Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/info.json +104 -0
- meta/stats.json +210 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000001.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 sha256:23f720347b0d4162eecd48f1d78813671fff19448bee44f48a338a3925e475f5
|
| 3 |
+
size 31972
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3e8edaf8ce71471e5ccfae6d17e5839152e44ea461c949550a5264d6e1c9dfca
|
| 3 |
+
size 29298
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grasp green sponge and put it in the box."], "length": 596}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grasp green sponge and put it in the box."], "length": 596}
|
meta/info.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "so100",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 1192,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 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 |
+
"main_shoulder_pan",
|
| 24 |
+
"main_shoulder_lift",
|
| 25 |
+
"main_elbow_flex",
|
| 26 |
+
"main_wrist_flex",
|
| 27 |
+
"main_wrist_roll",
|
| 28 |
+
"main_gripper"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"main_shoulder_pan",
|
| 38 |
+
"main_shoulder_lift",
|
| 39 |
+
"main_elbow_flex",
|
| 40 |
+
"main_wrist_flex",
|
| 41 |
+
"main_wrist_roll",
|
| 42 |
+
"main_gripper"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.laptop": {
|
| 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.fps": 30.0,
|
| 59 |
+
"video.height": 640,
|
| 60 |
+
"video.width": 480,
|
| 61 |
+
"video.channels": 3,
|
| 62 |
+
"video.codec": "av1",
|
| 63 |
+
"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"timestamp": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"names": null
|
| 74 |
+
},
|
| 75 |
+
"frame_index": {
|
| 76 |
+
"dtype": "int64",
|
| 77 |
+
"shape": [
|
| 78 |
+
1
|
| 79 |
+
],
|
| 80 |
+
"names": null
|
| 81 |
+
},
|
| 82 |
+
"episode_index": {
|
| 83 |
+
"dtype": "int64",
|
| 84 |
+
"shape": [
|
| 85 |
+
1
|
| 86 |
+
],
|
| 87 |
+
"names": null
|
| 88 |
+
},
|
| 89 |
+
"index": {
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"task_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"mean": [
|
| 4 |
+
1.4350796937942505,
|
| 5 |
+
140.5630340576172,
|
| 6 |
+
123.3245620727539,
|
| 7 |
+
62.87238311767578,
|
| 8 |
+
6.019697189331055,
|
| 9 |
+
8.683616638183594
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
21.095705032348633,
|
| 13 |
+
47.73714828491211,
|
| 14 |
+
40.92262649536133,
|
| 15 |
+
14.741403579711914,
|
| 16 |
+
19.563304901123047,
|
| 17 |
+
16.834331512451172
|
| 18 |
+
],
|
| 19 |
+
"max": [
|
| 20 |
+
29.619140625,
|
| 21 |
+
190.8984375,
|
| 22 |
+
174.287109375,
|
| 23 |
+
102.041015625,
|
| 24 |
+
48.8671875,
|
| 25 |
+
55.17873764038086
|
| 26 |
+
],
|
| 27 |
+
"min": [
|
| 28 |
+
-44.560546875,
|
| 29 |
+
50.888671875,
|
| 30 |
+
50.537109375,
|
| 31 |
+
31.11328125,
|
| 32 |
+
-12.041015625,
|
| 33 |
+
-0.18331804871559143
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
"observation.state": {
|
| 37 |
+
"mean": [
|
| 38 |
+
1.0555720329284668,
|
| 39 |
+
139.4516143798828,
|
| 40 |
+
123.82838439941406,
|
| 41 |
+
62.60917282104492,
|
| 42 |
+
6.226590633392334,
|
| 43 |
+
9.207186698913574
|
| 44 |
+
],
|
| 45 |
+
"std": [
|
| 46 |
+
20.5642147064209,
|
| 47 |
+
48.317039489746094,
|
| 48 |
+
40.28446578979492,
|
| 49 |
+
14.555765151977539,
|
| 50 |
+
18.950532913208008,
|
| 51 |
+
16.13047981262207
|
| 52 |
+
],
|
| 53 |
+
"max": [
|
| 54 |
