AshtinDonuts commited on
Commit
75f9089
·
verified ·
1 Parent(s): d1e1581

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. meta/episodes.jsonl +40 -0
  2. meta/info.json +138 -0
  3. meta/stats.json +304 -0
  4. meta/tasks.jsonl +1 -0
meta/episodes.jsonl ADDED
@@ -0,0 +1,40 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
2
+ {"episode_index": 1, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
3
+ {"episode_index": 2, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
4
+ {"episode_index": 3, "tasks": ["Pick up the black box and place in the white bowl."], "length": 446}
5
+ {"episode_index": 4, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
6
+ {"episode_index": 5, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
7
+ {"episode_index": 6, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
8
+ {"episode_index": 7, "tasks": ["Pick up the black box and place in the white bowl."], "length": 446}
9
+ {"episode_index": 8, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
10
+ {"episode_index": 9, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
11
+ {"episode_index": 10, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
12
+ {"episode_index": 11, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
13
+ {"episode_index": 12, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
14
+ {"episode_index": 13, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
15
+ {"episode_index": 14, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
16
+ {"episode_index": 15, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
17
+ {"episode_index": 16, "tasks": ["Pick up the black box and place in the white bowl."], "length": 446}
18
+ {"episode_index": 17, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
19
+ {"episode_index": 18, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
20
+ {"episode_index": 19, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
21
+ {"episode_index": 20, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
22
+ {"episode_index": 21, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
23
+ {"episode_index": 22, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
24
+ {"episode_index": 23, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
25
+ {"episode_index": 24, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
26
+ {"episode_index": 25, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
27
+ {"episode_index": 26, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
28
+ {"episode_index": 27, "tasks": ["Pick up the black box and place in the white bowl."], "length": 446}
29
+ {"episode_index": 28, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
30
+ {"episode_index": 29, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
31
+ {"episode_index": 30, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
32
+ {"episode_index": 31, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
33
+ {"episode_index": 32, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
34
+ {"episode_index": 33, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
35
+ {"episode_index": 34, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
36
+ {"episode_index": 35, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
37
+ {"episode_index": 36, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
38
+ {"episode_index": 37, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
39
