Ashlot commited on
Commit
891f932
·
verified ·
1 Parent(s): 4f7a84a

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 sha256:508075f8f2eec302efc670deb10db603b3579b283b0fe27f9b4e1a21d11db8aa
3
+ size 41828
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c0e18d8732701233da0cf6cf28a108ce3694bea1ac7c7c7327039e30a5e0a4f
3
+ size 19619
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8c46f6a413d0da2acb4dee68b9cf18611669e1daf373233b2ce125fb23aa9590
3
+ size 19926
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d2e9a5b53f186ce030e1a66908ccbe3747cd0112a2ff4e0380a2ae4ece856956
3
+ size 7319
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f830cc5b7e33384594826092f3fbb2a88f602fa674866c6ae7481f86a93134bc
3
+ size 17752
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab and place to circle"], "length": 833}
2
+ {"episode_index": 1, "tasks": ["Grab and place to circle"], "length": 357}
3
+ {"episode_index": 2, "tasks": ["Grab and place to circle"], "length": 413}
4
+ {"episode_index": 3, "tasks": ["Grab and place to circle"], "length": 121}
5
+ {"episode_index": 4, "tasks": ["Grab and place to circle"], "length": 323}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-32.85778045654297, -100.0, 7.678328037261963, 40.85820770263672, -85.56946563720703, 0.4901960790157318], "max": [-8.87204647064209, 18.48501968383789, 88.64152526855469, 100.0, -28.622539520263672, 27.287582397460938], "mean": [-22.574596405029297, -32.942832946777344, 42.450836181640625, 81.0681381225586, -63.177001953125, 17.854135513305664], "std": [5.482234477996826, 43.9988899230957, 24.457918167114258, 15.219046592712402, 11.237252235412598, 7.827358722686768], "count": [833]}, "observation.state": {"min": [-32.730133056640625, -99.32269287109375, 10.445050239562988, 42.03168869018555, -85.00171661376953, 4.136947154998779], "max": [-8.969315528869629, 18.626028060913086, 87.37511444091797, 100.0, -29.067768096923828, 24.893009185791016], "mean": [-22.703479766845703, -32.33816909790039, 43.85545349121094, 81.38460540771484, -63.16077423095703, 18.07265281677246], "std": [5.430002212524414, 44.22648620605469, 23.7560977935791, 15.095805168151855, 11.180472373962402, 7.121463298797607], "count": [833]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9803921568627451]], [[1.0]]], "mean": [[[0.5245819892473118]], [[0.5138552959624709]], [[0.5240154451296648]]], "std": [[[0.16981462841719347]], [[0.18119165261896605]], [[0.19658591798680575]]], "count": [155]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8980392156862745]], [[0.8784313725490196]], [[0.8588235294117647]]], "mean": [[[0.5029165889205145]], [[0.48703158865696816]], [[0.460425495467004]]], "std": [[[0.25418553714545616]], [[0.2537865387409093]], [[0.25223715666136376]]], "count": [155]}, "timestamp": {"min": [0.0], "max": [27.733333333333334], "mean": [13.866666666666664], "std": [8.015540461434206], "count": [833]}, "frame_index": {"min": [0], "max": [832], "mean": [416.0], "std": [240.4662138430262], "count": [833]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [833]}, "index": {"min": [0], "max": [832], "mean": [416.0], "std": [240.4662138430262], "count": [833]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [833]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-30.53945541381836, -99.43470764160156, -18.855066299438477, 72.66790771484375, -79.30828857421875, 3.2679738998413086], "max": [-11.814534187316895, 37.139625549316406, 67.46932983398438, 100.0, -48.300537109375, 23.937908172607422], "mean": [-19.36993408203125, -28.087665557861328, 26.809696197509766, 92.6797103881836, -66.39409637451172, 17.925168991088867], "std": [5.0469560623168945, 50.46955871582031, 29.13126564025879, 8.769363403320312, 7.927014350891113, 6.516851425170898], "count": [357]}, "observation.state": {"min": [-30.527143478393555, -99.03241729736328, -15.803814888000488, 73.71854400634766, -78.87857055664062, 5.492154121398926], "max": [-12.273799896240234, 37.5907096862793, 67.39328002929688, 100.0, -48.53801345825195, 24.893009185791016], "mean": [-19.552549362182617, -27.38821792602539, 28.385976791381836, 92.62006378173828, -66.34014129638672, 18.206939697265625], "std": [5.029024600982666, 50.980003356933594, 28.5588321685791, 8.65695858001709, 7.905760288238525, 