Bashar-Alhaffar commited on
Commit
a549747
·
verified ·
1 Parent(s): fb3b519

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 sha256:1620728259bcc86ab68a09251270683e68ae92d3d3e5ea2759ffb8afd2d2f5f4
3
+ size 42234
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:828ebed3d925cfffd1eea6c1cec2b29874d39cdbc151920f9100187e9a3025f7
3
+ size 39080
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a87f615e29ea2a82bedb144bc009c5f1c1f4a13466a35af8c69d94ec00254808
3
+ size 31768
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a block and put it in the bin."], "length": 773}
2
+ {"episode_index": 1, "tasks": ["Grasp a block and put it in the bin."], "length": 726}
3
+ {"episode_index": 2, "tasks": ["Grasp a block and put it in the bin."], "length": 525}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-53.525390625, 41.484375, 17.2265625, -116.103515625, -100.1953125, -9.448819160461426, -7.734375, 103.359375, 21.09375, 5.888671875, -26.279296875, -3.408071756362915], "max": [36.2109375, 137.98828125, 185.009765625, 1.318359375, -42.1875, 17.519685745239258, -7.646484375, 104.23828125, 21.09375, 5.888671875, -25.751953125, -3.408071756362915], "mean": [-9.979394912719727, 91.8778305053711, 110.57774353027344, -71.86328887939453, -74.83842468261719, -5.145862579345703, -7.655125617980957, 103.97017669677734, 21.09375, 5.888671875, -25.983901977539062, -3.408052444458008], "std": [23.110902786254883, 25.325843811035156, 62.46784973144531, 46.76364517211914, 19.083738327026367, 8.64730167388916, 0.026169169694185257, 0.09862374514341354, 0.0, 0.0, 0.12366321682929993, 1.9311904907226562e-05], "count": [773]}, "observation.state": {"min": [-50.361328125, 47.8125, 19.599609375, -115.13671875, -99.84375, -2.5568182468414307, -8.7890625, 103.359375, 20.390625, 6.15234375, -25.576171875, -0.9478673338890076], "max": [36.03515625, 137.900390625, 182.4609375, -0.439453125, -42.099609375, 17.40056800842285, -8.173828125, 104.58984375, 21.4453125, 6.15234375, -25.3125, -0.9478673338890076], "mean": [-9.728343963623047, 93.3183822631836, 109.43233489990234, -71.80997467041016, -74.8134536743164, 0.7503881454467773, -8.24250316619873, 103.7870101928711, 20.58766746520996, 6.15234375, -25.397207260131836, -0.9478718638420105], "std": [22.574905395507812, 24.42010498046875, 61.56391906738281, 46.84003448486328, 19.038408279418945, 5.886040687561035, 0.19348299503326416, 0.4783620834350586, 0.3047569692134857, 0.0, 0.03884370997548103, 4.5299530029296875e-06], "count": [773]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9686274509803922]], [[0.9647058823529412]]], "mean": [[[0.5600790343249172]], [[0.49699199234488317]], [[0.4360156431864983]]], "std": [[[0.238069999701642]], [[0.25945241593015234]], [[0.2722736251353438]]], "count": [146]}, "observation.images.left": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49724947259154806]], [[0.3914060443526726]], [[0.3574225129264034]]], "std": [[[0.30282071008329253]], [[0.29284359844528496]], [[0.28644800820380995]]], "count": [146]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45163412309368195]], [[0.3938915562419793]], [[0.3920677880741337]]], "std": [[[0.15936412146848605]], [[0.15980511135909425]], [[0.1822157450023511]]], "count": [146]}, "timestamp": {"min": [0.0], "max": [25.733333333333334], "mean": [12.866666666666665], "std": [7.438189743927394], "count": [773]}, "frame_index": {"min": [0], "max": [772], "mean": [386.0], "std": [223.1456923178218], "count": [773]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [773]}, "index": {"min": [0], "max": [772], "mean": [386.0], "std": [223.1456923178218], "count": [773]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [773]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-53.4375, 