 53 |
+
"main_wrist_flex",
|
| 54 |
+
"main_wrist_roll",
|
| 55 |
+
"main_gripper"
|
| 56 |
+
]
|
| 57 |
+
},
|
| 58 |
+
"observation.state": {
|
| 59 |
+
"dtype": "float32",
|
| 60 |
+
"shape": [
|
| 61 |
+
6
|
| 62 |
+
],
|
| 63 |
+
"names": [
|
| 64 |
+
"main_shoulder_pan",
|
| 65 |
+
"main_shoulder_lift",
|
| 66 |
+
"main_elbow_flex",
|
| 67 |
+
"main_wrist_flex",
|
| 68 |
+
"main_wrist_roll",
|
| 69 |
+
"main_gripper"
|
| 70 |
+
]
|
| 71 |
+
},
|
| 72 |
+
"observation.images.rscam": {
|
| 73 |
+
"dtype": "video",
|
| 74 |
+
"shape": [
|
| 75 |
+
480,
|
| 76 |
+
640,
|
| 77 |
+
3
|
| 78 |
+
],
|
| 79 |
+
"names": [
|
| 80 |
+
"height",
|
| 81 |
+
"width",
|
| 82 |
+
"channels"
|
| 83 |
+
],
|
| 84 |
+
"info": {
|
| 85 |
+
"video.fps": 30.0,
|
| 86 |
+
"video.height": 480,
|
| 87 |
+
"video.width": 640,
|
| 88 |
+
"video.channels": 3,
|
| 89 |
+
"video.codec": "h264",
|
| 90 |
+
"video.pix_fmt": "yuv420p",
|
| 91 |
+
"video.is_depth_map": false,
|
| 92 |
+
"has_audio": false
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"timestamp": {
|
| 96 |
+
"dtype": "float32",
|
| 97 |
+
"shape": [
|
| 98 |
+
1
|
| 99 |
+
],
|
| 100 |
+
"names": null
|
| 101 |
+
},
|
| 102 |
+
"frame_index": {
|
| 103 |
+
"dtype": "int64",
|
| 104 |
+
"shape": [
|
| 105 |
+
1
|
| 106 |
+
],
|
| 107 |
+
"names": null
|
| 108 |
+
},
|
| 109 |
+
"episode_index": {
|
| 110 |
+
"dtype": "int64",
|
| 111 |
+
"shape": [
|
| 112 |
+
1
|
| 113 |
+
],
|
| 114 |
+
"names": null
|
| 115 |
+
},
|
| 116 |
+
"index": {
|
| 117 |
+
"dtype": "int64",
|
| 118 |
+
"shape": [
|
| 119 |
+
1
|
| 120 |
+
],
|
| 121 |
+
"names": null
|
| 122 |
+
},
|
| 123 |
+
"task_index": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"names": null
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
```
|
| 133 |
+
|
| 134 |
+
|
| 135 |
+
## Citation
|
| 136 |
+
|
| 137 |
+
**BibTeX:**
|
| 138 |
+
|
| 139 |
+
```bibtex
|
| 140 |
+
[More Information Needed]
|
| 141 |
+
```
|
so100_02_01/data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6b656f0dbe0c909ff2b2632d5a0f48fe91628f26fb97b975e23674edcdd086b1
|
| 3 |
+
size 41294
|
so100_02_01/data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f98355d0beb63d72390ddd8b4800dac038634996c7af4beec40e2f7933eea96a
|
| 3 |
+
size 35361
|
so100_02_01/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["biJCR"], "length": 895}
|
| 2 |
+
{"episode_index": 1, "tasks": ["biJCR"], "length": 894}
|
so100_02_01/meta/info.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "so100",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 1789,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:2"
|
| 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 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"main_shoulder_pan",
|
| 24 |
+
"main_shoulder_lift",
|
| 25 |
+
"main_elbow_flex",
|
| 26 |
+
"main_wrist_flex",
|
| 27 |
+
"main_wrist_roll",
|
| 28 |
+
"main_gripper"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"main_shoulder_pan",
|
| 38 |
+
"main_shoulder_lift",
|
| 39 |
+
"main_elbow_flex",
|
| 40 |
+
"main_wrist_flex",
|
| 41 |
+
"main_wrist_roll",
|
| 42 |
+
"main_gripper"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.rscam": {
|
| 46 |
+
"dtype": "video",
|
| 47 |
+
"shape": [
|
| 48 |
+
480,
|
| 49 |
+
640,
|
| 50 |
+
3
|
| 51 |
+
],
|
| 52 |
+
"names": [
|
| 53 |
+
"height",
|
| 54 |
+
"width",
|
| 55 |
+
"channels"
|
| 56 |
+
],
|
| 57 |
+
"info": {
|
| 58 |
+
"video.fps": 30.0,
|
| 59 |
+
"video.height": 480,
|
| 60 |
+
"video.width": 640,
|
| 61 |
+
"video.channels": 3,
|
| 62 |
+
"video.codec": "h264",
|
| 63 |
+
"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"timestamp": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"names": null
|
| 74 |
+
},
|
| 75 |
+
"frame_index": {
|
| 76 |
+
"dtype": "int64",
|
| 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 |
+
"index": {
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"task_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
}
|
so100_02_01/meta/stats.json
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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so100_02_01/meta/tasks.jsonl
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@@ -0,0 +1 @@
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|
|
|
|
| 1 |
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{"task_index": 0, "task": "biJCR"}
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so100_02_01/videos/chunk-000/observation.images.rscam/episode_000000.mp4
ADDED
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@@ -0,0 +1,3 @@
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so100_02_01/videos/chunk-000/observation.images.rscam/episode_000001.mp4
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