6.080142021179199], "count": [357]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9215686274509803]], [[0.9450980392156862]], [[1.0]]], "mean": [[[0.5166722508169934]], [[0.5152560661764706]], [[0.513896785130719]]], "std": [[[0.16048069269844772]], [[0.17020724666751744]], [[0.18232759774332072]]], "count": [100]}, "observation.images.side": {"min": [[[0.00392156862745098]], [[0.0]], [[0.00392156862745098]]], "max": [[[0.8941176470588236]], [[0.8431372549019608]], [[0.8156862745098039]]], "mean": [[[0.5030712397875816]], [[0.49210185866013073]], [[0.46368142565359477]]], "std": [[[0.24937746621300852]], [[0.24778372233515172]], [[0.24397716665257868]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.866666666666667], "mean": [5.933333333333333], "std": [3.435220624754798], "count": [357]}, "frame_index": {"min": [0], "max": [356], "mean": [178.0], "std": [103.05661874264392], "count": [357]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [357]}, "index": {"min": [833], "max": [1189], "mean": [1011.0], "std": [103.05661874264392], "count": [357]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [357]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-27.775300979614258, -99.32164764404297, -2.9532032012939453, 62.31343460083008, -74.7763900756836, 4.738562107086182], "max": [-14.578689575195312, 21.42453384399414, 84.91594696044922, 100.0, -58.25879669189453, 26.715686798095703], "mean": [-20.943401336669922, -50.01487350463867, 48.797786712646484, 79.05624389648438, -63.325008392333984, 19.158374786376953], "std": [3.3051726818084717, 52.11347198486328, 32.91483688354492, 12.176526069641113, 4.3340606689453125, 7.421060085296631], "count": [413]}, "observation.state": {"min": [-27.773406982421875, -99.03241729736328, 0.6357856392860413, 63.37371826171875, -74.61300659179688, 5.77746057510376], "max": [-14.634146690368652, 21.62554359436035, 86.19436645507812, 99.72041320800781, -58.582733154296875, 26.390871047973633], "mean": [-21.032224655151367, -49.3188591003418, 49.96660232543945, 79.38629150390625, -63.325801849365234, 19.366012573242188], "std": [3.300825595855713, 52.45990753173828, 32.93467712402344, 11.827177047729492, 4.388445854187012, 7.221525192260742], "count": [413]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9019607843137255]], [[0.9490196078431372]], [[1.0]]], "mean": [[[0.5159255759803921]], [[0.5229411254084967]], [[0.5269486744281046]]], "std": [[[0.15684141022587755]], [[0.17083564402605644]], [[0.18397939003413702]]], "count": [100]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8352941176470589]], [[0.8196078431372549]], [[0.8156862745098039]]], "mean": [[[0.5073423100490195]], [[0.49398948120915037]], [[0.4643315931372549]]], "std": [[[0.24875200401498349]], [[0.24828266536410606]], [[0.2451272456739287]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.733333333333333], "mean": [6.866666666666667], "std": [3.974082703383679], "count": [413]}, "frame_index": {"min": [0], "max": [412], "mean": [206.0], "std": [119.22248110151038], "count": [413]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [413]}, "index": {"min": [1190], "max": [1602], "mean": [1396.0], "std": [119.22248110151038], "count": [413]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [413]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-27.95363426208496, -99.2085952758789, 74.46614837646484, 75.37313079833984, -64.69886779785156, 22.30392074584961], "max": [-20.9986629486084, -98.19107055664062, 78.91867065429688, 87.4067153930664, -59.3321418762207, 22.712417602539062], "mean": [-24.118738174438477, -99.13198852539062, 77.12528228759766, 79.62869262695312, -61.480777740478516, 22.41804313659668], "std": [3.05515456199646, 0.18963773548603058, 1.8610163927078247, 5.278909206390381, 2.0915253162384033, 0.09125466644763947], "count": [121]}, "observation.state": {"min": [-27.930763244628906, -99.1291732788086, 77.47502136230469, 76.42124938964844, -64.49948120117188, 22.61055564880371], "max": [-21.164438247680664, -98.54862213134766, 79.10990142822266, 87.23206329345703, -59.614723205566406, 22.61055564880371], "mean": [-24.16979217529297, -98.89881134033203, 78.5918960571289, 80.0652084350586, -61.35008239746094, 22.610576629638672], "std": [2.96771240234375, 0.07490281760692596, 0.7101612687110901, 4.743488788604736, 2.072199821472168, 