JisooSong commited on
Commit
9d5490d
·
verified ·
1 Parent(s): fc3e203

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:c15498b607b2429976ea76dc2402464d62ade8df23d4a5831954953de188815c
3
+ size 8044
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:776f885822a5f733f3418f02b97a1153c5f97a5dc4c80dba61640ce3f5cd7d55
3
+ size 7530
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the box"], "length": 147}
2
+ {"episode_index": 1, "tasks": ["Grab the box"], "length": 115}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [11.916264533996582, -97.73680114746094, 79.61383056640625, 64.69071960449219, -2.3439557552337646, 0.07570022344589233], "max": [12.560386657714844, -97.6529769897461, 94.07274627685547, 73.79724884033203, -1.7645509243011475, 14.45874309539795], "mean": [12.001708984375, -97.68560791015625, 92.08418273925781, 68.92538452148438, -1.8885319232940674, 6.736806869506836], "std": [0.17700515687465668, 0.040842536836862564, 3.717575788497925, 3.9367446899414062, 0.15246376395225525, 6.685021877288818], "count": [147]}, "observation.state": {"min": [11.923218727111816, -97.8360366821289, 83.23973846435547, 65.90811157226562, -2.084419012069702, 0.8783783912658691], "max": [12.144702911376953, -97.6695785522461, 99.39524841308594, 73.63675689697266, -1.5633141994476318, 13.851351737976074], "mean": [12.046783447265625, -97.83425903320312, 93.8100814819336, 69.10297393798828, -1.7160981893539429, 6.679528713226318], "std": [0.051064975559711456, 0.015255669131875038, 3.360844612121582, 3.396531581878662, 0.2347557544708252, 6.144589424133301], "count": [147]}, "observation.images.whole": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3789023059640523]], [[0.32744992034313725]], [[0.24975677083333334]]], "std": [[[0.2834795691075114]], [[0.31541335790335795]], [[0.32359840674049534]]], "count": [100]}, "observation.images.front_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45535341503267973]], [[0.38247473243464053]], [[0.23802988970588237]]], "std": [[[0.18227605920689607]], [[0.16847408433854877]], [[0.1734558935865485]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.866666666666666], "mean": [2.433333333333333], "std": [1.4144754295288202], "count": [147]}, "frame_index": {"min": [0], "max": [146], "mean": [73.0], "std": [42.43426288586461], "count": [147]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [147]}, "index": {"min": [0], "max": [146], "mean": [73.0], "std": [42.43426288586461], "count": [147]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [147]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [11.916264533996582, -98.07209014892578, 61.383026123046875, 67.86941528320312, -2.4493021965026855, 0.0], "max": [11.916264533996582, -97.06622314453125, 93.35428619384766, 73.88316345214844, -1.8698972463607788, 15.8213472366333], "mean": [11.916260719299316, -97.83968353271484, 84.62821960449219, 71.82059478759766, -2.2431912422180176, 11.470230102539062], "std": [3.814697265625e-06, 0.30734992027282715, 10.60995101928711, 2.1408519744873047, 0.17525771260261536, 6.80465030670166], "count": [115]}, "observation.state": {"min": [11.849390983581543, -97.8360366821289, 64.40604400634766, 69.08544158935547, -2.084419012069702, 0.8783783912658691], "max": [12.144702911376953, -97.8360366821289, 94.9028091430664, 73.63675689697266, -2.084419012069702, 15.675675392150879], "mean": [12.011174201965332, -97.8359603881836, 86.66466522216797, 72.13804626464844, -2.0844156742095947, 11.227970123291016], "std": [0.07343915849924088, 7.62939453125e-05, 10.175348281860352, 1.7668421268463135, 3.337860107421875e-06, 6.4120192527771], "count": [115]}, "observation.images.whole": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3790056413398693]], [[0.32638550040849673]], [[0.24811396650326797]]], "std": [[[0.2835890413989339]], [[0.3149448941530421]], [[0.32280139501512134]]], "count": [100]}, "observation.images.front_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4558866115196078]], [[0.38226133374183]], [[0.23613157066993462]]], "std": [[[0.1810462383985359]], [[0.16707569532535882]], [[0.17143508022897844]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [3.8], "mean": [1.9], "std": [1.1065461781798556], "count": [115]}, "frame_index": {"min": [0], "max": [114], "mean": [57.0], "std": [33.19638534539566], "count": [115]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [115]}, "index": {"min": [147], "max": [261], "mean": [204.0], "std": [33.19638534539566], "count": [115]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [115]}}}
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": 262,
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.whole": {
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.front_left": {
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 box"}
videos/chunk-000/observation.images.front_left/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b538ecd30f34f1ba4db718cece1a1ea6b2a54c76eab62fd1b3fa1f416c0c593
3
+ size 1801338
videos/chunk-000/observation.images.front_left/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22e1bb96b462ed9c11c7d728e7458e5d1589e981b1aa1c713ebc2c494a050765
3
+ size 1379604
videos/chunk-000/observation.images.whole/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9dfe8b6506cdf83ccfa46c218352e6552e8f875f5264161a115924fa9c473d2f
3
+ size 1475553
videos/chunk-000/observation.images.whole/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:81c711771867300a4d92f2161f3a9144883442e14252543f6f650431e71338c5
3
+ size 1177835