18houston2 commited on
Commit
b2f67d6
·
verified ·
1 Parent(s): 10f792b

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4e9f264a8804b38852df8ff92ebcf772e73d1880f0ab069c6870ff69cb464747
3
+ size 95680
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0213a07649fee49e3555dec0d4e7095aa3bf699b53db10dcc931e41e41e874e5
3
+ size 96095
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:30e802457a3645c2eb53242bb53e8956b67aebc3b6f28f0aadb85552c38a27dd
3
+ size 94247
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6b00b55220b56435d150ddf1db09ce2ee98d8ae76e330bb5a92097c760e7ff63
3
+ size 95539
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3c00b6cab3dbc289cd14bcfc60386428bbf57abc8f20220f7b9983d4c1274968
3
+ size 96269
data/chunk-000/episode_000005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f1e0e713e1c76f27100417ac9c5ac9809fcbb3aabab8065095bbe9aaa6809bf7
3
+ size 32930
meta/episodes.jsonl ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Pick up the object and place it in the target location"], "length": 1309}
2
+ {"episode_index": 1, "tasks": ["Pick up the object and place it in the target location"], "length": 1311}
3
+ {"episode_index": 2, "tasks": ["Pick up the object and place it in the target location"], "length": 1315}
4
+ {"episode_index": 3, "tasks": ["Pick up the object and place it in the target location"], "length": 1304}
5
+ {"episode_index": 4, "tasks": ["Pick up the object and place it in the target location"], "length": 1310}
6
+ {"episode_index": 5, "tasks": ["Pick up the object and place it in the target location"], "length": 421}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-5.281571388244629, -89.69447326660156, -44.674278259277344, 10.605899810791016, -23.452205657958984, -2.3785409927368164], "max": [4.313373565673828, 40.4106330871582, 103.6326904296875, 92.9521484375, -1.149970531463623, 21.889114379882812], "mean": [-1.130097508430481, -18.350189208984375, 19.054929733276367, 66.20982360839844, -10.726080894470215, 2.866138219833374], "std": [2.095357656478882, 34.324005126953125, 38.48590087890625, 20.73603057861328, 5.107157230377197, 3.5249674320220947], "count": [1309]}, "observation.state": {"min": [-5.567606449127197, -87.92229461669922, -39.52855682373047, 12.461196899414062, -23.02808380126953, 0.8053691387176514], "max": [4.049168586730957, 39.611488342285156, 100.0, 92.01773834228516, -1.6361416578292847, 21.140939712524414], "mean": [-1.2097660303115845, -17.877792358398438, 21.47231101989746, 66.31048583984375, -10.799947738647461, 3.1450254917144775], "std": [2.064495801925659, 34.50436019897461, 37.59789276123047, 20.13032341003418, 5.059052467346191, 3.2822349071502686], "count": [1309]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4723450809087076]], [[0.47784219319448207]], [[0.47476277540586126]]], "std": [[[0.2543611919178551]], [[0.2526505465972532]], [[0.2517330611837144]]], "count": [217]}, "timestamp": {"min": [0.0], "max": [43.6], "mean": [21.799999999999997], "std": [12.595854697302425], "count": [1309]}, "frame_index": {"min": [0], "max": [1308], "mean": [654.0], "std": [377.87564091907274], "count": [1309]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1309]}, "index": {"min": [0], "max": [1308], "mean": [654.0], "std": [377.87564091907274], "count": [1309]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1309]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-5.843492031097412, -113.63236999511719, -57.16046142578125, 10.562347412109375, -22.784969329833984, -1.0971951484680176], "max": [5.6292595863342285, 51.96250534057617, 110.27080535888672, 99.1378173828125, -0.8742985725402832, 17.52008628845215], "mean": [-1.8529943227767944, -26.451587677001953, 30.546157836914062, 61.09309387207031, -10.207084655761719, 3.4195327758789062], "std": [2.4003851413726807, 44.3619384765625, 47.78801727294922, 23.217947006225586, 5.511031150817871, 3.746408462524414], "count": [1311]}, "observation.state": {"min": [-5.929139614105225, -99.91554260253906, -55.394378662109375, 12.017738342285156, -22.539682388305664, 0.8724831938743591], "max": [5.49530029296875, 52.871620178222656, 100.0, 97.78270721435547, 2.612942695617676, 15.63758373260498], "mean": [-1.909588098526001, -26.012237548828125, 32.323463439941406, 61.24154281616211, -10.27820873260498, 3.736931562423706], "std": [2.3864471912384033, 44.450531005859375, 46.441551208496094, 22.734962463378906, 5.49246883392334, 