+
28.916015625,
|
| 55 |
+
190.283203125,
|
| 56 |
+
173.84765625,
|
| 57 |
+
101.77734375,
|
| 58 |
+
47.724609375,
|
| 59 |
+
54.5267448425293
|
| 60 |
+
],
|
| 61 |
+
"min": [
|
| 62 |
+
-43.505859375,
|
| 63 |
+
49.21875,
|
| 64 |
+
52.119140625,
|
| 65 |
+
32.255859375,
|
| 66 |
+
-11.689453125,
|
| 67 |
+
0.3429355323314667
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"observation.images.laptop": {
|
| 71 |
+
"mean": [
|
| 72 |
+
[
|
| 73 |
+
[
|
| 74 |
+
0.5363283157348633
|
| 75 |
+
]
|
| 76 |
+
],
|
| 77 |
+
[
|
| 78 |
+
[
|
| 79 |
+
0.5594789385795593
|
| 80 |
+
]
|
| 81 |
+
],
|
| 82 |
+
[
|
| 83 |
+
[
|
| 84 |
+
0.5566054582595825
|
| 85 |
+
]
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"std": [
|
| 89 |
+
[
|
| 90 |
+
[
|
| 91 |
+
0.20057480037212372
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
[
|
| 95 |
+
[
|
| 96 |
+
0.1658717542886734
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
[
|
| 100 |
+
[
|
| 101 |
+
0.16383622586727142
|
| 102 |
+
]
|
| 103 |
+
]
|
| 104 |
+
],
|
| 105 |
+
"max": [
|
| 106 |
+
[
|
| 107 |
+
[
|
| 108 |
+
1.0
|
| 109 |
+
]
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
[
|
| 113 |
+
1.0
|
| 114 |
+
]
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
[
|
| 118 |
+
1.0
|
| 119 |
+
]
|
| 120 |
+
]
|
| 121 |
+
],
|
| 122 |
+
"min": [
|
| 123 |
+
[
|
| 124 |
+
[
|
| 125 |
+
0.0
|
| 126 |
+
]
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
[
|
| 130 |
+
0.0
|
| 131 |
+
]
|
| 132 |
+
],
|
| 133 |
+
[
|
| 134 |
+
[
|
| 135 |
+
0.0
|
| 136 |
+
]
|
| 137 |
+
]
|
| 138 |
+
]
|
| 139 |
+
},
|
| 140 |
+
"timestamp": {
|
| 141 |
+
"mean": [
|
| 142 |
+
9.916666984558105
|
| 143 |
+
],
|
| 144 |
+
"std": [
|
| 145 |
+
5.735004901885986
|
| 146 |
+
],
|
| 147 |
+
"max": [
|
| 148 |
+
19.83333396911621
|
| 149 |
+
],
|
| 150 |
+
"min": [
|
| 151 |
+
0.0
|
| 152 |
+
]
|
| 153 |
+
},
|
| 154 |
+
"frame_index": {
|
| 155 |
+
"mean": [
|
| 156 |
+
297.49993896484375
|
| 157 |
+
],
|
| 158 |
+
"std": [
|
| 159 |
+
172.05014038085938
|
| 160 |
+
],
|
| 161 |
+
"max": [
|
| 162 |
+
595.0
|
| 163 |
+
],
|
| 164 |
+
"min": [
|
| 165 |
+
0.0
|
| 166 |
+
]
|
| 167 |
+
},
|
| 168 |
+
"episode_index": {
|
| 169 |
+
"mean": [
|
| 170 |
+
0.4999999701976776
|
| 171 |
+
],
|
| 172 |
+
"std": [
|
| 173 |
+
0.5
|
| 174 |
+
],
|
| 175 |
+
"max": [
|
| 176 |
+
1.0
|
| 177 |
+
],
|
| 178 |
+
"min": [
|
| 179 |
+
0.0
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"index": {
|
| 183 |
+
"mean": [
|
| 184 |
+
595.4998779296875
|
| 185 |
+
],
|
| 186 |
+
"std": [
|
| 187 |
+
344.10064697265625
|
| 188 |
+
],
|
| 189 |
+
"max": [
|
| 190 |
+
1191.0
|
| 191 |
+
],
|
| 192 |
+
"min": [
|
| 193 |
+
0.0
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"task_index": {
|
| 197 |
+
"mean": [
|
| 198 |
+
0.0
|
| 199 |
+
],
|
| 200 |
+
"std": [
|
| 201 |
+
0.0
|
| 202 |
+
],
|
| 203 |
+
"max": [
|
| 204 |
+
0.0
|
| 205 |
+
],
|
| 206 |
+
"min": [
|
| 207 |
+
0.0
|
| 208 |
+
]
|
| 209 |
+
}
|
| 210 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Grasp green sponge and put it in the box."}
|
videos/chunk-000/observation.images.laptop/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fbfe6d9e230720b8a646a57fd829ff6a0d7668901383e9522cd2df8a9d800001
|
| 3 |
+
size 975018
|
videos/chunk-000/observation.images.laptop/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cc27b6e9ff18864de97503e75e24fd645b072f6c5df4491b51dfde517130131b
|
| 3 |
+
size 1180141
|