DuckZH commited on
Commit
c2bb376
·
verified ·
1 Parent(s): d3495fc

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 sha256:8b83244def132656702ab735ef7cec30683a98c5c89277358d1708e9f7a5f17d
3
+ size 68019
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6267b851074b99fb8676605899b739d20217438d23316178ce9d7922f498d8d6
3
+ size 69188
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a red box."], "length": 1231}
2
+ {"episode_index": 1, "tasks": ["Grasp a red box."], "length": 1189}
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "lebai",
4
+ "total_episodes": 2,
5
+ "total_frames": 2420,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
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
+ 7
21
+ ],
22
+ "names": [
23
+ "main_joint_1",
24
+ "main_joint_2",
25
+ "main_joint_3",
26
+ "main_joint_4",
27
+ "main_joint_5",
28
+ "main_joint_6",
29
+ "main_gripper"
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "shape": [
35
+ 7
36
+ ],
37
+ "names": [
38
+ "main_joint_1",
39
+ "main_joint_2",
40
+ "main_joint_3",
41
+ "main_joint_4",
42
+ "main_joint_5",
43
+ "main_joint_6",
44
+ "main_gripper"
45
+ ]
46
+ },
47
+ "observation.images.wrist": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.fps": 30.0,
61
+ "video.height": 480,
62
+ "video.width": 640,
63
+ "video.channels": 3,
64
+ "video.codec": "h264",
65
+ "video.pix_fmt": "yuv420p",
66
+ "video.is_depth_map": false,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.top": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.fps": 30.0,
84
+ "video.height": 480,
85
+ "video.width": 640,
86
+ "video.channels": 3,
87
+ "video.codec": "h264",
88
+ "video.pix_fmt": "yuv420p",
89
+ "video.is_depth_map": false,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "timestamp": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "frame_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "task_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ }
128
+ }
129
+ }
meta/stats.json ADDED
@@ -0,0 +1,288 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 3.79793643951416,
5
+ -1.6344131231307983,
6
+ -2.2860257625579834,
7
+ -2.313802480697632,
8
+ -1.0042098760604858,
9
+ 0.028904780745506287,
10
+ 58.842960357666016
11
+ ],
12
+ "std": [
13
+ 0.31582164764404297,
14
+ 0.31570354104042053,
15
+ 0.2648829221725464,
16
+ 0.22057893872261047,
17
+ 0.3306433856487274,
18
+ 0.05973540246486664,
19
+ 49.2118034362793
20
+ ],
21
+ "max": [
22
+ 4.13932466506958,
23
+ -1.2676506042480469,
24
+ -1.7570621967315674,
25
+ -2.0328431129455566,
26
+ -0.6055322289466858,
27
+ 0.15734586119651794,
28
+ 100.0
29
+ ],
30
+ "min": [
31
+ 3.1415927410125732,
32
+ -2.3196115493774414,
33
+ -2.561666965484619,
34
+ -2.75704288482666,
35
+ -1.7296591997146606,
36
+ -0.08550822734832764,
37
+ 0.0
38
+ ]
39
+ },
40
+ "observation.state": {
41
+ "mean": [
42
+ 216070.734375,
43
+ -93679.9140625,
44
+ -130055.3125,
45
+ -133252.75,
46
+ -59285.2265625,
47
+ 1877.3355712890625,
48
+ 69.82931518554688
49
+ ],
50
+ "std": [
51
+ 18068.7421875,
52
+ 18483.474609375,
53
+ 15163.9052734375,
54
+ 12758.94921875,
55
+ 18893.91015625,
56
+ 3372.21826171875,
57
+ 37.17410659790039
58
+ ],
59
+ "max": [
60
+ 236391.8125,
61
+ -72656.4609375,
62
+ -101174.9453125,
63
+ -117965.078125,
64
+ -36586.5390625,
65
+ 8188.9658203125,
66
+ 99.0
67
+ ],
68
+ "min": [
69
+ 180047.328125,
70
+ -133078.9375,
71
+ -146587.984375,
72
+ -158085.515625,