3.3754770755767822], "count": [1311]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4636706368031083]], [[0.46952757070570167]], [[0.4666291847384115]]], "std": [[[0.2533498140110754]], [[0.25209929245085094]], [[0.250245562697281]]], "count": [217]}, "timestamp": {"min": [0.0], "max": [43.666666666666664], "mean": [21.833333333333332], "std": [12.61509971188261], "count": [1311]}, "frame_index": {"min": [0], "max": [1310], "mean": [655.0], "std": [378.4529913564783], "count": [1311]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1311]}, "index": {"min": [1309], "max": [2619], "mean": [1964.0], "std": [378.4529913564783], "count": [1311]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1311]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-6.4645304679870605, -102.59698486328125, -62.65874481201172, -1.9718818664550781, -21.829330444335938, -1.1279191970825195], "max": [5.123727321624756, 50.18867111206055, 109.28304290771484, 97.86422729492188, -1.2088241577148438, 22.589319229125977], "mean": [-2.284899950027466, -22.039569854736328, 26.868818283081055, 56.13383865356445, -8.951025009155273, 4.582847595214844], "std": [2.555537700653076, 53.608890533447266, 57.38794708251953, 28.889272689819336, 5.736343860626221, 5.521106243133545], "count": [1315]}, "observation.state": {"min": [-6.652205467224121, -99.66216278076172, -58.114234924316406, -0.842572033405304, -21.61172103881836, 0.8724831938743591], "max": [5.133767127990723, 49.9155387878418, 100.0, 96.45233154296875, 2.026862144470215, 21.744966506958008], "mean": [-2.2758164405822754, -21.067222595214844, 27.451007843017578, 56.22435760498047, -8.976673126220703, 5.471645355224609], "std": [2.564445972442627, 54.0646858215332, 55.80636215209961, 28.450469970703125, 5.711674690246582, 4.8958306312561035], "count": [1315]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45416750146159385]], [[0.45957561124602747]], [[0.46195544574863584]]], "std": [[[0.24553184754160304]], [[0.24406077564556578]], [[0.238617520855783]]], "count": [218]}, "timestamp": {"min": [0.0], "max": [43.8], "mean": [21.9], "std": [12.653589740991816], "count": [1315]}, "frame_index": {"min": [0], "max": [1314], "mean": [657.0], "std": [379.6076922297545], "count": [1315]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1315]}, "index": {"min": [2620], "max": [3934], "mean": [3277.0], "std": [379.6076922297545], "count": [1315]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1315]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-8.316537857055664, -110.42727661132812, -49.835716247558594, 17.57177734375, -25.5797176361084, -0.824305534362793], "max": [3.6744790077209473, 51.19601821899414, 108.17686462402344, 103.9990234375, -2.172255039215088, 37.60285949707031], "mean": [-2.901033401489258, -31.842039108276367, 28.6600399017334, 66.46469116210938, -10.605177879333496, 4.522647380828857], "std": [2.3771989345550537, 49.01509094238281, 51.1964225769043, 22.569599151611328, 6.451568603515625, 6.693149089813232], "count": [1304]}, "observation.state": {"min": [-8.31525707244873, -100.0, -47.1441535949707, 18.403547286987305, -25.22588539123535, 1.0067113637924194], "max": [4.193781852722168, 50.50675582885742, 100.0, 99.20177459716797, 3.6385836601257324, 35.436241149902344], "mean": [-2.9454970359802246, -31.250524520874023, 29.666053771972656, 66.57076263427734, -10.599133491516113, 4.8530049324035645], "std": [2.400052785873413, 49.29522705078125, 49.995975494384766, 22.116750717163086, 6.466048717498779, 6.363699913024902], "count": [1304]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4678310194641128]], [[0.47138030289276206]], [[0.4706307180086541]]], "std": [[[0.2512510668885967]], [[0.24993712484527572]], [[0.24737415941946225]]], "count": [216]}, "timestamp": {"min": [0.0], "max": [43.43333333333333], "mean": [21.716666666666665], "std": [12.547742160776707], "count": [1304]}, "frame_index": {"min": [0], "max": [1303], "mean": [651.5], "std": [376.43226482330124], "count": [1304]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1304]}, "index": {"min": [3935], "max": [5238], "mean": [4586.5], "std": [376.43226482330124], "count": [1304]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1304]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-8.110503196716309, -104.01918029785156, -56.688392639160156, 18.68709945678711, -26.537696838378906, -0.6151947975158691], "max": [4.2808966636657715, 49.18107223510742, 109.21288299560547, 102.5486831665039, -1.9115567207336426, 37.596656799316406], "mean": [-2.441099166870117, -36.0440559387207, 33.533878326416016, 61.78318405151367, -10.00131893157959, 4.702992916107178], "std": [2.408477306365967, 45.64863204956055, 48.01179122924805, 21.2571964263916, 6.098918437957764, 