EvanMath commited on
Commit
16ef88c
·
verified ·
1 Parent(s): 34130c4

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:d49a4bb56064a6285ef2ce6f77e4535a530de194c80ad00bb7c4df3d958fd844
3
+ size 26529
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c7e1ecd75b30ea5ef81ecf82711b08ce519737f79af09fd71f92c0fe82aa212a
3
+ size 24417
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the pen"], "length": 333}
2
+ {"episode_index": 1, "tasks": ["Grab the pen"], "length": 308}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-8.33705997467041, -91.16094970703125, -39.425655364990234, 43.507720947265625, -8.678047180175781, 1.0653576850891113], "max": [14.54897403717041, 25.967247009277344, 81.68852233886719, 78.21977996826172, 0.777219295501709, 25.104171752929688], "mean": [-2.0204813480377197, -15.96406364440918, 18.234743118286133, 66.5798110961914, -4.072968482971191, 7.8759846687316895], "std": [5.6075897216796875, 27.843313217163086, 27.388517379760742, 8.115593910217285, 2.60929274559021, 8.668573379516602], "count": [333]}, "observation.state": {"min": [-8.140610694885254, -87.35042572021484, -34.456077575683594, 44.42988204956055, -8.55194091796875, 1.0518933534622192], "max": [14.061054229736328, 23.33333396911621, 81.0650863647461, 77.98165130615234, 0.7345225811004639, 24.824684143066406], "mean": [-1.997927188873291, -15.392313957214355, 20.526891708374023, 66.53089141845703, -4.030261039733887, 7.4973978996276855], "std": [5.5555806159973145, 27.715496063232422, 26.876989364624023, 7.9911041259765625, 2.5192553997039795, 8.291414260864258], "count": [333]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5030019995915033]], [[0.4908460825163399]], [[0.49330857434640524]]], "std": [[[0.20341633501455345]], [[0.2073300994668941]], [[0.2181062631407815]]], "count": [100]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5639927308006536]], [[0.6772117258986928]], [[0.637547614379085]]], "std": [[[0.18393437880353225]], [[0.20818979493626646]], [[0.19313783403237272]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.066666666666666], "mean": [5.533333333333333], "std": [3.2042795457649147], "count": [333]}, "frame_index": {"min": [0], "max": [332], "mean": [166.0], "std": [96.12838637294743], "count": [333]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [333]}, "index": {"min": [0], "max": [332], "mean": [166.0], "std": [96.12838637294743], "count": [333]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [333]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-6.542224884033203, -100.77052307128906, -76.2646484375, 39.96328353881836, -15.26633358001709, 1.1156558990478516], "max": [24.988197326660156, 44.110107421875, 92.17911529541016, 100.55638122558594, 1.1685667037963867, 26.299299240112305], "mean": [2.077018976211548, -16.077543258666992, 10.462851524353027, 68.62345123291016, -4.535325050354004, 6.580555438995361], "std": [8.788827896118164, 48.56132125854492, 49.4481315612793, 16.003786087036133, 5.358260154724121, 8.661487579345703], "count": [308]}, "observation.state": {"min": [-6.753006458282471, -100.0, -73.6003646850586, 40.58540725708008, -15.110177993774414, 0.8415147066116333], "max": [24.699352264404297, 44.44444274902344, 92.8083724975586, 99.73787689208984, 0.7345225811004639, 25.80645179748535], "mean": [1.979588508605957, -14.817444801330566, 12.543675422668457, 69.04534912109375, -4.5766377449035645, 6.932473659515381], "std": [8.744662284851074, 49.69944763183594, 49.560306549072266, 15.738288879394531, 5.210290431976318, 8.270349502563477], "count": [308]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4885015053104575]], [[0.47796061274509805]], [[0.4811942769607843]]], "std": [[[0.2108982293680245]], [[0.21276819857107296]], [[0.22142705435706483]]], "count": [100]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5552565277777778]], [[0.6669898059640523]], [[0.6304751776960784]]], "std": [[[0.1823669074609403]], [[0.20610864610965113]], [[0.1932219504664188]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [10.233333333333333], "mean": [5.116666666666667], "std": [2.9637157608500706], "count": [308]}, "frame_index": {"min": [0], "max": [307], "mean": [153.5], "std": [88.9114728255021], "count": [308]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [308]}, "index": {"min": [333], "max": [640], "mean": [486.5], "std": [88.9114728255021], "count": [308]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [308]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 641,
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
+ 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.above": {
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 the pen"}
videos/chunk-000/observation.images.above/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:863f8f45919d5e779d6108863e420e3aab65aa54a3533a2fb30a79f9ff786937
3
+ size 1503220
videos/chunk-000/observation.images.above/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f57dd7fe1c079493ada38aebf947f8a6230d4284c9f40eff415a2caee259025f
3
+ size 1368437
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:b6b2384db056633a74e08bebbee16085b2932ff92b7d1374a8282267b11c979b
3
+ size 2204233
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 sha256:08b2861801524f2dad80c0683606286467a3388c256aeadc67f18035afca2a4f
3
+ size 2308926