Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +131 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.base_camera/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.base_camera/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.base_camera/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.wrist_camera/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist_camera/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist_camera/episode_000002.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7ae1c8e12251ce2272d119e1c3a0c2fb229f93a88151373a2f7279cd9e608890
|
| 3 |
+
size 11340
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8238c0be26644897fc665039e71b7397be1738b1c3c0278f5e7a9328de927e85
|
| 3 |
+
size 19089
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4a31da16d3575444c069049db9b0f0814593586c4d5f1bace182987e5754d77a
|
| 3 |
+
size 9489
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": [""], "length": 58}
|
| 2 |
+
{"episode_index": 1, "tasks": [""], "length": 113}
|
| 3 |
+
{"episode_index": 2, "tasks": [""], "length": 52}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [0.0491027265696932, -0.11351457828819907, -0.17640778904080143, -1.7824703356994362, -0.37876848316666256, 1.7303303287350031, -0.019941745640726195, 0.4369419642857169], "max": [0.14877986854315037, -0.03528155812167825, -0.05062136600022615, -1.6766410011590058, 0.3420391716496974, 1.8975342346140716, 0.0030679615604333158, 0.4453124979073641], "mean": [0.09860835642585467, -0.06552571782122149, -0.11441834998709415, -1.7335914431232904, -0.07435853254251565, 1.829454553656401, -0.007958426945187136, 0.44119902749011075], "std": [0.03634002194447863, 0.02907943281495473, 0.04071679022910724, 0.03841354391269423, 0.18112328509134698, 0.05151420664682901, 0.007732192158583585, 0.002015274159410838], "count": [58]}, "observation.state": {"min": [0.0468285009264946, -0.09863905608654022, -0.17197121679782867, -1.7535796165466309, -0.341164231300354, 1.7099062204360962, -0.011561954393982887, 0.5575134522385068], "max": [0.1518719494342804, -0.027466852217912674, -0.051933374255895615, -1.6575134992599487, 0.29242104291915894, 1.864316463470459, -0.003129752352833748, 0.5658345503939523], "mean": [0.09266290306274233, -0.04816396935875046, -0.10771596149123948, -1.709543963958477, -0.08258025829905066, 1.8031751780674374, -0.006620210238154335, 0.5611001460374088], "std": [0.03705288605334118, 0.024652849228648653, 0.03888418724677926, 0.036667600770543485, 0.15682007069962628, 0.05300741257413122, 0.0023871302599838234, 0.002374808157330989], "count": [58]}, "observation.images.wrist_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4638503775073248]], [[0.43368064946285023]], [[0.38975742337164754]]], "std": [[[0.2611403217430839]], [[0.2805321118631487]], [[0.274844826993455]]], "count": [58]}, "observation.images.base_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9803921568627451]], [[0.9764705882352941]]], "mean": [[[0.4853698163173315]], [[0.476449430921794]], [[0.46609750394410643]]], "std": [[[0.20189469630716578]], [[0.21076893926042967]], [[0.21269985539487293]]], "count": [58]}, "timestamp": {"min": [0.0], "max": [3.8], "mean": [1.9], "std": [1.1160446028522137], "count": [58]}, "frame_index": {"min": [0], "max": [57], "mean": [28.5], "std": [16.740669042783207], "count": [58]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [58]}, "index": {"min": [0], "max": [57], "mean": [28.5], "std": [16.740669042783207], "count": [58]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [58]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [0.13807376411566563, -0.21782527187976086, -0.5384272565478598, -1.9619140183111141, -0.2576932791577484, 1.6827784771177772, -0.3880817963625703, 0.43066428013392904], "max": [0.42337869742528633, 0.2960582920619257, -0.17640779060684864, -1.8008934464963837, -0.05067156863643296, 2.0938836220337564, -0.010737865515201249, 0.9956750139709759], "mean": [0.24970264594463232, 0.036512637008796, -0.4342998947239754, -1.8951292579583912, -0.19765247152304624, 1.9213071659930543, -0.24340971841281678, 0.5992945895077931], "std": [0.10546025280410441, 