Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06a42820ca1641cc12b4767d1278c0aad2468a942e9614f80f0c5029446f9753
+size 8460

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e09edbf454e0d3559d1f1abf78fd14d4e7aee80ecef92032a566b4551c6081dd
+size 8251

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b235626fc060447cab1e818c8a724ae052f2d2a43a080ffde369f8760a4ff3ee
+size 12486

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:825fb57ef50a15dafc0ee610d51b8adacc6665870c9404822323f0e446b8777c
+size 10760

meta/episodes.jsonl

@@ -0,0 +1,4 @@
+{"episode_index": 0, "tasks": [""], "length": 66}
+{"episode_index": 1, "tasks": [""], "length": 64}
+{"episode_index": 2, "tasks": [""], "length": 122}
+{"episode_index": 3, "tasks": [""], "length": 99}

meta/episodes_stats.jsonl

@@ -0,0 +1,4 @@
+{"episode_index": 0, "stats": {"action": {"min": [-4.9095258712768555, 53.39844512939453, 57.917327880859375, 17.246410369873047, 70.57492065429688, -2.6009578704833984], "max": [20.377147674560547, 150.36068725585938, 145.90818786621094, 94.89673614501953, 103.58904266357422, 36.843841552734375], "mean": [10.449702262878418, 89.44567108154297, 88.43656158447266, 58.17715072631836, 90.08769226074219, 20.092117309570312], "std": [8.019905090332031, 29.211139678955078, 27.72834587097168, 28.569629669189453, 11.500259399414062, 16.224285125732422], "count": [66]}, "observation.state": {"min": [-4.130859375, 53.61328125, 61.171875, 19.6875, 71.54296875, 2.0847342014312744], "max": [19.951171875, 149.150390625, 143.876953125, 91.23046875, 102.744140625, 36.18022918701172], "mean": [10.622780799865723, 88.80815124511719, 91.85236358642578, 57.8892936706543, 89.63245391845703, 19.34951400756836], "std": [7.477903842926025, 31.155298233032227, 27.617799758911133, 26.68031883239746, 10.99733829498291, 13.795074462890625], "count": [66]}, "observation.images.wrist": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4184271545107942]], [[0.39243039772727273]], [[0.3689289679887106]]], "std": [[[0.24720433990247534]], [[0.26365204921399943]], [[0.2770892529734719]]], "count": [66]}, "observation.images.scene": {"min": [[[0.0]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39996659301346804]], [[0.4060579601158645]], [[0.41532926693404637]]], "std": [[[0.24823890926099504]], [[0.2104339852599485]], [[0.2062018631070939]]], "count": [66]}, "timestamp": {"min": [0.0], "max": [2.1666666666666665], "mean": [1.0833333333333335], "std": [0.635012394163091], "count": [66]}, "frame_index": {"min": [0], "max": [65], "mean": [32.5], "std": [19.05037182489273], "count": [66]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [66]}, "index": {"min": [0], "max": [65], "mean": [32.5], "std": [19.05037182489273], "count": [66]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [66]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-22.08340835571289, 54.24767303466797, 50.50358200073242, 12.840808868408203, 81.17486572265625, -2.5087890625], "max": [-0.870786190032959, 148.3280792236328, 143.87152099609375, 98.63624572753906, 103.54351806640625, 39.19426727294922], "mean": [-9.997964859008789, 91.10494995117188, 86.95183563232422, 61.70047378540039, 92.05197143554688, 22.808425903320312], "std": [5.30614709854126, 28.253992080688477, 25.85240364074707, 32.598331451416016, 6.854874134063721, 16.599519729614258], "count": [64]}, "observation.state": {"min": [-21.26953125, 54.755859375, 55.72265625, 15.205078125, 82.08984375, 2.1519837379455566], "max": [-0.3515625, 146.689453125, 142.20703125, 97.20703125, 101.865234375, 38.60121154785156], "mean": [-9.317779541015625, 90.20736694335938, 90.0, 61.008453369140625, 91.5875244140625, 20.825279235839844], "std": [5.50200080871582, 30.082761764526367, 26.01434326171875, 30.736862182617188, 6.3211750984191895, 14.265402793884277], "count": [64]}, "observation.images.wrist": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4485929425806781]], [[0.4189632448682598]], [[0.39622311900020424]]], "std": [[[0.2548321547046944]], [[0.27146175546695417]], [[0.28608144714090594]]], "count": [64]}, "observation.images.scene": {"min": [[[0.0]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4037441789215686]], [[0.41933204082414216]], [[0.43008435776654413]]], "std": [[[0.2562381738271161]], [[0.21529073124130288]], [[0.2100039396195508]]], "count": [64]}, "timestamp": {"min": [0.0], "max": [2.1], "mean": [1.05], "std": [0.6157651067303722], "count": [64]}, "frame_index": {"min": [0], "max": [63], "mean": [31.5], "std": [18.472953201911167], "count": [64]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [64]}, "index": {"min": [66], "max": [129], "mean": [97.5], "std": [18.472953201911167], "count": [64]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [64]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-3.9232358932495117, 46.24345779418945, 36.89094543457031, 27.09800148010254, 65.01327514648438, -2.0807456970214844], "max": [17.26688575744629, 149.11634826660156, 143.911865234375, 88.10308837890625, 102.22430419921875, 37.07916259765625], "mean": [7.049521446228027, 103.13162994384766, 93.44707489013672, 59.19785690307617, 87.2225341796875, 22.123022079467773], "std": [6.901529312133789, 31.76959991455078, 25.28876495361328, 20.195775985717773, 10.046958923339844, 13.63930892944336], "count": [122]}, "observation.state": {"min": [-3.1640625, 46.23046875, 45.17578125, 28.916015625, 66.181640625, -0.6052454710006714], "max": [17.05078125, 147.568359375, 142.998046875, 86.923828125, 100.72265625, 36.58372497558594], "mean": [6.498142719268799, 105.75835418701172, 98.525390625, 61.050846099853516, 87.50808715820312, 22.153743743896484], "std": [6.889418125152588, 30.655109405517578, 21.834007263183594, 19.135461807250977, 9.682049751281738, 12.720977783203125], "count": [122]}, "observation.images.wrist": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44710810049019606]], [[0.42680329044117643]], [[0.41093560457516337]]], "std": [[[0.2238676015809962]], [[0.23896012269659772]], [[0.253118640853]]], "count": [100]}, "observation.images.scene": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40425515522875816]], [[0.41536883169934635]], [[0.42597480187908493]]], "std": [[[0.2507233585239866]], [[0.21272976385723305]], [[0.20778320149404694]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.033333333333333], "mean": [2.0166666666666666], "std": [1.1739061101960222], "count": [122]}, "frame_index": {"min": [0], "max": [121], "mean": [60.5], "std": [35.21718330588067], "count": [122]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [122]}, "index": {"min": [130], "max": [251], "mean": [190.5], "std": [35.21718330588067], "count": [122]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [122]}}}
+{"episode_index": 3, "stats": {"action": {"min": [-22.116146087646484, 54.93549728393555, 48.583984375, 10.288333892822266, 84.10340881347656, -2.1310176849365234], "max": [-1.147834300994873, 147.1776885986328, 144.02139282226562, 100.56486511230469, 103.62892150878906, 39.538352966308594], "mean": [-11.39664077758789, 101.1160659790039, 90.09202575683594, 67.12210083007812, 93.47938537597656, 26.732759475708008], "std": [4.171596527099609, 25.895917892456055, 21.822628021240234, 29.39253807067871, 4.705920696258545, 14.284042358398438], "count": [99]}, "observation.state": {"min": [-21.533203125, 54.404296875, 53.7890625, 12.83203125, 84.990234375, 2.1519837379455566], "max": [0.0, 146.162109375, 142.03125, 99.66796875, 102.041015625, 39.206459045410156], "mean": [-10.9765625, 100.52912139892578, 92.54084014892578, 67.080078125, 93.33984375, 25.28445053100586], "std": [4.536311626434326, 27.55988311767578, 21.91106605529785, 27.47751808166504, 4.4493560791015625, 13.615796089172363], "count": [99]}, "observation.images.wrist": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4162437735195088]], [[0.3932068788373935]], [[0.3802857042648709]]], "std": [[[0.23848582571823976]], [[0.25602810244940666]], [[0.2732537208994843]]], "count": [99]}, "observation.images.scene": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38114446342510067]], [[0.409605765580643]], [[0.4287946684987126]]], "std": [[[0.258654124803068]], [[0.21725629423792825]], [[0.21664480062304228]]], "count": [99]}, "timestamp": {"min": [0.0], "max": [3.2666666666666666], "mean": [1.6333333333333329], "std": [0.9525793444156805], "count": [99]}, "frame_index": {"min": [0], "max": [98], "mean": [49.0], "std": [28.577380332470412], "count": [99]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [99]}, "index": {"min": [252], "max": [350], "mean": [301.0], "std": [28.577380332470412], "count": [99]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [99]}}}

