Datasets:
Upload folder using huggingface_hub
Browse files
data/chunk-000/episode_000000.parquet
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bb6c0fe6699bb6e2f7cc525edb1c6b2dd95de4e8f86a797fdbfeefa92ae3f418
|
| 3 |
+
size 85609
|
meta/episodes.jsonl
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"episode_index": 0, "tasks": ["test"], "length":
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["test"], "length": 1251}
|
meta/info.json
CHANGED
|
@@ -2,9 +2,9 @@
|
|
| 2 |
"codebase_version": "v2.0",
|
| 3 |
"robot_type": "piper",
|
| 4 |
"total_episodes": 1,
|
| 5 |
-
"total_frames":
|
| 6 |
"total_tasks": 1,
|
| 7 |
-
"total_videos":
|
| 8 |
"total_chunks": 1,
|
| 9 |
"chunks_size": 1000,
|
| 10 |
"fps": 30,
|
|
@@ -44,6 +44,29 @@
|
|
| 44 |
"main_gripper"
|
| 45 |
]
|
| 46 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 47 |
"observation.images.top": {
|
| 48 |
"dtype": "video",
|
| 49 |
"shape": [
|
|
|
|
| 2 |
"codebase_version": "v2.0",
|
| 3 |
"robot_type": "piper",
|
| 4 |
"total_episodes": 1,
|
| 5 |
+
"total_frames": 1251,
|
| 6 |
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 8 |
"total_chunks": 1,
|
| 9 |
"chunks_size": 1000,
|
| 10 |
"fps": 30,
|
|
|
|
| 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": "av1",
|
| 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": [
|
meta/stats.json
CHANGED
|
@@ -1,112 +1,112 @@
|
|
| 1 |
{
|
| 2 |
"action": {
|
| 3 |
"mean": [
|
| 4 |
-
0.
|
| 5 |
-
0.
|
| 6 |
-
0.
|
| 7 |
-
0.
|
| 8 |
-
0.
|
| 9 |
-
0.
|
| 10 |
-
0.
|
| 11 |
],
|
| 12 |
"std": [
|
| 13 |
-
0.
|
| 14 |
-
0.
|
| 15 |
-
0.
|
| 16 |
-
0.
|
| 17 |
-
0.
|
| 18 |
-
0.
|
| 19 |
-
0.
|
| 20 |
],
|
| 21 |
"max": [
|
| 22 |
-
0.
|
| 23 |
-
0.
|
| 24 |
-
0.
|
| 25 |
-
0.
|
| 26 |
-
0.
|
| 27 |
-
0.
|
| 28 |
0.07999999821186066
|
| 29 |
],
|
| 30 |
"min": [
|
| 31 |
-
0.
|
| 32 |
-
0.
|
| 33 |
-
0.
|
| 34 |
-
|
| 35 |
-
0.
|
| 36 |
-
-0.
|
| 37 |
0.0
|
| 38 |
]
|
| 39 |
},
|
| 40 |
"observation.state": {
|
| 41 |
"mean": [
|
| 42 |
-
0.
|
| 43 |
-
0.
|
| 44 |
-
0.
|
| 45 |
-
0.
|
| 46 |
-
0.
|
| 47 |
-
0.
|
| 48 |
0.0
|
| 49 |
],
|
| 50 |
"std": [
|
| 51 |
-
0.
|
| 52 |
-
0.
|
| 53 |
-
0.
|
| 54 |
-
0.
|
| 55 |
-
0.
|
| 56 |
-
0.
|
| 57 |
0.0
|
| 58 |
],
|
| 59 |
"max": [
|
| 60 |
-
0.
|
| 61 |
-
0.
|
| 62 |
-
0.
|
| 63 |
-
0.
|
| 64 |
-
0.
|
| 65 |
-
0.
|
| 66 |
0.0
|
| 67 |
],
|
| 68 |
"min": [
|
| 69 |
-
0.
|
| 70 |
-
0.
|
| 71 |
-
0.
|
| 72 |
-
|
| 73 |
-
0.
|
| 74 |
-
-0.
|
| 75 |
0.0
|
| 76 |
]
|
| 77 |
},
|
| 78 |
-
"observation.images.
|
| 79 |
"mean": [
|
| 80 |
[
|
| 81 |
[
|
| 82 |
-
0.
|
| 83 |
]
|
| 84 |
],
|
| 85 |
[
|
| 86 |
[
|
| 87 |
-
0.
|
| 88 |
]
|
| 89 |
],
|
| 90 |
[
|
| 91 |
[
|
| 92 |
-
0.
|
| 93 |
]
|
| 94 |
]
|
| 95 |
],
|
| 96 |
"std": [
|
| 97 |
[
|
| 98 |
[
|
| 99 |
-
0.
