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/episodes_stats.jsonl +2 -0
- meta/info.json +152 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.left/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top/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 sha256:3b0a132a90f8aaccc894b08c32948b4c990e9d89b0faf2bf46dc501dfc8aefe4
|
| 3 |
+
size 65341
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7f44ee6c061d674f8743de8f8eb43efc72b16b98e4e9374d6cf392da6885f6a6
|
| 3 |
+
size 5249
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["fold the tote bag"], "length": 1034}
|
| 2 |
+
{"episode_index": 1, "tasks": ["fold the tote bag"], "length": 26}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [1.6073781251907349, -95.43543243408203, -74.77777862548828, -11.812178611755371, 9.961686134338379, -40.673828125, 0.0], "max": [84.1897201538086, 60.36035919189453, 77.66666412353516, 42.47982406616211, 72.28607940673828, 54.58984375, 100.0], "mean": [47.991493225097656, -2.712181806564331, -2.4256904125213623, 10.873018264770508, 35.728511810302734, 11.359338760375977, 64.6559829711914], "std": [20.174264907836914, 38.41514587402344, 41.10062026977539, 12.057453155517578, 13.82836627960205, 30.107858657836914, 40.337154388427734], "count": [1034]}, "observation.state": {"min": [1.5546772480010986, -99.1591567993164, -100.0, -12.1056489944458, -3.7675607204437256, -40.625, 7.762557029724121], "max": [84.1897201538086, 100.0, 100.0, 42.62656021118164, 72.03065490722656, 54.39453125, 100.0], "mean": [47.786460876464844, -2.5586142539978027, -2.2931952476501465, 10.84504508972168, 35.42203903198242, 11.204638481140137, 67.23825073242188], "std": [20.35605239868164, 39.67451858520508, 42.36064910888672, 12.13296890258789, 13.853511810302734, 30.067081451416016, 37.29916763305664], "count": [1034]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5036041565664727]], [[0.5169570079634418]], [[0.5502993663811678]]], "std": [[[0.2748842133042251]], [[0.28040371777575207]], [[0.21152016335895316]]], "count": [182]}, "observation.images.left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4391915176326941]], [[0.46017266954858865]], [[0.4946360395119586]]], "std": [[[0.23116724509656433]], [[0.24820495021133235]], [[0.1826099734630688]]], "count": [182]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45721624851863824]], [[0.49862477218451484]], [[0.5429488952632335]]], "std": [[[0.27920029496349624]], [[0.2814475528736097]], [[0.22375099237906582]]], "count": [182]}, "timestamp": {"min": [0.0], "max": [51.65], "mean": [25.825], "std": [14.924497478977308], "count": [1034]}, "frame_index": {"min": [0], "max": [1033], "mean": [516.5], "std": [298.48994957954613], "count": [1034]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1034]}, "index": {"min": [0], "max": [1033], "mean": [516.5], "std": [298.48994957954613], "count": [1034]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1034]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-20.527009963989258, -82.10210418701172, -47.66666793823242, -19.80924415588379, 22.413793563842773, -32.861328125, 3.0136985778808594], "max": [3.5046112537384033, -54.35435485839844, -43.55555725097656, 41.819515228271484, 44.82758712768555, 1.904296875, 3.652967929840088], "mean": [-11.271916389465332, -64.39363098144531, -44.57264709472656, 6.035892963409424, 35.85568618774414, -11.085862159729004, 3.270108699798584], "std": [10.325958251953125, 10.631357192993164, 0.908278226852417, 20.450119018554688, 8.605416297912598, 13.311392784118652, 0.22372525930404663], "count": [26]}, "observation.state": {"min": [-20.527009963989258, -82.10210418701172, -46.66666793823242, -20.176082611083984, 22.413793563842773, -32.8125, 3.378995418548584], "max": [3.399209499359131, -54.35435485839844, -32.66666793823242, 42.773292541503906, 44.69987106323242, 1.806640625, 3.652967929840088], "mean": [-8.926725387573242, -64.6292495727539, -43.743587493896484, 7.091257572174072, 35.9441032409668, -12.053034782409668, 3.4351956844329834], "std": [9.885369300842285, 10.592086791992188, 2.6582436561584473, 20.68928337097168, 8.584105491638184, 13.138602256774902, 0.0673808604478836], "count": [26]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5232809671945702]], [[0.5319050323655102]], [[0.5706499890020111]]], "std": [[[0.3016319714204773]], [[0.3101681559584086]], [[0.23353544667725126]]], "count": [26]}, "observation.images.left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4868105910633484]], [[0.5119624575791856]], [[0.5445618244092508]]], "std": [[[0.2538308983400742]], [[0.2613869151152425]], [[0.19656392844881077]]], "count": [26]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.476777864190548]], [[0.5160291211035697]], [[0.5568680005656108]]], "std": [[[0.28431612082745567]], [[0.2850013986458955]], [[0.22223900993297668]]], "count": [26]}, "timestamp": {"min": [0.0], "max": [1.25], "mean": [0.625], "std": [0.375], "count": [26]}, "frame_index": {"min": [0], "max": [25], "mean": [12.5], "std": [7.5], "count": [26]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [26]}, "index": {"min": [1034], "max": [1059], "mean": [1046.5], "std": [7.5], "count": [26]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [26]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,152 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "ned2",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 1060,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 6,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 20,
