MossProphet commited on
Commit
6a25903
·
verified ·
1 Parent(s): 341e5d9

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 sha256:76c5d056f596ef9661654abbc7e6415b9c6e9820490fab85bdda310907ae2a4c
3
+ size 51588
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:51d727cf5b5100f41d8185052e59045bf4a983fada3fc028828aeb658cd86335
3
+ size 44273
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Fold towel in half 1."], "length": 632}
2
+ {"episode_index": 1, "tasks": ["Fold towel in half 1."], "length": 538}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [5.009765625, 71.103515625, 73.740234375, 41.220703125, -122.080078125, -0.7662835121154785, -62.9296875, 37.705078125, 27.24609375, 39.814453125, 79.453125, -0.37664783000946045], "max": [68.02734375, 191.865234375, 183.69140625, 93.515625, -77.51953125, 27.490421295166016, 2.109375, 188.4375, 178.76953125, 105.1171875, 126.826171875, 26.459508895874023], "mean": [41.13851547241211, 127.6285629272461, 130.60198974609375, 65.17443084716797, -103.19761657714844, 6.412633419036865, -37.28120040893555, 113.0040512084961, 114.45164489746094, 74.4827651977539, 108.16300201416016, 8.0427827835083], "std": [20.922693252563477, 38.658206939697266, 34.53873825073242, 11.06396770477295, 10.499441146850586, 10.615260124206543, 19.860960006713867, 47.515960693359375, 51.91023254394531, 16.859085083007812, 12.829011917114258, 9.933283805847168], "count": [632]}, "observation.state": {"min": [5.80078125, 68.203125, 80.33203125, 43.857421875, -121.025390625, 3.709949493408203, -62.40234375, 34.27734375, 33.22265625, 40.693359375, 80.33203125, 4.072727203369141], "max": [67.5, 192.216796875, 184.482421875, 93.251953125, -77.958984375, 27.40303611755371, 1.23046875, 186.943359375, 180.0, 102.568359375, 125.859375, 25.890907287597656], "mean": [40.71546936035156, 126.09053802490234, 134.45285034179688, 65.25538635253906, -103.14481353759766, 9.373408317565918, -37.45600891113281, 110.52820587158203, 118.37557983398438, 74.3722152709961, 108.19158172607422, 10.323491096496582], "std": [20.57442855834961, 40.13176345825195, 33.404380798339844, 10.593027114868164, 10.513814926147461, 8.609842300415039, 19.508466720581055, 48.76709747314453, 50.46339797973633, 16.44667625427246, 12.764069557189941, 7.909994602203369], "count": [632]}, "observation.images.External": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5826510432876855]], [[0.5795117831854965]], [[0.5845739346664591]]], "std": [[[0.18785421377947067]], [[0.19029116815228556]], [[0.1938934044349975]]], "count": [126]}, "observation.images.Arm_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5460860193614483]], [[0.5705313067356572]], [[0.5845272703989003]]], "std": [[[0.1773058707501736]], [[0.17073876097174048]], [[0.16363406008738002]]], "count": [126]}, "observation.images.Arm_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5103751264394647]], [[0.5038105742296919]], [[0.4749978586341944]]], "std": [[[0.2648644172268521]], [[0.2617557344156898]], [[0.265081459446253]]], "count": [126]}, "timestamp": {"min": [0.0], "max": [21.033333333333335], "mean": [10.516666666666667], "std": [6.081415222718403], "count": [632]}, "frame_index": {"min": [0], "max": [631], "mean": [315.5], "std": [182.44245668155207], "count": [632]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [632]}, "index": {"min": [0], "max": [631], "mean": [315.5], "std": [182.44245668155207], "count": [632]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [632]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [2.98828125, 78.486328125, 77.783203125, 42.1875, -118.828125, -0.6704980731010437, -65.56640625, 62.490234375, 54.580078125, 48.779296875, 75.76171875, -0.37664783000946045], "max": [64.775390625, 191.865234375, 183.69140625, 85.166015625, -79.716796875, 24.23371696472168, 7.91015625, 188.4375, 178.76953125, 104.501953125, 127.44140625, 24.01129913330078], "mean": [37.473915100097656, 124.902099609375, 129.97911071777344, 64.21675872802734, -98.91088104248047, 8.229385375976562, -38.6795539855957, 122.46755981445312, 126.8342514038086, 73.40436553955078, 109.73546600341797, 5.513381004333496], "std": [19.444177627563477, 37.56926345825195, 30.629962921142578, 10.076854705810547, 10.244851112365723, 10.696423530578613, 21.90863037109375, 38.88527297973633, 36.41924285888672, 14.47305679321289, 13.67679214477539, 8.818405151367188], "count": [538]}, "observation.state": {"min": [3.427734375, 76.2890625, 84.55078125, 42.626953125, -118.212890625, 3.709949493408203, -62.9296875, 59.677734375, 59.94140625, 49.482421875, 76.2890625, 4.0], "max": [62.40234375, 192.216796875, 184.5703125, 84.814453125, -80.15625, 23.440134048461914, 6.85546875, 186.85546875, 180.615234375, 102.216796875, 126.73828125, 23.054546356201172], "mean": [37.02155685424805, 122.76144409179688, 134.1623077392578, 64.52454376220703, -99.00613403320312, 10.619078636169434, -38.51634979248047, 120.2657241821289, 129.678955078125, 73.52125549316406, 109.90030670166016, 8.603842735290527], "std": [18.846454620361328, 38.89010238647461, 29.596370697021484, 9.836804389953613, 10.10962200164795, 8.536312103271484, 21.480310440063477, 