+ {"episode_index": 38, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
40
+ {"episode_index": 39, "tasks": ["Pick up the black box and place in the white bowl."], "length": 447}
meta/info.json ADDED
@@ -0,0 +1,138 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "aloha_solo",
4
+ "total_episodes": 40,
5
+ "total_frames": 17876,
6
+ "total_tasks": 1,
7
+ "total_videos": 80,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:40"
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.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 9
21
+ ],
22
+ "names": {
23
+ "motors": [
24
+ "waist",
25
+ "shoulder",
26
+ "shoulder_shadow",
27
+ "elbow",
28
+ "elbow_shadow",
29
+ "forearm_roll",
30
+ "wrist_angle",
31
+ "wrist_rotate",
32
+ "gripper"
33
+ ]
34
+ }
35
+ },
36
+ "observation.images.cam_high": {
37
+ "dtype": "video",
38
+ "shape": [
39
+ 480,
40
+ 640,
41
+ 3
42
+ ],
43
+ "names": [
44
+ "height",
45
+ "width",
46
+ "channels"
47
+ ],
48
+ "video_info": {
49
+ "video.fps": 30.0,
50
+ "video.codec": "h264",
51
+ "video.pix_fmt": "yuv420p",
52
+ "video.is_depth_map": false,
53
+ "has_audio": false
54
+ }
55
+ },
56
+ "observation.images.cam_right_wrist": {
57
+ "dtype": "video",
58
+ "shape": [
59
+ 480,
60
+ 640,
61
+ 3
62
+ ],
63
+ "names": [
64
+ "height",
65
+ "width",
66
+ "channels"
67
+ ],
68
+ "video_info": {
69
+ "video.fps": 30.0,
70
+ "video.codec": "h264",
71
+ "video.pix_fmt": "yuv420p",
72
+ "video.is_depth_map": false,
73
+ "has_audio": false
74
+ }
75
+ },
76
+ "action": {
77
+ "dtype": "float32",
78
+ "shape": [
79
+ 9
80
+ ],
81
+ "names": {
82
+ "motors": [
83
+ "waist",
84
+ "shoulder",
85
+ "shoulder_shadow",
86
+ "elbow",
87
+ "elbow_shadow",
88
+ "forearm_roll",
89
+ "wrist_angle",
90
+ "wrist_rotate",
91
+ "gripper"
92
+ ]
93
+ }
94
+ },
95
+ "episode_index": {
96
+ "dtype": "int64",
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
+ "timestamp": {
110
+ "dtype": "float32",
111
+ "shape": [
112
+ 1
113
+ ],
114
+ "names": null
115
+ },
116
+ "next.done": {
117
+ "dtype": "bool",
118
+ "shape": [
119
+ 1
120
+ ],
121
+ "names": null
122
+ },
123
+ "index": {
124
+ "dtype": "int64",
125
+ "shape": [
126
+ 1
127
+ ],
128
+ "names": null
129
+ },
130
+ "task_index": {
131
+ "dtype": "int64",
132
+ "shape": [
133
+ 1
134
+ ],
135
+ "names": null
136
+ }
137
+ }
138
+ }
meta/stats.json ADDED
@@ -0,0 +1,304 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "max": [
4
+ 28.125,
5
+ 198.896484375,
6
+ 198.896484375,
7
+ 171.38671875,
8
+ 171.73828125,
9
+ 14.23828125,
10
+ 67.060546875,
11
+ 49.921875,
12
+ 102.04081726074219
13
+ ],
14
+ "mean": [
15
+ -7.953197002410889,
16
+ 127.13427734375,
17
+ 127.09446716308594,
18
+ 142.04977416992188,
19
+ 141.86480712890625,
20
+ -18.832788467407227,
21
+ 37.0709342956543,
22
+ 19.07273292541504,
23
+ 40.09182357788086
24
+ ],
25
+ "min": [
26
+ -43.2421875,
27
+ 81.38671875,
28
+ 81.123046875,
29
+ 112.763671875,
30
+ 112.32421875,
31
+ -48.779296875,
32
+ 7.646484375,
33
+ -8.876953125,
34
+ 1.5306122303009033
35
+ ],
36
+ "std": [
37
+ 18.083452224731445,
38
+ 25.064733505249023,
39
+ 25.117761611938477,
40
+ 12.67282485961914,
41
+ 12.722294807434082,
42
+ 11.072458267211914,
43
+ 9.416496276855469,
44
+ 11.782262802124023,
45
+ 37.43230056762695
46
+ ]
47
+ },
48
+ "episode_index": {
49
+ "max": [
50
+ 39.0
51
+ ],
52
+ "mean": [
53
+ 19.501392364501953
54
+ ],
55
+ "min": [
56
+ 0.0
57
+ ],
58
+ "std": [
59