|
| 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 |
+
7
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"base_to_arm.pos",
|
| 24 |
+
"arm_to_elbow.pos",
|
| 25 |
+
"elbow_to_forearm.pos",
|
| 26 |
+
"forearm_to_hand.pos",
|
| 27 |
+
"hand_to_shoulder.pos",
|
| 28 |
+
"shoulder_to_wrist.pos",
|
| 29 |
+
"gripper.pos"
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"observation.state": {
|
| 33 |
+
"dtype": "float32",
|
| 34 |
+
"shape": [
|
| 35 |
+
7
|
| 36 |
+
],
|
| 37 |
+
"names": [
|
| 38 |
+
"base_to_arm.pos",
|
| 39 |
+
"arm_to_elbow.pos",
|
| 40 |
+
"elbow_to_forearm.pos",
|
| 41 |
+
"forearm_to_hand.pos",
|
| 42 |
+
"hand_to_shoulder.pos",
|
| 43 |
+
"shoulder_to_wrist.pos",
|
| 44 |
+
"gripper.pos"
|
| 45 |
+
]
|
| 46 |
+
},
|
| 47 |
+
"observation.images.front": {
|
| 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.height": 480,
|
| 61 |
+
"video.width": 640,
|
| 62 |
+
"video.codec": "av1",
|
| 63 |
+
"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"video.fps": 20,
|
| 66 |
+
"video.channels": 3,
|
| 67 |
+
"has_audio": false
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"observation.images.left": {
|
| 71 |
+
"dtype": "video",
|
| 72 |
+
"shape": [
|
| 73 |
+
480,
|
| 74 |
+
640,
|
| 75 |
+
3
|
| 76 |
+
],
|
| 77 |
+
"names": [
|
| 78 |
+
"height",
|
| 79 |
+
"width",
|
| 80 |
+
"channels"
|
| 81 |
+
],
|
| 82 |
+
"info": {
|
| 83 |
+
"video.height": 480,
|
| 84 |
+
"video.width": 640,
|
| 85 |
+
"video.codec": "av1",
|
| 86 |
+
"video.pix_fmt": "yuv420p",
|
| 87 |
+
"video.is_depth_map": false,
|
| 88 |
+
"video.fps": 20,
|
| 89 |
+
"video.channels": 3,
|
| 90 |
+
"has_audio": false
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"observation.images.top": {
|
| 94 |
+
"dtype": "video",
|
| 95 |
+
"shape": [
|
| 96 |
+
480,
|
| 97 |
+
640,
|
| 98 |
+
3
|
| 99 |
+
],
|
| 100 |
+
"names": [
|
| 101 |
+
"height",
|
| 102 |
+
"width",
|
| 103 |
+
"channels"
|
| 104 |
+
],
|
| 105 |
+
"info": {
|
| 106 |
+
"video.height": 480,
|
| 107 |
+
"video.width": 640,
|
| 108 |
+
"video.codec": "av1",
|
| 109 |
+
"video.pix_fmt": "yuv420p",
|
| 110 |
+
"video.is_depth_map": false,
|
| 111 |
+
"video.fps": 20,
|
| 112 |
+
"video.channels": 3,
|
| 113 |
+
"has_audio": false
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
"timestamp": {
|
| 117 |
+
"dtype": "float32",
|
| 118 |
+
"shape": [
|
| 119 |
+
1
|
| 120 |
+
],
|
| 121 |
+
"names": null
|
| 122 |
+
},
|
| 123 |
+
"frame_index": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"names": null
|
| 129 |
+
},
|
| 130 |
+
"episode_index": {
|
| 131 |
+
"dtype": "int64",
|
| 132 |
+
"shape": [
|
| 133 |
+
1
|
| 134 |
+
],
|
| 135 |
+
"names": null
|
| 136 |
+
},
|
| 137 |
+
"index": {
|
| 138 |
+
"dtype": "int64",
|
| 139 |
+
"shape": [
|
| 140 |
+
1
|
| 141 |
+
],
|
| 142 |
+
"names": null
|
| 143 |
+
},
|
| 144 |
+
"task_index": {
|
| 145 |
+
"dtype": "int64",
|
| 146 |
+
"shape": [
|
| 147 |
+
1
|
| 148 |
+
],
|
| 149 |
+
"names": null
|
| 150 |
+
}
|
| 151 |
+
}
|
| 152 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "fold the tote bag"}
|
videos/chunk-000/observation.images.front/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7cea75c85cd7bdae0fecb785a5e74b97b95e82c802db1ddd8b33bb59e9293af9
|
| 3 |
+
size 9137227
|
videos/chunk-000/observation.images.front/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:afcc302227f3bf2f0d502ea6bf3d8223ddc83b8b5c4a85da187cba7f2084f0c1
|
| 3 |
+
size 240018
|
videos/chunk-000/observation.images.left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aa05ac9fda620bc3adced690f373bd712e8ed0c3248bc0256caaa6a71e6e9ee8
|
| 3 |
+
size 14146750
|
videos/chunk-000/observation.images.left/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:17db733db1966e0406cb256e8699e8b5ec7219efbc53b472e1e3ca24cd1ba40b
|
| 3 |
+
size 450739
|
videos/chunk-000/observation.images.top/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:685fa4dd3d3e546b7d8c802fcb129c5c9ce58f7b65581a8555242c0f85e3b5fa
|
| 3 |
+
size 11488502
|
videos/chunk-000/observation.images.top/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9853f0fdc410ad7b80dde94c61645d26ff830e7f20645c97834ee5b5682db1d8
|
| 3 |
+
size 300880
|