25.751953125, 18.45703125, -116.54296875, -96.416015625, -9.350393295288086, -7.55859375, 102.744140625, 21.005859375, 5.888671875, -26.279296875, -3.408071756362915], "max": [37.353515625, 160.83984375, 185.185546875, -2.4609375, -32.255859375, 11.515748023986816, -7.470703125, 104.0625, 21.09375, 5.888671875, -25.83984375, -3.408071756362915], "mean": [-12.305293083190918, 92.4215087890625, 99.38939666748047, -66.90602111816406, -74.96713256835938, -6.597041606903076, -7.489225387573242, 103.7509765625, 21.045930862426758, 5.888671875, -26.052064895629883, -3.4080584049224854], "std": [20.26763153076172, 25.70305061340332, 64.84912872314453, 50.73102569580078, 13.706381797790527, 6.028879165649414, 0.03584511950612068, 0.14597344398498535, 0.04377439245581627, 0.0, 0.12909185886383057, 1.33514404296875e-05], "count": [726]}, "observation.state": {"min": [-50.625, 32.34375, 19.423828125, -115.3125, -96.767578125, -2.5568182468414307, -8.173828125, 104.0625, 20.390625, 6.15234375, -25.751953125, -0.9478673338890076], "max": [37.08984375, 160.576171875, 182.28515625, -3.076171875, -32.6953125, 11.931818008422852, -8.0859375, 104.150390625, 20.478515625, 6.15234375, -25.400390625, -0.9478673338890076], "mean": [-12.015471458435059, 93.4828872680664, 98.2866439819336, -66.56391906738281, -75.01496887207031, -0.7496530413627625, -8.122618675231934, 104.13863372802734, 20.39147186279297, 6.15234375, -25.453536987304688, -0.9478716254234314], "std": [19.994518280029297, 24.575355529785156, 63.7728157043457, 50.87955093383789, 13.739012718200684, 3.6280877590179443, 0.04334091395139694, 0.02897661365568638, 0.00858857948333025, 0.0, 0.051113784313201904, 4.291534423828125e-06], "count": [726]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9686274509803922]], [[0.9647058823529412]]], "mean": [[[0.5734262927892979]], [[0.5080273222598392]], [[0.44264853117506]]], "std": [[[0.23456335480645954]], [[0.2520766621611238]], [[0.264475566482467]]], "count": [139]}, "observation.images.left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5141690191964076]], [[0.40569180390981335]], [[0.36752053651196687]]], "std": [[[0.31211281326039775]], [[0.29654019011972316]], [[0.28490081362890307]]], "count": [139]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45462161643234433]], [[0.39749776257425434]], [[0.39369806311813293]]], "std": [[[0.15686497767865515]], [[0.1576236959292953]], [[0.18006940983259292]]], "count": [139]}, "timestamp": {"min": [0.0], "max": [24.166666666666668], "mean": [12.083333333333334], "std": [6.985931630122123], "count": [726]}, "frame_index": {"min": [0], "max": [725], "mean": [362.5], "std": [209.57794890366367], "count": [726]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [726]}, "index": {"min": [773], "max": [1498], "mean": [1135.5], "std": [209.57794890366367], "count": [726]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [726]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-45.87890625, 40.95703125, 18.28125, -114.697265625, -94.482421875, -9.350393295288086, -7.294921875, 100.986328125, 20.91796875, 5.888671875, -26.279296875, -3.408071756362915], "max": [37.96875, 148.0078125, 185.009765625, 3.427734375, -27.509765625, 22.834644317626953, -5.80078125, 106.435546875, 21.005859375, 