|
| 100 |
]
|
| 101 |
],
|
| 102 |
[
|
| 103 |
[
|
| 104 |
-
0.
|
| 105 |
]
|
| 106 |
],
|
| 107 |
[
|
| 108 |
[
|
| 109 |
-
0.
|
| 110 |
]
|
| 111 |
]
|
| 112 |
],
|
|
@@ -145,15 +145,85 @@
|
|
| 145 |
]
|
| 146 |
]
|
| 147 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 148 |
"timestamp": {
|
| 149 |
"mean": [
|
| 150 |
-
|
| 151 |
],
|
| 152 |
"std": [
|
| 153 |
-
|
| 154 |
],
|
| 155 |
"max": [
|
| 156 |
-
|
| 157 |
],
|
| 158 |
"min": [
|
| 159 |
0.0
|
|
@@ -161,13 +231,13 @@
|
|
| 161 |
},
|
| 162 |
"frame_index": {
|
| 163 |
"mean": [
|
| 164 |
-
|
| 165 |
],
|
| 166 |
"std": [
|
| 167 |
-
|
| 168 |
],
|
| 169 |
"max": [
|
| 170 |
-
|
| 171 |
],
|
| 172 |
"min": [
|
| 173 |
0.0
|
|
@@ -189,13 +259,13 @@
|
|
| 189 |
},
|
| 190 |
"index": {
|
| 191 |
"mean": [
|
| 192 |
-
|
| 193 |
],
|
| 194 |
"std": [
|
| 195 |
-
|
| 196 |
],
|
| 197 |
"max": [
|
| 198 |
-
|
| 199 |
],
|
| 200 |
"min": [
|
| 201 |
0.0
|
|
|
|
| 1 |
{
|
| 2 |
"action": {
|
| 3 |
"mean": [
|
| 4 |
+
0.19441291689872742,
|
| 5 |
+
0.04774748533964157,
|
| 6 |
+
0.26660364866256714,
|
| 7 |
+
0.17119701206684113,
|
| 8 |
+
0.027574369683861732,
|
| 9 |
+
-0.00885976292192936,
|
| 10 |
+
0.0007034374284557998
|
| 11 |
],
|
| 12 |
"std": [
|
| 13 |
+
0.011495118029415607,
|
| 14 |
+
0.08653764426708221,
|
| 15 |
+
0.022812077775597572,
|
| 16 |
+
0.006408441811800003,
|
| 17 |
+
0.004693635273724794,
|
| 18 |
+
0.17095577716827393,
|
| 19 |
+
0.007468611933290958
|
| 20 |
],
|
| 21 |
"max": [
|
| 22 |
+
0.22040238976478577,
|
| 23 |
+
0.21072299778461456,
|
| 24 |
+
0.3073447644710541,
|
| 25 |
+
0.1789475828409195,
|
| 26 |
+
0.036206796765327454,
|
| 27 |
+
0.17966096103191376,
|
| 28 |
0.07999999821186066
|
| 29 |
],
|
| 30 |
"min": [
|
| 31 |
+
0.17345599830150604,
|
| 32 |
+
-0.021066000685095787,
|
| 33 |
+
0.19658687710762024,
|
| 34 |
+
0.15979503095149994,
|
| 35 |
+
0.021122831851243973,
|
| 36 |
+
-0.1994265615940094,
|
| 37 |
0.0
|
| 38 |
]
|
| 39 |
},
|
| 40 |
"observation.state": {
|
| 41 |
"mean": [
|
| 42 |
+
0.19438359141349792,
|
| 43 |
+
0.047605741769075394,
|
| 44 |
+
0.2666698694229126,
|
| 45 |
+
0.17117652297019958,
|
| 46 |
+
0.0275880079716444,
|
| 47 |
+
-0.008763842284679413,
|
| 48 |
0.0
|
| 49 |
],
|
| 50 |
"std": [
|
| 51 |
+
0.011523009277880192,
|
| 52 |
+
0.0864781066775322,
|
| 53 |
+
0.02282514050602913,
|
| 54 |
+
0.006437479052692652,
|
| 55 |
+
0.004711951594799757,
|
| 56 |
+
0.17083394527435303,
|
| 57 |
0.0
|
| 58 |
],
|
| 59 |
"max": [
|
| 60 |
+
0.2203350067138672,
|
| 61 |
+
0.21072299778461456,
|
| 62 |
+
0.30727100372314453,
|
| 63 |
+
0.1789475828409195,
|
| 64 |
+
0.036206796765327454,
|
| 65 |
+
0.17966096103191376,
|
| 66 |
0.0
|
| 67 |
],
|
| 68 |
"min": [
|
| 69 |
+
0.17345599830150604,
|
| 70 |
+