0.17933321174306055, 0.11209265037857731, 0.05926493207411817, 0.08062017883147218, 0.14629779743765595, 0.14532684935800874, 0.22204623523889283], "count": [113]}, "observation.state": {"min": [0.1262720376253128, -0.21929922699928284, -0.5326059460639954, -1.9709815979003906, -0.24906666576862335, 1.6970884799957275, -0.37380069494247437, 0.06656876972152127], "max": [0.42738115787506104, 0.2960822582244873, -0.1760016679763794, -1.7810872793197632, -0.04040808230638504, 2.069323778152466, -0.008134705945849419, 0.5699951201677322], "mean": [0.24073722905817285, 0.042784705170867056, -0.42760785728429274, -1.8928599442000937, -0.19336173993296327, 1.9231765882103844, -0.24148951540082958, 0.414250689927734], "std": [0.1084326292369331, 0.1783969936487337, 0.11637248578757109, 0.06256019936888063, 0.074365840444744, 0.1376390975487403, 0.145593378948953, 0.20560674604868429], "count": [113]}, "observation.images.wrist_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4628483224400871]], [[0.41463273692810454]], [[0.37560585511982575]]], "std": [[[0.28146880354108755]], [[0.2981927469855274]], [[0.2971671200172354]]], "count": [100]}, "observation.images.base_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[0.996078431372549]], [[1.0]]], "mean": [[[0.4807681835511982]], [[0.47082080610021787]], [[0.46022758442265793]]], "std": [[[0.2017756177891352]], [[0.21087699602197804]], [[0.2131010738209888]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.466666666666667], "mean": [3.733333333333333], "std": [2.174600857373345], "count": [113]}, "frame_index": {"min": [0], "max": [112], "mean": [56.0], "std": [32.61901286060018], "count": [113]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [113]}, "index": {"min": [58], "max": [170], "mean": [114.0], "std": [32.61901286060018], "count": [113]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [113]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"action": {"min": [0.2577087708459913, -0.2147573103039897, -0.28685440733461487, -1.9542915237509653, -0.0674951546669682, 1.7303303287043237, -0.10431069357622391, 0.6378348235212098], "max": [0.2745672212083107, 0.02761148531716812, -0.28685440733461487, -1.9220779272207085, -0.06289321383729203, 1.7993441243821302, -0.10125807180848456, 0.644112723214286], "mean": [0.2698003460981901, -0.13701505670256167, -0.28685440733461526, -1.9430768965457683, -0.06604966979093066, 1.7751271565720848, -0.10324870687691835, 0.6432273780906589], "std": [0.0030797886311430493, 0.08153184810478274, 3.885780586188048e-16, 0.00957413789406748, 0.0015449644264248486, 0.027283756323928498, 0.0007669053446342468, 0.0018943405572306427], "count": [52]}, "observation.state": {"min": [0.2515087127685547, -0.212617427110672, -0.28655776381492615, -1.9738245010375977, -0.05428943410515785, 1.7369328737258911, -0.101729616522789, 0.35780713789992863], "max": [0.2683242857456207, 0.036927156150341034, -0.2850498855113983, -1.9208546876907349, -0.05252766236662865, 1.8028101921081543, -0.10169433802366257, 0.36612823605537415], "mean": [0.26481576091968095, -0.13101400908691666, -0.2856956049799919, -1.9399951444222376, -0.053258473913256936, 1.7747556498417487, -0.10171514205061473, 0.3588472779553673], "std": [0.0047208636949394745, 0.08058106898210594, 0.000623051347579865, 0.016479706955128168, 0.0007976540390994427, 0.02883096494776724, 7.141043303883784e-06, 0.002289760064768685], "count": [52]}, "observation.images.wrist_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.984313725490196]]], "mean": [[[0.5453111016842634]], [[0.4798181927685604]], [[0.4265492867018602]]], "std": [[[0.2767524997490471]], [[0.30972085001177074]], [[0.31868047311656483]]], "count": [52]}, "observation.images.base_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[0.996078431372549]], [[0.996078431372549]]], "mean": [[[0.49352298055974525]], [[0.47888888888888886]], [[0.4662012893832747]]], "std": [[[0.2022933913149311]], [[0.2127562397697525]], [[0.21712248765040879]]], "count": [52]}, "timestamp": {"min": [0.0], "max": [3.4], "mean": [1.6999999999999997], "std": [1.0005554013202422], "count": [52]}, "frame_index": {"min": [0], "max": [51], "mean": [25.5], "std": [15.008331019803634], "count": [52]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [52]}, "index": {"min": [171], "max": [222], "mean": [196.5], "std": [15.008331019803634], "count": [52]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [52]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,131 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "Franka",