5.888671875, -25.48828125, -3.408071756362915], "mean": [-8.157588958740234, 93.21409606933594, 99.59341430664062, -57.24241256713867, -69.4327392578125, -4.847401142120361, -6.934319019317627, 103.7212905883789, 20.954631805419922, 5.888671875, -26.00223159790039, -3.408079147338867], "std": [17.642427444458008, 29.09084129333496, 60.330169677734375, 42.41201400756836, 23.36924934387207, 9.064961433410645, 0.17621788382530212, 0.4079141914844513, 0.043337900191545486, 0.0, 0.08592748641967773, 7.3909759521484375e-06], "count": [525]}, "observation.state": {"min": [-44.033203125, 47.548828125, 19.3359375, -114.521484375, -94.306640625, -2.5568182468414307, -7.55859375, 103.271484375, 20.302734375, 6.15234375, -25.83984375, -0.9478673338890076], "max": [38.056640625, 147.919921875, 182.197265625, 1.845703125, -27.158203125, 22.65625, -6.240234375, 105.64453125, 20.478515625, 6.15234375, -25.400390625, -0.9478673338890076], "mean": [-7.932254314422607, 94.6222915649414, 98.20588684082031, -57.396095275878906, -69.4206771850586, 0.8758146166801453, -7.372433185577393, 104.14907836914062, 20.389955520629883, 6.15234375, -25.44559097290039, -0.9478700160980225], "std": [17.4526309967041, 27.947200775146484, 58.877567291259766, 43.07500076293945, 23.311431884765625, 6.508758068084717, 0.17697745561599731, 0.18587104976177216, 0.009372007101774216, 0.0, 0.06522579491138458, 2.682209014892578e-06], "count": [525]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9686274509803922]], [[0.9686274509803922]]], "mean": [[[0.5719273606613899]], [[0.5045221618846315]], [[0.43735437653654735]]], "std": [[[0.23521365289124313]], [[0.25333459388839524]], [[0.26586149353174404]]], "count": [109]}, "observation.images.left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.5092982232265996]], [[0.39121629714576966]], [[0.349137732730707]]], "std": [[[0.29566648181693833]], [[0.2808994573016106]], [[0.27137071119170153]]], "count": [109]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45836071885431035]], [[0.40159721722532027]], [[0.39552053476844357]]], "std": [[[0.1601720960851271]], [[0.15979681333827925]], [[0.1832126823684263]]], "count": [109]}, "timestamp": {"min": [0.0], "max": [17.466666666666665], "mean": [8.733333333333333], "std": [5.051805691110926], "count": [525]}, "frame_index": {"min": [0], "max": [524], "mean": [262.0], "std": [151.5541707333278], "count": [525]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [525]}, "index": {"min": [1499], "max": [2023], "mean": [1761.0], "std": [151.5541707333278], "count": [525]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [525]}}}
meta/info.json ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100_aloha",
4
+ "total_episodes": 3,
5
+ "total_frames": 2024,
6
+ "total_tasks": 1,
7
+ "total_videos": 9,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:3"
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
+ 12
21
+ ],
22
+ "names": [
23
+ "left_shoulder_pan",
24
+ "left_shoulder_lift",
25
+ "left_elbow_flex",
26
+ "left_wrist_flex",
27
+ "left_wrist_roll",
28
+ "left_gripper",
29
+ "right_shoulder_pan",
30
+ "right_shoulder_lift",
31
+ "right_elbow_flex",
32
+ "right_wrist_flex",
33
+ "right_wrist_roll",
34
+ "right_gripper"
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "left_shoulder_pan",
44
+ "left_shoulder_lift",
45
+ "left_elbow_flex",
46
+ "left_wrist_flex",
47
+ "left_wrist_roll",
48
+ "left_gripper",
49
+ "right_shoulder_pan",
50
+ "right_shoulder_lift",
51
+ "right_elbow_flex",
52
+ "right_wrist_flex",
53
