MrAnton commited on
Commit
7784dd7
·
verified ·
1 Parent(s): 74023a7

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:d1e24f8b0009d9a8a4c19d3661a71e17349913d05bf43c7f0d43b855d4f4b36b
3
+ size 41197
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:96e3873bc24782d5488f1592e85b35b7f76b901bec816e0b07dadaaa427cd8d0
3
+ size 30297
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f9371fcd64a0e79ad4b9a433f6d25becec93cdb8a05079714c7e49723253892
3
+ size 31338
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a91d313b778f502c49a5b0fd71f4ac7caf246aef2c25193cc246ae5556bc93bf
3
+ size 31418
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4e93b87fc5f4eba0b11f80e038f06705b29c4dcdbfd6c1f91d94fb383c7b1383
3
+ size 29072
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a black cube and put it in the box."], "length": 897}
2
+ {"episode_index": 1, "tasks": ["Grasp a black cube and put it in the box."], "length": 897}
3
+ {"episode_index": 2, "tasks": ["Grasp a black cube and put it in the box."], "length": 896}
4
+ {"episode_index": 3, "tasks": ["Grasp a black cube and put it in the box."], "length": 896}
5
+ {"episode_index": 4, "tasks": ["Grasp a black cube and put it in the box."], "length": 889}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-25.751953125, 53.96484375, 65.654296875, 19.6875, -214.8046875, -0.6908462643623352], "max": [33.92578125, 192.392578125, 169.27734375, 77.255859375, -106.962890625, 30.91537094116211], "mean": [14.683711051940918, 111.72919464111328, 109.7125473022461, 47.557376861572266, -149.2752227783203, 9.55487060546875], "std": [12.901884078979492, 56.98485565185547, 38.7878303527832, 15.554410934448242, 24.428890228271484, 11.958120346069336], "count": [897]}, "observation.state": {"min": [-25.83984375, 53.61328125, 67.939453125, 20.7421875, -195.46875, 0.2787456512451172], "max": [33.92578125, 191.953125, 169.541015625, 76.9921875, -107.138671875, 30.731708526611328], "mean": [14.744264602661133, 110.8097915649414, 110.73265075683594, 47.785850524902344, -148.8785400390625, 10.124715805053711], "std": [12.844867706298828, 57.552852630615234, 38.352413177490234, 15.379563331604004, 23.662883758544922, 11.495220184326172], "count": [897]}, "observation.images.laptop": {"min": [[[0.01568627450980392]], [[0.027450980392156862]], [[0.023529411764705882]]], "max": [[[0.9921568627450981]], [[1.0]], [[1.0]]], "mean": [[[0.3039638931492843]], [[0.3156700812482457]], [[0.3106699772444765]]], "std": [[[0.2011936881977129]], [[0.20434144995430079]], [[0.20332169636985095]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.866666666666667], "mean": [14.933333333333332], "std": [8.631381160668363], "count": [897]}, "frame_index": {"min": [0], "max": [896], "mean": [448.0], "std": [258.9414348200509], "count": [897]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [897]}, "index": {"min": [0], "max": [896], "mean": [448.0], "std": [258.9414348200509], "count": [897]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [897]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-29.8828125, 93.8671875, 123.486328125, 29.53125, -214.013671875, -0.9499136209487915], "max": [35.419921875, 192.919921875, 170.15625, 63.896484375, -80.5078125, 35.06045150756836], "mean": [7.014494895935059, 175.014404296875, 159.39674377441406, 54.3199462890625, -123.92361450195312, 3.626600503921509], "std": [13.786970138549805, 32.65318298339844, 16.943599700927734, 11.099817276000977, 43.545291900634766, 8.163763999938965], "count": [897]}, "observation.state": {"min": [-29.619140625, 93.779296875, 125.947265625, 30.41015625, -195.99609375, 0.4181184768676758], "max": [35.068359375, 192.3046875, 170.244140625, 63.80859375, -80.68359375, 34.703834533691406], "mean": [7.038304805755615, 174.82542419433594, 159.9901123046875, 54.323360443115234, -122.06961059570312, 4.0513434410095215], "std": [13.734491348266602, 32.73788070678711, 16.418893814086914, 10.866055488586426, 39.97346496582031, 7.853343486785889], "count": [897]}, "observation.images.laptop": {"min": [[[0.023529411764705882]], [[0.03529411764705882]], [[0.03137254901960784]]], "max": [[[0.9803921568627451]], [[1.0]], [[1.0]]], "mean": [[[0.3074857402061029]], [[0.31915254220297523]], [[0.31407214227715624]]], "std": [[[0.19758672862461127]], [[0.20075811274062702]], [[0.19977351103734306]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.866666666666667], "mean": [14.933333333333332], "std": [8.631381160668363], "count": [897]}, "frame_index": {"min": [0], "max": [896], "mean": [448.0], "std": [258.9414348200509], "count": [897]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [897]}, "index": {"min": [897], "max": [1793], "mean": [1345.0], "std": [258.9414348200509], "count": [897]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [897]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-24.2578125, 142.3828125, 130.25390625, 10.72265625, -210.849609375, -0.2590673565864563], "max": [66.62109375, 194.0625, 169.98046875, 82.265625, -105.205078125, 23.229705810546875], "mean": [15.84208869934082, 178.93080139160156, 162.1502685546875, 59.195556640625, -133.4750518798828, 3.076977014541626], "std": [24.54016876220703, 19.280410766601562, 11.092588424682617, 16.084794998168945, 40.20764923095703, 6.358765602111816], "count": [896]}, "observation.state": {"min": [-24.2578125, 142.55859375, 133.06640625, 11.6015625, -195.99609375, 0.4181184768676758], "max": [66.708984375, 191.865234375, 170.244140625, 81.38671875, -105.46875, 22.85714340209961], "mean": [15.90251350402832, 178.7627410888672, 162.70809936523438, 59.18330764770508, -131.7257843017578, 3.586871862411499], "std": [24.474346160888672, 