39.748531341552734, 35.728553771972656, 14.217854499816895, 13.608927726745605, 6.667315483093262], "count": [538]}, "observation.images.External": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5736803145056821]], [[0.5671818638491433]], [[0.5674102871253607]]], "std": [[[0.178761872358924]], [[0.18357333662949019]], [[0.18627394101672515]]], "count": [111]}, "observation.images.Arm_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5532043642907614]], [[0.573712166210328]], [[0.5805388991933109]]], "std": [[[0.17116504504143665]], [[0.16773350309876492]], [[0.1630190083016159]]], "count": [111]}, "observation.images.Arm_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5231152052788082]], [[0.514824372166284]], [[0.48301658091915445]]], "std": [[[0.26522741252670934]], [[0.26221845337966443]], [[0.26501178195715985]]], "count": [111]}, "timestamp": {"min": [0.0], "max": [17.9], "mean": [8.950000000000001], "std": [5.176898470877885], "count": [538]}, "frame_index": {"min": [0], "max": [537], "mean": [268.5], "std": [155.30695412633654], "count": [538]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [538]}, "index": {"min": [632], "max": [1169], "mean": [900.5], "std": [155.30695412633654], "count": [538]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [538]}}}
meta/info.json ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 2,
5
+ "total_frames": 1170,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
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
+ 12
21
+ ],
22
+ "names": [
23
+ "left_shoulder_pan",
24
+ "left_shoulder_lift",
25
+ "left_elbow_flex",
26
+ "left_wrist_flex",
27
+ "left_wrist_roll",
28
+ "left_gripper",
29
+ "right_shoulder_pan",
30
+ "right_shoulder_lift",
31
+ "right_elbow_flex",
32
+ "right_wrist_flex",
33
+ "right_wrist_roll",
34
+ "right_gripper"
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "left_shoulder_pan",
44
+ "left_shoulder_lift",
45
+ "left_elbow_flex",
46
+ "left_wrist_flex",
47
+ "left_wrist_roll",
48
+ "left_gripper",
49
+ "right_shoulder_pan",
50
+ "right_shoulder_lift",
51
+ "right_elbow_flex",
52
+ "right_wrist_flex",
53
+ "right_wrist_roll",
54
+ "right_gripper"
55
+ ]
56
+ },
57
+ "observation.images.External": {
58
+ "dtype": "video",
59
+ "shape": [
60
+ 480,
61
+ 640,
62
+ 3
63
+ ],
64
+ "names": [
65
+ "height",
66
+ "width",
67
+ "channels"
68
+ ],
69
+ "info": {
70
+ "video.fps": 30.0,
71
+ "video.height": 480,
72
+ "video.width": 640,
73
+ "video.channels": 3,
74
+ "video.codec": "h264",
75
+ "video.pix_fmt": "yuv420p",
76
+ "video.is_depth_map": false,
77
+ "has_audio": false
78
+ }
79
+ },
80
+ "observation.images.Arm_left": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 480,
84
+ 640,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channels"
91
+ ],
92
+ "info": {
93
+ "video.fps": 30.0,
94
+ "video.height": 480,
95
+ "video.width": 640,
96
+ "video.channels": 3,
97
+ "video.codec": "h264",
98
+ "video.pix_fmt": "yuv420p",
99
+ "video.is_depth_map": false,
100
+ "has_audio": false
101
+ }
102
+ },
103
+ "observation.images.Arm_right": {
104
+ "dtype": "video",
105
+ "shape": [
106
+ 480,
107
+ 640,
108
+ 3
109
+ ],
110
+ "names": [
111
+ "height",
112
+ "width",
113
+ "channels"
114
+ ],
115
+ "info": {
116
+ "video.fps": 30.0,
117
+ "video.height": 480,
118
+ "video.width": 640,
119
+ "video.channels": 3,
120
+ "video.codec": "h264",
121
+ "video.pix_fmt": "yuv420p",
122
+ "video.is_depth_map": false,
123
+ "has_audio": false
124
+ }
125
+ },
126
+ "timestamp": {
127
+ "dtype": "float32",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "frame_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ },
140
+ "episode_index": {
141
+ "dtype": "int64",
142
+ "shape": [
143
+ 1
144
+ ],
145
+ "names": null
146
+ },
147
+ "index": {
148
+ "dtype": "int64",
149
+ "shape": [
150
+ 1
151
+ ],
152
+ "names": null
153
+ },
154
+ "task_index": {
155
+ "dtype": "int64",
156
+ "shape": [
157
+ 1
158
+ ],
159
+ "names": null
160
+ }
161
+ }
162
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Fold towel in half 1."}
videos/chunk-000/observation.images.Arm_left/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7b90af1e405a14dc0ff38e3227294e134fb6d85e2d64914f272e935fe4c31f01
3
+ size 1461310
videos/chunk-000/observation.images.Arm_left/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a20c02d469036673b94cde9c111dcbefcda5b1fa93f23bafed1eb652511f5f3
3
+ size 1244453
videos/chunk-000/observation.images.Arm_right/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9517da7e72d92274c08b6f6b4b4fdca0aa0fc452ff8dfeb2cb829dd9f2b829bd
3
+ size 4420582
videos/chunk-000/observation.images.Arm_right/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:15d8f9bec8ce699260531a98f5e66163cd5081ab69e83de6621ec862435aa992
3
+ size 3755924
videos/chunk-000/observation.images.External/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:95e6f9e11a687f0b6995f729945a5714de4e61e96afea715d066f4b61e3af44d
3
+ size 1688563
videos/chunk-000/observation.images.External/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d23b71d2bc750656e3f4bca3de2d56cf51f2750e5dfe2115a8d4a312172ec2bf
3
+ size 1372846