2.09808349609375e-05], "count": [121]}, "observation.images.front": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[0.8666666666666667]], [[0.8980392156862745]], [[0.9529411764705882]]], "mean": [[[0.5304410028594772]], [[0.5401950919117646]], [[0.5458570935457516]]], "std": [[[0.16350699241756705]], [[0.17398324782111407]], [[0.18416981514473074]]], "count": [100]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843137254902]], [[0.7490196078431373]], [[0.7529411764705882]]], "mean": [[[0.5111894873366013]], [[0.4994514930555556]], [[0.4689112949346405]]], "std": [[[0.2274902955926478]], [[0.2274672320344695]], [[0.2262687499500972]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.0], "mean": [2.0], "std": [1.164283279771532], "count": [121]}, "frame_index": {"min": [0], "max": [120], "mean": [60.0], "std": [34.92849839314596], "count": [121]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [121]}, "index": {"min": [1603], "max": [1723], "mean": [1663.0], "std": [34.92849839314596], "count": [121]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [121]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-32.768611907958984, -99.43470764160156, 23.398454666137695, 34.70149230957031, -74.29934692382812, 3.839869260787964], "max": [-14.84618854522705, 18.37196159362793, 85.91548919677734, 100.0, -49.07572937011719, 31.78104591369629], "mean": [-21.075950622558594, -53.999305725097656, 53.25794982910156, 80.8241195678711, -61.822227478027344, 17.516305923461914], "std": [5.367829322814941, 47.93011474609375, 21.491464614868164, 19.95050811767578, 6.379343032836914, 7.980278491973877], "count": [323]}, "observation.state": {"min": [-32.49409866333008, -99.2259292602539, 26.521345138549805, 35.60111999511719, -74.20020294189453, 5.492154121398926], "max": [-13.060582160949707, 18.72278594970703, 85.92189025878906, 99.72041320800781, -49.36360549926758, 30.884450912475586], "mean": [-21.083580017089844, -53.45166778564453, 54.087432861328125, 81.10698699951172, -61.87327194213867, 17.433774948120117], "std": [5.469754219055176, 48.28284454345703, 20.899499893188477, 19.753156661987305, 6.3197922706604, 7.529417991638184], "count": [323]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8980392156862745]], [[0.9333333333333333]], [[1.0]]], "mean": [[[0.5141301184640522]], [[0.5222299509803922]], [[0.5250052022058823]]], "std": [[[0.15745041137964103]], [[0.17079734019125695]], [[0.18446019260306185]]], "count": [100]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8980392156862745]], [[0.8901960784313725]], [[0.8862745098039215]]], "mean": [[[0.5089809211601308]], [[0.4946810151143791]], [[0.4643419505718954]]], "std": [[[0.24502889442559675]], [[0.24536568710393988]], [[0.24307684648341518]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [10.733333333333333], "mean": [5.366666666666667], "std": [3.1080540535840107], "count": [323]}, "frame_index": {"min": [0], "max": [322], "mean": [161.0], "std": [93.24162160752032], "count": [323]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [323]}, "index": {"min": [1724], "max": [2046], "mean": [1885.0], "std": [93.24162160752032], "count": [323]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [323]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 2047,
6
+ "total_tasks": 1,
7
+ "total_videos": 10,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:5"
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
+ "observation.images.side": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 30,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab and place to circle"}
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:a4ac4d89c88621391c05d363fbc1bef49a0dc3020139c8dd36a987652221a169
3
+ size 4395224
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:cce7334d4a0c1b333416d200a4373c405cfb0538b651b509e0c9eade330c5f92
3
+ size 1611953
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 sha256:864572513cd95ed1f32ee882d86e279ca2f9016eccf3f9e5b7d654e4eec69fdc
3
+ size 2314121
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:e05517dbee78ad51ac399ed98437c8c237e48f80e241f8438b8902b1660e40c6
3
+ size 767805
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 sha256:89b08c716b433580b1871cd6d0842dc94a5681b61cb0006b866680851a3cb065
3
+ size 1605028
videos/chunk-000/observation.images.side/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ad1eca6574a2543d38da861b131bd2cdd16d592ac658256da8a056d7d846c5a0
3
+ size 5050302
videos/chunk-000/observation.images.side/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b029707bf29a2dcde5f3761ac22b81340613239f9cb05f34fdb20d9beb49029
3
+ size 2152843
videos/chunk-000/observation.images.side/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:14db6bb30af8cfc7ab4969f67c92493ceb2ee433fac70b5f8030e5954e4eda0f
3
+ size 2454491
videos/chunk-000/observation.images.side/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:03aadebe4f77515318b0a345352470356147de16d4ef9a573bc85f490dad7aef
3
+ size 655228
videos/chunk-000/observation.images.side/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c402e3848d6caea6ae8189c54d31c9ab26cf9fc8aa56f2f432d3c8ecdd578f8
3
+ size 1895133