phantson commited on
Commit
34ab976
·
verified ·
1 Parent(s): e835bc9

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 sha256:04e89ffc973d44d6f061297e61947bc14f24e3430101977ca4b0e42acd169220
3
+ size 30227
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["fold the tote bag"], "length": 445}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-20.10540199279785, -78.01802062988281, -50.44444274902344, -11.665443420410156, 17.113664627075195, -38.720703125, 0.0], "max": [82.87220001220703, 27.087087631225586, 28.0, 44.534114837646484, 63.090675354003906, 46.435546875, 100.0], "mean": [48.24887466430664, -21.201187133789062, -27.518877029418945, 4.211792469024658, 29.57050323486328, -6.266129970550537, 65.97406005859375], "std": [25.942996978759766, 24.23373031616211, 14.040275573730469, 10.411213874816895, 8.876029968261719, 14.442904472351074, 39.425506591796875], "count": [445]}, "observation.state": {"min": [-20.10540199279785, -78.01802062988281, -50.44444274902344, -12.252384185791016, 17.049808502197266, -38.4765625, 3.0136985778808594], "max": [82.87220001220703, 27.087087631225586, 28.0, 44.75421905517578, 62.70753479003906, 46.435546875, 100.0], "mean": [48.2723388671875, -21.295124053955078, -27.645477294921875, 4.114684581756592, 29.543664932250977, -6.109221458435059, 67.80525970458984], "std": [25.57418441772461, 24.29558563232422, 13.810945510864258, 10.54013729095459, 8.881372451782227, 14.340658187866211, 37.425968170166016], "count": [445]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4917858312908497]], [[0.5028191544117646]], [[0.5440453329248366]]], "std": [[[0.29088441555849803]], [[0.2978159497375233]], [[0.22380702105509534]]], "count": [100]}, "observation.images.left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4615667994281045]], [[0.4831243852124183]], [[0.5192234109477124]]], "std": [[[0.24433356335781034]], [[0.25682962608173104]], [[0.18965322234756285]]], "count": [100]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4585946732026144]], [[0.4992534170751634]], [[0.5451423059640522]]], "std": [[[0.2828247117256199]], [[0.2838784941961432]], [[0.2245518822120372]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [22.2], "mean": [11.1], "std": [6.423005527009921], "count": [445]}, "frame_index": {"min": [0], "max": [444], "mean": [222.0], "std": [128.46011054019843], "count": [445]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [445]}, "index": {"min": [0], "max": [444], "mean": [222.0], "std": [128.46011054019843], "count": [445]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [445]}}}
meta/info.json ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "ned2",
4
+ "total_episodes": 1,
5
+ "total_frames": 445,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:1"
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 sha256:4ad814821cc982f88e6c44a644669f992fa50e6294dc1b0031f09d0820ec68f9
3
+ size 4210359
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:f7391707ad660711714522dc317b2239530f4f76efcdbb5cc0194989b5c66aff
3
+ size 7043288
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 sha256:1142b825004a9bca6181d3d260d1fbb7ad6d6c13ac81aa85d488ab89f55fe768
3
+ size 5245853