6.174797058105469], "count": [1310]}, "observation.state": {"min": [-8.242950439453125, -100.0, -53.2184944152832, 19.645233154296875, -26.202686309814453, 0.8724831938743591], "max": [4.193781852722168, 48.90202713012695, 100.0, 99.0243911743164, 2.9548230171203613, 37.04697799682617], "mean": [-2.5068862438201904, -35.640777587890625, 35.17558670043945, 62.04360580444336, -9.985596656799316, 4.783434867858887], "std": [2.4069504737854004, 45.85703659057617, 47.1370735168457, 20.767196655273438, 6.059664726257324, 5.946336269378662], "count": [1310]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46445025375741694]], [[0.47803352591036413]], [[0.4734809408978645]]], "std": [[[0.2586659002783594]], [[0.2591239257490514]], [[0.2526331031081379]]], "count": [217]}, "timestamp": {"min": [0.0], "max": [43.63333333333333], "mean": [21.816666666666663], "std": [12.605477204594658], "count": [1310]}, "frame_index": {"min": [0], "max": [1309], "mean": [654.5], "std": [378.16431613783976], "count": [1310]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1310]}, "index": {"min": [5239], "max": [6548], "mean": [5893.5], "std": [378.16431613783976], "count": [1310]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1310]}}}
6
+ {"episode_index": 5, "stats": {"action": {"min": [-7.40875244140625, -97.41755676269531, -56.927825927734375, 11.73434829711914, -21.068498611450195, 0.15793371200561523], "max": [4.286662578582764, 51.06399917602539, 105.5400390625, 94.20211791992188, -1.520096778869629, 26.664772033691406], "mean": [-1.7481274604797363, -31.25372314453125, 35.660423278808594, 53.92087173461914, -8.215242385864258, 4.412792682647705], "std": [2.5364739894866943, 53.659706115722656, 60.65754699707031, 29.774375915527344, 5.358914852142334, 6.186680793762207], "count": [421]}, "observation.state": {"min": [-7.447577953338623, -97.0439224243164, -52.40253829956055, 13.614191055297852, -20.39072036743164, 1.0067113637924194], "max": [4.049168586730957, 50.50675582885742, 100.0, 93.88026428222656, 0.3174603283405304, 25.436241149902344], "mean": [-1.8208885192871094, -30.79680633544922, 36.316184997558594, 54.221961975097656, -8.156352996826172, 4.618278980255127], "std": [2.513047218322754, 54.57123947143555, 58.93656539916992, 29.36616325378418, 5.353245735168457, 5.871771812438965], "count": [421]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4737516911764706]], [[0.47657445669934645]], [[0.474540931372549]]], "std": [[[0.2719559292188849]], [[0.2714275525340991]], [[0.2680107826716828]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.0], "mean": [6.999999999999999], "std": [4.051062960645158], "count": [421]}, "frame_index": {"min": [0], "max": [420], "mean": [210.0], "std": [121.53188881935473], "count": [421]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [421]}, "index": {"min": [6549], "max": [6969], "mean": [6759.0], "std": [121.53188881935473], "count": [421]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [421]}}}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 6,
5
+ "total_frames": 6970,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:6"
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
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.front": {
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.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30,
64
+ "video.channels": 3,
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
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Pick up the object and place it in the target location"}
videos/chunk-000/observation.images.front/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c2ffbacd84cc9417217e66d50693bbea7c4fe9a375a79bbaafa9bc95cf070282
3
+ size 10063358
videos/chunk-000/observation.images.front/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:acfde3fbb119b1da0eee45fcd432b52e551b2f0e93d85db87d09b493f6a00210
3
+ size 9718351
videos/chunk-000/observation.images.front/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d08f8d66d481860264c731631952d8ab0130eec456ab5c2be353f66db567c936
3
+ size 9397403
videos/chunk-000/observation.images.front/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d7811b2264bd09e0079507727e0833158f6bef3eeba22b9774a084899aa24010
3
+ size 10168767
videos/chunk-000/observation.images.front/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b31c7517cb6b313dd2855711db0fa4187f6c2fa102721444093075d51d0382f
3
+ size 10530574
videos/chunk-000/observation.images.front/episode_000005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4bb5547fa5a6f85ce01cf38f6930ecd12be7eba5ab135f495b9b65847230f2f2
3
+ size 3255794