73
+ -99196.40625,
74
+ -4132.95458984375,
75
+ 0.0
76
+ ]
77
+ },
78
+ "observation.images.wrist": {
79
+ "mean": [
80
+ [
81
+ [
82
+ 0.5691705942153931
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.5458125472068787
88
+ ]
89
+ ],
90
+ [
91
+ [
92
+ 0.5525022149085999
93
+ ]
94
+ ]
95
+ ],
96
+ "std": [
97
+ [
98
+ [
99
+ 0.21624046564102173
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.2296479493379593
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.22628247737884521
110
+ ]
111
+ ]
112
+ ],
113
+ "max": [
114
+ [
115
+ [
116
+ 1.0
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 1.0
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 1.0
127
+ ]
128
+ ]
129
+ ],
130
+ "min": [
131
+ [
132
+ [
133
+ 0.0
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.0
139
+ ]
140
+ ],
141
+ [
142
+ [
143
+ 0.0
144
+ ]
145
+ ]
146
+ ]
147
+ },
148
+ "observation.images.top": {
149
+ "mean": [
150
+ [
151
+ [
152
+ 0.4736083745956421
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.5480169653892517
158
+ ]
159
+ ],
160
+ [
161
+ [
162
+ 0.541008472442627
163
+ ]
164
+ ]
165
+ ],
166
+ "std": [
167
+ [
168
+ [
169
+ 0.2658737301826477
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 0.23266208171844482
175
+ ]
176
+ ],
177
+ [
178
+ [
179
+ 0.22902855277061462
180
+ ]
181
+ ]
182
+ ],
183
+ "max": [
184
+ [
185
+ [
186
+ 1.0
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 1.0
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 1.0
197
+ ]
198
+ ]
199
+ ],
200
+ "min": [
201
+ [
202
+ [
203
+ 0.0
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.0
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.0
214
+ ]
215
+ ]
216
+ ]
217
+ },
218
+ "timestamp": {
219
+ "mean": [
220
+ 20.15608024597168
221
+ ],
222
+ "std": [
223
+ 11.653741836547852
224
+ ],
225
+ "max": [
226
+ 41.0
227
+ ],
228
+ "min": [
229
+ 0.0
230
+ ]
231
+ },
232
+ "frame_index": {
233
+ "mean": [
234
+ 604.682373046875
235
+ ],
236
+ "std": [
237
+ 349.6122131347656
238
+ ],
239
+ "max": [
240
+ 1230.0
241
+ ],
242
+ "min": [
243
+ 0.0
244
+ ]
245
+ },
246
+ "episode_index": {
247
+ "mean": [
248
+ 0.4913220703601837
249
+ ],
250
+ "std": [
251
+ 0.4999246895313263
252
+ ],
253
+ "max": [
254
+ 1.0
255
+ ],
256
+ "min": [
257
+ 0.0
258
+ ]
259
+ },
260
+ "index": {
261
+ "mean": [
262
+ 1209.5001220703125
263
+ ],
264
+ "std": [
265
+ 698.59375
266
+ ],
267
+ "max": [
268
+ 2419.0
269
+ ],
270
+ "min": [
271
+ 0.0
272
+ ]
273
+ },
274
+ "task_index": {
275
+ "mean": [
276
+ 0.0
277
+ ],
278
+ "std": [
279
+ 0.0
280
+ ],
281
+ "max": [
282
+ 0.0
283
+ ],
284
+ "min": [
285
+ 0.0
286
+ ]
287
+ }
288
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a red box."}
videos/chunk-000/observation.images.top/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e1672374d36f78e5e70416035226268d62fdb07407f148229ad0cfaf61fca921
3
+ size 17245760
videos/chunk-000/observation.images.top/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:478c55822d3e7f90ea3fc41a29ca8d9f7fce5613b4b9485971885bc4d9c5590a
3
+ size 16811219
videos/chunk-000/observation.images.wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fba6dedc72411f94ff471ff25a9b678590373e74376c16bd4b5916462b4c763f
3
+ size 12556227
videos/chunk-000/observation.images.wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:97bb1c581e2b65fc3679f6c9b9da3e625ed982f8f5bbbb5456acb97539613e45
3
+ size 12193472