meta/info.json

@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 4,
+    "total_frames": 351,
+    "total_tasks": 1,
+    "total_videos": 8,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:4"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.scene": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": ""}

videos/chunk-000/observation.images.scene/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f5d14c37962899f36204207e87a0611e8d636be95ef92e783f8a1e7180ba1ca
+size 786944

videos/chunk-000/observation.images.scene/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d4c425594e6f319fef5cf84920b9b7cf4aa6915d040c7a8598eae209d575a2f
+size 714631

videos/chunk-000/observation.images.scene/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07dbdb46c9b7ad781582dcb181a3d31667fdf9aa46abe88455e54da8b825c81d
+size 1457305

videos/chunk-000/observation.images.scene/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b47a0f944e6a7a4499b6cfe38001b7116f2129ea7cd4a0bc0fad7e3f66c962b0
+size 1144660

videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c58e4678044b9a343d7c889666659117abbde6fd14fb41e7d2a048d8433be5
+size 133485

videos/chunk-000/observation.images.wrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4228cb04c2041ccca786a867d680f0b60f0a4bd1416e13b9be0af2974fd2282
+size 133234

videos/chunk-000/observation.images.wrist/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf0163409cf78c19d629db90354c133a981cb421c092dd4f07c0099f86fe94a
+size 233476

videos/chunk-000/observation.images.wrist/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8e66918996ef5d5e9014973cda1cd5b01185e3fb7be1a7b1a457c4df3cb70ec
+size 202663