+ "right_wrist_roll",
54
+ "right_gripper"
55
+ ]
56
+ },
57
+ "observation.images.right": {
58
+ "dtype": "video",
59
+ "shape": [
60
+ 240,
61
+ 320,
62
+ 3
63
+ ],
64
+ "names": [
65
+ "height",
66
+ "width",
67
+ "channels"
68
+ ],
69
+ "info": {
70
+ "video.fps": 30.0,
71
+ "video.height": 240,
72
+ "video.width": 320,
73
+ "video.channels": 3,
74
+ "video.codec": "h264",
75
+ "video.pix_fmt": "yuv420p",
76
+ "video.is_depth_map": false,
77
+ "has_audio": false
78
+ }
79
+ },
80
+ "observation.images.left": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 240,
84
+ 320,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channels"
91
+ ],
92
+ "info": {
93
+ "video.fps": 30.0,
94
+ "video.height": 240,
95
+ "video.width": 320,
96
+ "video.channels": 3,
97
+ "video.codec": "h264",
98
+ "video.pix_fmt": "yuv420p",
99
+ "video.is_depth_map": false,
100
+ "has_audio": false
101
+ }
102
+ },
103
+ "observation.images.overhead": {
104
+ "dtype": "video",
105
+ "shape": [
106
+ 360,
107
+ 640,
108
+ 3
109
+ ],
110
+ "names": [
111
+ "height",
112
+ "width",
113
+ "channels"
114
+ ],
115
+ "info": {
116
+ "video.fps": 30.0,
117
+ "video.height": 360,
118
+ "video.width": 640,
119
+ "video.channels": 3,
120
+ "video.codec": "h264",
121
+ "video.pix_fmt": "yuv420p",
122
+ "video.is_depth_map": false,
123
+ "has_audio": false
124
+ }
125
+ },
126
+ "timestamp": {
127
+ "dtype": "float32",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "frame_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ },
140
+ "episode_index": {
141
+ "dtype": "int64",
142
+ "shape": [
143
+ 1
144
+ ],
145
+ "names": null
146
+ },
147
+ "index": {
148
+ "dtype": "int64",
149
+ "shape": [
150
+ 1
151
+ ],
152
+ "names": null
153
+ },
154
+ "task_index": {
155
+ "dtype": "int64",
156
+ "shape": [
157
+ 1
158
+ ],
159
+ "names": null
160
+ }
161
+ }
162
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a block and put it in the bin."}
videos/chunk-000/observation.images.left/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd15557ab471838d851312056736b07b5716b5f2f062fee86f8f94817d72c3a4
3
+ size 874312
videos/chunk-000/observation.images.left/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9658c945f6997e341bf1b7e303580b7f25d55fd2a3566e01d77bf433381222ab
3
+ size 896842
videos/chunk-000/observation.images.left/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d8f134fd1f33c444604856ff4cdfec20ff3a780ca92bf30338fc83c4fa6c6469
3
+ size 649269
videos/chunk-000/observation.images.overhead/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bc074a870109142b2f68bd3b9116d5caba816b78fd1199b22b2900b591a55602
3
+ size 6579485
videos/chunk-000/observation.images.overhead/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1dd0a43659ead3aff5f7c74f2edf8a6c28a8ef2cc741c4f7c970967eae1eac33
3
+ size 6173080
videos/chunk-000/observation.images.overhead/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d379101ef0b22b14d30dda878b513d42adfb25cf874df547bac87a1a0b55b80d
3
+ size 4619001
videos/chunk-000/observation.images.right/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a6c26384b682da019e674ba24091dc56ea5e358294d91408692d867a0c1a65a2
3
+ size 749361
videos/chunk-000/observation.images.right/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:554dc85e69b85a74a5ac67738641acabedb75dbb414edededc23dbf1793d0ad0
3
+ size 694163
videos/chunk-000/observation.images.right/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4c8f9f8004d940c27a9d91423a62af4582d5b3403f6c033ef617e2a95a20edf
3
+ size 504993