|
| 4 |
+
"total_episodes": 3,
|
| 5 |
+
"total_frames": 223,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 6,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 15,
|
| 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": "float64",
|
| 19 |
+
"shape": [
|
| 20 |
+
8
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"joint_0",
|
| 24 |
+
"joint_1",
|
| 25 |
+
"joint_2",
|
| 26 |
+
"joint_3",
|
| 27 |
+
"joint_4",
|
| 28 |
+
"joint_5",
|
| 29 |
+
"joint_6",
|
| 30 |
+
"gripper"
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"observation.state": {
|
| 34 |
+
"dtype": "float64",
|
| 35 |
+
"shape": [
|
| 36 |
+
8
|
| 37 |
+
],
|
| 38 |
+
"names": [
|
| 39 |
+
"joint_0",
|
| 40 |
+
"joint_1",
|
| 41 |
+
"joint_2",
|
| 42 |
+
"joint_3",
|
| 43 |
+
"joint_4",
|
| 44 |
+
"joint_5",
|
| 45 |
+
"joint_6",
|
| 46 |
+
"joint_7"
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"observation.images.wrist_camera": {
|
| 50 |
+
"shape": [
|
| 51 |
+
720,
|
| 52 |
+
1280,
|
| 53 |
+
3
|
| 54 |
+
],
|
| 55 |
+
"names": [
|
| 56 |
+
"height",
|
| 57 |
+
"width",
|
| 58 |
+
"channels"
|
| 59 |
+
],
|
| 60 |
+
"info": {
|
| 61 |
+
"video.height": 720,
|
| 62 |
+
"video.width": 1280,
|
| 63 |
+
"video.codec": "av1",
|
| 64 |
+
"video.pix_fmt": "yuv420p",
|
| 65 |
+
"video.is_depth_map": false,
|
| 66 |
+
"video.fps": 15,
|
| 67 |
+
"video.channels": 3,
|
| 68 |
+
"has_audio": false
|
| 69 |
+
},
|
| 70 |
+
"dtype": "video"
|
| 71 |
+
},
|
| 72 |
+
"observation.images.base_camera": {
|
| 73 |
+
"shape": [
|
| 74 |
+
720,
|
| 75 |
+
1280,
|
| 76 |
+
3
|
| 77 |
+
],
|
| 78 |
+
"names": [
|
| 79 |
+
"height",
|
| 80 |
+
"width",
|
| 81 |
+
"channels"
|
| 82 |
+
],
|
| 83 |
+
"info": {
|
| 84 |
+
"video.height": 720,
|
| 85 |
+
"video.width": 1280,
|
| 86 |
+
"video.codec": "av1",
|
| 87 |
+
"video.pix_fmt": "yuv420p",
|
| 88 |
+
"video.is_depth_map": false,
|
| 89 |
+
"video.fps": 15,
|
| 90 |
+
"video.channels": 3,
|
| 91 |
+
"has_audio": false
|
| 92 |
+
},
|
| 93 |
+
"dtype": "video"
|
| 94 |
+
},
|
| 95 |
+
"timestamp": {
|
| 96 |
+
"dtype": "float32",
|
| 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 |
+
"episode_index": {
|
| 110 |
+
"dtype": "int64",
|
| 111 |
+
"shape": [
|
| 112 |
+
1
|
| 113 |
+
],
|
| 114 |
+
"names": null
|
| 115 |
+
},
|
| 116 |
+
"index": {
|
| 117 |
+
"dtype": "int64",
|
| 118 |
+
"shape": [
|
| 119 |
+
1
|
| 120 |
+
],
|
| 121 |
+
"names": null
|
| 122 |
+
},
|
| 123 |
+
"task_index": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"names": null
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
videos/chunk-000/observation.images.base_camera/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:92bbe39cf6b3a9f1bf0d6952de48661a0aef712f34dcbbbda8741315d2450b77
|
| 3 |
+
size 941569
|
videos/chunk-000/observation.images.base_camera/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b06f913c0b008e398534fb406dad239dcff4ef2720862a7b05031d5a6b169732
|
| 3 |
+
size 1940076
|
videos/chunk-000/observation.images.base_camera/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1512acc378d89451ba3fa6d8b76f9205c4dcfedee22e0edf8cb049f2a5856376
|
| 3 |
+
size 1120040
|
videos/chunk-000/observation.images.wrist_camera/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aa8fcd1ee4f4f0d530a49184bfa22fbc1d063bc4ed3e246f0fc363e968f4d4f5
|
| 3 |
+
size 842191
|
videos/chunk-000/observation.images.wrist_camera/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cc9d6bff1dcb06c124d73391f118029b94f6c1a3075e0e8da50275d5b57e9983
|
| 3 |
+
size 1712676
|
videos/chunk-000/observation.images.wrist_camera/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ff9829c812459f045bf6e769f3ec878d0640ae6955af2f495dfbc24727b29e42
|
| 3 |
+
size 875235
|