Upload validated 100 Hz steer-place episode 201 example
Browse files- README.md +49 -0
- data/chunk-000/episode_000000.parquet +3 -0
- episode_manifests/episode_000000.json +868 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +384 -0
- meta/tasks.jsonl +1 -0
- validation_report.json +83 -0
- videos/chunk-000/observation.images.video_left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.video_overhead/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.video_right/episode_000000.mp4 +3 -0
README.md
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---
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- lerobot
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- placement
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- visual-goal-conditioning
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---
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# Placement Yellow-Dot Red-Arrow Sanity Dataset
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This is a LeRobot-format one-episode sanity export derived from local HDF5 placement data.
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It uses source recording `episode_00201.hdf5`, one of the five episodes newer
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than the existing 197-episode placement export.
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Dataset size:
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- episodes: 1
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- frames: 259
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- videos: 3
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- export fps: 100
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- frame stride from 100 Hz source: 1
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- source episode index: 201
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Source goal label:
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- full-resolution target: `(564.0, 223.0)` px
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- 224x224 overlay target: `(98.7, 81.025)` px
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- image-space orientation: `0.42662749` radians
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Instruction:
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> move the connector to the yellow dot and match the red arrow orientation
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The overhead video is rendered from the raw HDF5 overhead camera frame with an anti-aliased red arrow and yellow source dot plotted from HDF5 metadata:
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- `placement/episode_target_image_xy_px`
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- `placement/episode_target_theta_rad`
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No green-pixel detection is used. The 1280x800 source image is mapped to a 224x140 view with 42 px vertical padding inside the 224x224 LeRobot video frame.
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Timing:
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- `metadata.source_fps` stores the source recording rate from HDF5, normally 100 Hz.
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- `metadata.export_fps` and top-level `fps` store this dataset's export rate.
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- `metadata.frame_stride` stores the source-frame stride used for export.
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- `source.action_time_s` stores the original source time for the retained frame.
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- `timestamp` stores the LeRobot export timestamp.
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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:1857dddb6b1111882c8d13d8e5bb59fc0fe7bc58c865ff5ff10b6b81d411b9e9
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size 56525
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episode_manifests/episode_000000.json
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| 834 |
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|
| 835 |
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|
| 836 |
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| 837 |
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| 838 |
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| 839 |
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| 840 |
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|
| 841 |
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| 842 |
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| 843 |
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| 844 |
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| 845 |
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| 846 |
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| 847 |
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| 848 |
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| 849 |
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|
| 850 |
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|
| 851 |
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|
| 852 |
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|
| 853 |
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| 854 |
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| 855 |
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|
| 856 |
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| 857 |
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| 858 |
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| 859 |
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| 860 |
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| 861 |
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| 862 |
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| 863 |
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| 864 |
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|
| 865 |
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|
| 866 |
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|
| 867 |
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|
| 868 |
+
}
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["move the connector to the yellow dot and match the red arrow orientation"], "length": 259}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"observation.images.video_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.12466330826282501]], [[0.05157538875937462]], [[0.06336883455514908]]], "std": [[[0.16393539309501648]], [[0.12901635468006134]], [[0.11147337406873703]]], "count": [100]}, "observation.images.video_overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1408330798149109]], [[0.12383740395307541]], [[0.12398387491703033]]], "std": [[[0.2027668058872223]], [[0.2144525796175003]], [[0.18562890589237213]]], "count": [100]}, "observation.images.video_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.8823529481887817]], [[0.8784313797950745]]], "mean": [[[0.12960278987884521]], [[0.03581734001636505]], [[0.047748368233442307]]], "std": [[[0.16741514205932617]], [[0.0811578631401062]], [[0.04733053222298622]]], "count": [100]}, "observation.state": {"min": [-1.4044017791748047, 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|
meta/info.json
ADDED
|
@@ -0,0 +1,384 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "arx",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 259,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 3,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 100,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 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.video_left": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
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|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "move the connector to the yellow dot and match the red arrow orientation"}
|
validation_report.json
ADDED
|
@@ -0,0 +1,83 @@
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|
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|
|
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|
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|
| 1 |
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|
| 58 |
+
"codec_name": "h264",
|
| 59 |
+
"width": 224,
|
| 60 |
+
"height": 224,
|
| 61 |
+
"pix_fmt": "yuv420p",
|
| 62 |
+
"r_frame_rate": "100/1",
|
| 63 |
+
"nb_frames": "259"
|
| 64 |
+
},
|
| 65 |
+
"observation.images.video_right": {
|
| 66 |
+
"codec_name": "h264",
|
| 67 |
+
"width": 224,
|
| 68 |
+
"height": 224,
|
| 69 |
+
"pix_fmt": "yuv420p",
|
| 70 |
+
"r_frame_rate": "100/1",
|
| 71 |
+
"nb_frames": "259"
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"checks": [
|
| 75 |
+
"actions are exactly equal to source HDF5",
|
| 76 |
+
"states and velocities are exactly equal to source HDF5",
|
| 77 |
+
"prompt and task index are constant and correct",
|
| 78 |
+
"target position and orientation metadata are frame-constant and source-derived",
|
| 79 |
+
"yellow target and red arrow endpoint are detected at expected locations in first, middle, and last overhead frames",
|
| 80 |
+
"all three videos contain exactly 259 frames at 100 Hz",
|
| 81 |
+
"LeRobot episode, frame, global, and time indices are contiguous"
|
| 82 |
+
]
|
| 83 |
+
}
|
videos/chunk-000/observation.images.video_left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ef2f63ea0d3f3cb6a31e1097160fafe82d1e574da6f3be747851b17842638570
|
| 3 |
+
size 83154
|
videos/chunk-000/observation.images.video_overhead/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:81661a6df56883df764b7a0021a613d45126c475268bb96fddfdf5487b571380
|
| 3 |
+
size 93266
|
videos/chunk-000/observation.images.video_right/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f8693708a9f1b35300cbecc21b3bd86a26fc2e059752e240b6db4ef00314c421
|
| 3 |
+
size 62962
|