Datasets:
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 sha256:053f1a94d379f0cbbf2514498938619045183e41fbddc925e775bb4966890a87
|
| 3 |
+
size 297646
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Sorting socks into pairs"], "length": 5339}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-67.1484375, 41.1328125, -13.53515625, -33.57421875, -53.96484375, -9.69345474243164, -58.974609375, 76.9921875, -12.83203125, -35.244140625, -11.953125, -8.881298065185547], "max": [74.53125, 197.40234375, 183.427734375, 100.634765625, 50.09765625, 48.21872329711914, 7.55859375, 199.775390625, 183.1640625, 109.6875, 39.638671875, 81.29803466796875], "mean": [28.87554931640625, 128.88980102539062, 92.8237533569336, 33.260982513427734, -13.206424713134766, 14.917442321777344, -24.80841827392578, 153.69204711914062, 124.30034637451172, 33.39964294433594, 19.365819931030273, 46.597251892089844], "std": [28.651458740234375, 36.417724609375, 57.44603729248047, 34.198974609375, 16.46660804748535, 15.094766616821289, 13.376964569091797, 29.03099822998047, 40.25089645385742, 25.30192756652832, 11.675543785095215, 28.642045974731445], "count": [5339]}, "observation.state": {"min": [-63.369140625, 41.1328125, -9.755859375, -32.958984375, -52.55859375, -3.1601123809814453, -54.84375, 76.46484375, -7.734375, -33.22265625, -11.953125, -1.9566737413406372], "max": [66.97265625, 191.513671875, 173.14453125, 99.66796875, 50.185546875, 46.69943618774414, 6.328125, 194.0625, 178.76953125, 107.314453125, 39.462890625, 81.06219482421875], "mean": [27.96058464050293, 126.45702362060547, 93.36292266845703, 33.226707458496094, -13.149625778198242, 16.081640243530273, -24.702478408813477, 151.8902587890625, 125.27149200439453, 33.60219192504883, 19.311031341552734, 47.51227569580078], "std": [27.569026947021484, 35.992774963378906, 55.945762634277344, 34.171775817871094, 16.36337661743164, 13.487387657165527, 13.16029167175293, 28.793596267700195, 39.07780838012695, 25.133527755737305, 11.623961448669434, 26.9241943359375], "count": [5339]}, "observation.images.logitech": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5538702132562426]], [[0.48560127674868026]], [[0.46396086418007376]]], "std": [[[0.26540483209526483]], [[0.2348053325179972]], [[0.2308743837700351]]], "count": [624]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5295810640161513]], [[0.49867680740164655]], [[0.48582747395833337]]], "std": [[[0.2739007051208655]], [[0.26699770771174464]], [[0.2649123047928947]]], "count": [624]}, "timestamp": {"min": [0.0], "max": [177.93333333333334], "mean": [88.96666666666667], "std": [51.37455055223787], "count": [5339]}, "frame_index": {"min": [0], "max": [5338], "mean": [2669.0], "std": [1541.236516567136], "count": [5339]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [5339]}, "index": {"min": [0], "max": [5338], "mean": [2669.0], "std": [1541.236516567136], "count": [5339]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [5339]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,139 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "so100",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 5339,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 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 |
+
12
|
| 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 |
+
"not_main_shoulder_pan",
|
| 30 |
+
"not_main_shoulder_lift",
|
| 31 |
+
"not_main_elbow_flex",
|
| 32 |
+
"not_main_wrist_flex",
|
| 33 |
+
"not_main_wrist_roll",
|
| 34 |
+
"not_main_gripper"
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
"observation.state": {
|
| 38 |
+
"dtype": "float32",
|
| 39 |
+
"shape": [
|
| 40 |
+
12
|
| 41 |
+
],
|
| 42 |
+
"names": [
|
| 43 |
+
"main_shoulder_pan",
|
| 44 |
+
"main_shoulder_lift",
|
| 45 |
+
"main_elbow_flex",
|
| 46 |
+
"main_wrist_flex",
|
| 47 |
+
"main_wrist_roll",
|
| 48 |
+
"main_gripper",
|
| 49 |
+
"not_main_shoulder_pan",
|
| 50 |
+
"not_main_shoulder_lift",
|
| 51 |
+
"not_main_elbow_flex",
|
| 52 |
+
"not_main_wrist_flex",
|
| 53 |
+
"not_main_wrist_roll",
|
| 54 |
+
"not_main_gripper"
|
| 55 |
+
]
|
| 56 |
+
},
|
| 57 |
+
"observation.images.logitech": {
|
| 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": "av1",
|
| 75 |
+
"video.pix_fmt": "yuv420p",
|
| 76 |
+
"video.is_depth_map": false,
|
| 77 |
+
"has_audio": false
|
| 78 |
+
}
|
| 79 |
+
},
|
| 80 |
+
"observation.images.phone": {
|
| 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": "av1",
|
| 98 |
+
"video.pix_fmt": "yuv420p",
|
| 99 |
+
"video.is_depth_map": false,
|
| 100 |
+
"has_audio": false
|
| 101 |
+
}
|
| 102 |
+
},
|
| 103 |
+
"timestamp": {
|
| 104 |
+
"dtype": "float32",
|
| 105 |
+
"shape": [
|
| 106 |
+
1
|
| 107 |
+
],
|
| 108 |
+
"names": null
|
| 109 |
+
},
|
| 110 |
+
"frame_index": {
|
| 111 |
+
"dtype": "int64",
|
| 112 |
+
"shape": [
|
| 113 |
+
1
|
| 114 |
+
],
|
| 115 |
+
"names": null
|
| 116 |
+
},
|
| 117 |
+
"episode_index": {
|
| 118 |
+
"dtype": "int64",
|
| 119 |
+
"shape": [
|
| 120 |
+
1
|
| 121 |
+
],
|
| 122 |
+
"names": null
|
| 123 |
+
},
|
| 124 |
+
"index": {
|
| 125 |
+
"dtype": "int64",
|
| 126 |
+
"shape": [
|
| 127 |
+
1
|
| 128 |
+
],
|
| 129 |
+
"names": null
|
| 130 |
+
},
|
| 131 |
+
"task_index": {
|
| 132 |
+
"dtype": "int64",
|
| 133 |
+
"shape": [
|
| 134 |
+
1
|
| 135 |
+
],
|
| 136 |
+
"names": null
|
| 137 |
+
}
|
| 138 |
+
}
|
| 139 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Sorting socks into pairs"}
|
videos/chunk-000/observation.images.logitech/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d4edc74a5b6f29cbf29fc8172b1d5cb6a3af20f0f0b7fb1cdfed6114d7006aa1
|
| 3 |
+
size 137262145
|
videos/chunk-000/observation.images.phone/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1b2dec1b237f3948f4999a9ad144ddf1609576510cdbf55f80609dc8d7dddaae
|
| 3 |
+
size 83104537
|