19.17954444885254, 10.521970748901367, 15.841490745544434, 37.162376403808594, 6.156344413757324], "count": [896]}, "observation.images.laptop": {"min": [[[0.023529411764705882]], [[0.03529411764705882]], [[0.027450980392156862]]], "max": [[[0.9921568627450981]], [[1.0]], [[1.0]]], "mean": [[[0.3247999969926621]], [[0.3371756197622198]], [[0.33181371922490877]]], "std": [[[0.2100750703777931]], [[0.21388373116775186]], [[0.21270229557468748]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.833333333333332], "mean": [14.916666666666668], "std": [8.621758650195575], "count": [896]}, "frame_index": {"min": [0], "max": [895], "mean": [447.5], "std": [258.65275950586727], "count": [896]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [896]}, "index": {"min": [1794], "max": [2689], "mean": [2241.5], "std": [258.65275950586727], "count": [896]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [896]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-46.40625, 70.83984375, 102.83203125, 25.400390625, -175.25390625, -0.4317789375782013], "max": [12.65625, 193.095703125, 169.541015625, 68.994140625, -104.150390625, 27.1157169342041], "mean": [0.1755850613117218, 166.12867736816406, 152.07421875, 54.53564453125, -121.63261413574219, 3.578549861907959], "std": [10.738786697387695, 42.695919036865234, 25.246644973754883, 19.46735382080078, 25.370649337768555, 7.387582302093506], "count": [896]}, "observation.state": {"min": [-46.40625, 70.6640625, 104.94140625, 26.015625, -174.90234375, 0.4181184768676758], "max": [12.392578125, 191.77734375, 169.716796875, 68.818359375, -104.326171875, 26.829269409179688], "mean": [-0.0190298892557621, 165.4663543701172, 152.75253295898438, 54.59588623046875, -121.47843170166016, 4.147039890289307], "std": [10.622684478759766, 42.8028678894043, 24.745731353759766, 19.264673233032227, 25.49947166442871, 7.1072211265563965], "count": [896]}, "observation.images.laptop": {"min": [[[0.011764705882352941]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.309903464453266]], [[0.32141399514816155]], [[0.3163181149504792]]], "std": [[[0.20538571947421333]], [[0.2088019913380341]], [[0.20777467446882772]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.833333333333332], "mean": [14.916666666666668], "std": [8.621758650195575], "count": [896]}, "frame_index": {"min": [0], "max": [895], "mean": [447.5], "std": [258.65275950586727], "count": [896]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [896]}, "index": {"min": [2690], "max": [3585], "mean": [3137.5], "std": [258.65275950586727], "count": [896]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [896]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-21.005859375, 122.080078125, 121.46484375, 23.37890625, -190.810546875, -0.2590673565864563], "max": [37.265625, 192.48046875, 169.541015625, 68.90625, -97.119140625, 18.221071243286133], "mean": [12.050605773925781, 179.91419982910156, 165.12359619140625, 55.271785736083984, -120.51905059814453, 2.271892786026001], "std": [8.47659969329834, 23.170366287231445, 9.999788284301758, 18.132160186767578, 34.23484420776367, 5.578421115875244], "count": [889]}, "observation.state": {"min": [-20.302734375, 122.16796875, 123.837890625, 23.994140625, -190.458984375, 0.4181184768676758], "max": [36.9140625, 191.865234375, 169.716796875, 68.818359375, -97.3828125, 18.397212982177734], "mean": [11.95510196685791, 179.39828491210938, 165.68682861328125, 55.34707260131836, -120.3088607788086, 2.640953779220581], "std": [8.459650039672852, 23.012422561645508, 9.545583724975586, 17.91463279724121, 34.32999801635742, 5.450850486755371], "count": [889]}, "observation.images.laptop": {"min": [[[0.0]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[0.9921568627450981]], [[1.0]], [[1.0]]], "mean": [[[0.3150540325183572]], [[0.32699367082223835]], [[0.32177049544097475]]], "std": [[[0.20362238513149586]], [[0.20685073273516844]], [[0.20587674827076188]]], "count": [162]}, "timestamp": {"min": [0.0], "max": [29.6], "mean": [14.8], "std": [8.554401076508967], "count": [889]}, "frame_index": {"min": [0], "max": [888], "mean": [444.0], "std": [256.632032295269], "count": [889]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [889]}, "index": {"min": [3586], "max": [4474], "mean": [4030.0], "std": [256.632032295269], "count": [889]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [889]}}}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101",
4
+ "total_episodes": 5,
5
+ "total_frames": 4475,
6
+ "total_tasks": 1,
7
+ "total_videos": 5,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:5"
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.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
+ "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/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a black cube 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:ae5ccb09cde7b409dfa6c51a87d361711336526f8eceb92fde30dfd3d06a794f
3
+ size 6683461
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:b3bc0586f42354277c7d144491f134a30ce143bc55937a42e3057ac67c145622
3
+ size 7120423
videos/chunk-000/observation.images.laptop/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:91b6a250593dc1cb336e30dca522702a9fd7562c479ce576c34c713f5f35361a
3
+ size 7701681
videos/chunk-000/observation.images.laptop/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2c1ad068999bebc7e43dbe75346f16ca711b964fe3b01e3cb1aff2c787619e9
3
+ size 7133933
videos/chunk-000/observation.images.laptop/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4d3b5988019d61e3288b10ca11063665301c3f0052a668ddd3d4025522d2a67e
3
+ size 7781914