+ 11.543488502502441
60
+ ]
61
+ },
62
+ "frame_index": {
63
+ "max": [
64
+ 446.0
65
+ ],
66
+ "mean": [
67
+ 222.94981384277344
68
+ ],
69
+ "min": [
70
+ 0.0
71
+ ],
72
+ "std": [
73
+ 129.0087890625
74
+ ]
75
+ },
76
+ "index": {
77
+ "max": [
78
+ 17875.0
79
+ ],
80
+ "mean": [
81
+ 8937.501953125
82
+ ],
83
+ "min": [
84
+ 0.0
85
+ ],
86
+ "std": [
87
+ 5160.357421875
88
+ ]
89
+ },
90
+ "next.done": {
91
+ "max": [
92
+ 1.0
93
+ ],
94
+ "mean": [
95
+ 0.0022376375272870064
96
+ ],
97
+ "min": [
98
+ 0.0
99
+ ],
100
+ "std": [
101
+ 0.04725072532892227
102
+ ]
103
+ },
104
+ "observation.images.cam_high": {
105
+ "max": [
106
+ [
107
+ [
108
+ 1.0
109
+ ]
110
+ ],
111
+ [
112
+ [
113
+ 1.0
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 1.0
119
+ ]
120
+ ]
121
+ ],
122
+ "mean": [
123
+ [
124
+ [
125
+ 0.43347465991973877
126
+ ]
127
+ ],
128
+ [
129
+ [
130
+ 0.4398786425590515
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 0.42923763394355774
136
+ ]
137
+ ]
138
+ ],
139
+ "min": [
140
+ [
141
+ [
142
+ 0.0
143
+ ]
144
+ ],
145
+ [
146
+ [
147
+ 0.0
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ]
155
+ ],
156
+ "std": [
157
+ [
158
+ [
159
+ 0.17990845441818237
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ 0.17307661473751068
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 0.17335940897464752
170
+ ]
171
+ ]
172
+ ]
173
+ },
174
+ "observation.images.cam_right_wrist": {
175
+ "max": [
176
+ [
177
+ [
178
+ 1.0
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 1.0
184
+ ]
185
+ ],
186
+ [
187
+ [
188
+ 1.0
189
+ ]
190
+ ]
191
+ ],
192
+ "mean": [
193
+ [
194
+ [
195
+ 0.8460752367973328
196
+ ]
197
+ ],
198
+ [
199
+ [
200
+ 0.8485196828842163
201
+ ]
202
+ ],
203
+ [
204
+ [
205
+ 0.8377984762191772
206
+ ]
207
+ ]
208
+ ],
209
+ "min": [
210
+ [
211
+ [
212
+ 0.0
213
+ ]
214
+ ],
215
+ [
216
+ [
217
+ 0.0
218
+ ]
219
+ ],
220
+ [
221
+ [
222
+ 0.0
223
+ ]
224
+ ]
225
+ ],
226
+ "std": [
227
+ [
228
+ [
229
+ 0.29904842376708984
230
+ ]
231
+ ],
232
+ [
233
+ [
234
+ 0.29298409819602966
235
+ ]
236
+ ],
237
+ [
238
+ [
239
+ 0.2959819734096527
240
+ ]
241
+ ]
242
+ ]
243
+ },
244
+ "observation.state": {
245
+ "max": [
246
+ 27.94921875,
247
+ 197.841796875,
248
+ 197.75390625,
249
+ 171.73828125,
250
+ 171.650390625,
251
+ 13.53515625,
252
+ 67.1484375,
253
+ 48.8671875,
254
+ 98.44961547851562
255
+ ],
256
+ "mean": [
257
+ -7.908858776092529,
258
+ 126.43350982666016,
259
+ 126.12358093261719,
260
+ 142.68295288085938,
261
+ 142.76661682128906,
262
+ -18.135465621948242,
263
+ 36.895225524902344,
264
+ 18.731597900390625,
265
+ 41.67582702636719
266
+ ],
267
+ "min": [
268
+ -43.154296875,
269
+ 80.15625,
270
+ 79.8046875,
271
+ 113.818359375,
272
+ 113.994140625,
273
+ -47.4609375,
274
+ 7.470703125,
275
+ -7.646484375,
276
+ 1.0852713584899902
277
+ ],
278
+ "std": [
279
+ 17.68545913696289,
280
+ 25.56847381591797,
281
+ 25.692401885986328,
282
+ 12.46806812286377,
283
+ 12.430303573608398,
284
+ 10.900388717651367,
285
+ 9.362302780151367,
286
+ 11.68046760559082,
287
+ 34.86063766479492
288
+ ]
289
+ },
290
+ "timestamp": {
291
+ "max": [
292
+ 14.866666793823242
293
+ ],
294
+ "mean": [
295
+ 7.43166446685791
296
+ ],
297
+ "min": [
298
+ 0.0
299
+ ],
300
+ "std": [
301
+ 4.30029296875
302
+ ]
303
+ }
304
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Pick up the black box and place in the white bowl."}