-0.021066000685095787,
|
| 71 |
+
0.196942999958992,
|
| 72 |
+
0.15979503095149994,
|
| 73 |
+
0.021122831851243973,
|
| 74 |
+
-0.176696315407753,
|
| 75 |
0.0
|
| 76 |
]
|
| 77 |
},
|
| 78 |
+
"observation.images.wrist": {
|
| 79 |
"mean": [
|
| 80 |
[
|
| 81 |
[
|
| 82 |
+
0.32762467861175537
|
| 83 |
]
|
| 84 |
],
|
| 85 |
[
|
| 86 |
[
|
| 87 |
+
0.30083930492401123
|
| 88 |
]
|
| 89 |
],
|
| 90 |
[
|
| 91 |
[
|
| 92 |
+
0.27746954560279846
|
| 93 |
]
|
| 94 |
]
|
| 95 |
],
|
| 96 |
"std": [
|
| 97 |
[
|
| 98 |
[
|
| 99 |
+
0.2848901152610779
|
| 100 |
]
|
| 101 |
],
|
| 102 |
[
|
| 103 |
[
|
| 104 |
+
0.2784232497215271
|
| 105 |
]
|
| 106 |
],
|
| 107 |
[
|
| 108 |
[
|
| 109 |
+
0.27863749861717224
|
| 110 |
]
|
| 111 |
]
|
| 112 |
],
|
|
|
|
| 145 |
]
|
| 146 |
]
|
| 147 |
},
|
| 148 |
+
"observation.images.top": {
|
| 149 |
+
"mean": [
|
| 150 |
+
[
|
| 151 |
+
[
|
| 152 |
+
0.4316069185733795
|
| 153 |
+
]
|
| 154 |
+
],
|
| 155 |
+
[
|
| 156 |
+
[
|
| 157 |
+
0.3974250257015228
|
| 158 |
+
]
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
[
|
| 162 |
+
0.339394748210907
|
| 163 |
+
]
|
| 164 |
+
]
|
| 165 |
+
],
|
| 166 |
+
"std": [
|
| 167 |
+
[
|
| 168 |
+
[
|
| 169 |
+
0.2679142355918884
|
| 170 |
+
]
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
[
|
| 174 |
+
0.273089736700058
|
| 175 |
+
]
|
| 176 |
+
],
|
| 177 |
+
[
|
| 178 |
+
[
|
| 179 |
+
0.27585569024086
|
| 180 |
+
]
|
| 181 |
+
]
|
| 182 |
+
],
|
| 183 |
+
"max": [
|
| 184 |
+
[
|
| 185 |
+
[
|
| 186 |
+
1.0
|
| 187 |
+
]
|
| 188 |
+
],
|
| 189 |
+
[
|
| 190 |
+
[
|
| 191 |
+
1.0
|
| 192 |
+
]
|
| 193 |
+
],
|
| 194 |
+
[
|
| 195 |
+
[
|
| 196 |
+
0.9960784316062927
|
| 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 |
+
20.833332061767578
|
| 221 |
],
|
| 222 |
"std": [
|
| 223 |
+
12.037751197814941
|
| 224 |
],
|
| 225 |
"max": [
|
| 226 |
+
41.66666793823242
|
| 227 |
],
|
| 228 |
"min": [
|
| 229 |
0.0
|
|
|
|
| 231 |
},
|
| 232 |
"frame_index": {
|
| 233 |
"mean": [
|
| 234 |
+
625.0001220703125
|
| 235 |
],
|
| 236 |
"std": [
|
| 237 |
+
361.13250732421875
|
| 238 |
],
|
| 239 |
"max": [
|
| 240 |
+
1250.0
|
| 241 |
],
|
| 242 |
"min": [
|
| 243 |
0.0
|
|
|
|
| 259 |
},
|
| 260 |
"index": {
|
| 261 |
"mean": [
|
| 262 |
+
625.0001220703125
|
| 263 |
],
|
| 264 |
"std": [
|
| 265 |
+
361.13250732421875
|
| 266 |
],
|
| 267 |
"max": [
|
| 268 |
+
1250.0
|
| 269 |
],
|
| 270 |
"min": [
|
| 271 |
0.0
|
videos/chunk-000/observation.images.top/episode_000000.mp4
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8a9fb5019d5ec81567a54614f1d8587a427ecadd721e3f4b35afdd25e673a621
|
| 3 |
+
size 9390523
|
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:b8da2293ba492112107e27cf154441f7cf0a12a8fda044f362de03fa2e31f542
|
| 3 |
+
size 12000805
|