Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f1b6986104bd5d4117610f81861fa27cee715ce7567b33ea6f941ed7f12efd9
+size 24370

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70b363dc4db6d685f920f96f905ef45fdea14d41f6fba425def4f0ef9fcf2a71
+size 24790

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b95103cf414216bb435f8557fbe0bb9f62e4ccbcc094690644d9bd7b11c697a
+size 34362

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ed743629819526d69d5eb441765aadab9db067dc4128d0dea182efd01f5e61b
+size 25815

meta/episodes.jsonl

@@ -0,0 +1,4 @@
+{"episode_index": 0, "tasks": ["Pick up the pen and place it on the tray"], "length": 645}
+{"episode_index": 1, "tasks": ["Pick up the hairband and place it on the tray"], "length": 627}
+{"episode_index": 2, "tasks": ["Pick up the hairband and place it on the tray"], "length": 1000}
+{"episode_index": 3, "tasks": ["Pick up the hairband and place it on the tray"], "length": 696}

meta/episodes_stats.jsonl

@@ -0,0 +1,4 @@
+{"episode_index": 0, "stats": {"action": {"min": [-34.007781982421875, -91.96956634521484, -36.49798583984375, 61.3363037109375, -54.05546951293945, 1.6823687553405762], "max": [40.0, 34.15046310424805, 81.10165405273438, 61.51447677612305, -53.793827056884766, 75.90847778320312], "mean": [3.7071712017059326, -15.374165534973145, 6.061942100524902, 61.46552658081055, -53.82352828979492, 34.95249938964844], "std": [25.139698028564453, 40.620033264160156, 35.280609130859375, 0.05198372155427933, 0.07963069528341293, 29.18738555908203], "count": [645]}, "observation.state": {"min": [-34.007781982421875, -91.96956634521484, -36.49798583984375, 61.3363037109375, -54.05546951293945, 1.6823687553405762], "max": [40.0, 34.15046310424805, 81.10165405273438, 61.51447677612305, -53.793827056884766, 75.90847778320312], "mean": [3.7071712017059326, -15.374165534973145, 6.061942100524902, 61.46552658081055, -53.82352828979492, 34.95249938964844], "std": [25.139698028564453, 40.620033264160156, 35.280609130859375, 0.05198372155427933, 0.07963069528341293, 29.18738555908203], "count": [645]}, "observation.images.main": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33058345556070196]], [[0.32640420590808505]], [[0.3107664749626885]]], "std": [[[0.34608179933866307]], [[0.3400011304321768]], [[0.3377635090774318]]], "count": [127]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4584923061087952]], [[0.48585616411919097]], [[0.4625977969052888]]], "std": [[[0.3071379535440286]], [[0.31254118202616266]], [[0.32185428174547603]]], "count": [127]}, "timestamp": {"min": [0.0], "max": [21.466666666666665], "mean": [10.733333333333333], "std": [6.20650793447819], "count": [645]}, "frame_index": {"min": [0], "max": [644], "mean": [322.0], "std": [186.19523803434572], "count": [645]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [645]}, "index": {"min": [0], "max": [644], "mean": [322.0], "std": [186.19523803434572], "count": [645]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [645]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-44.04669189453125, -92.22315979003906, -48.76847457885742, 61.247215270996094, -54.160125732421875, 1.8169583082199097], "max": [43.57976531982422, 40.659339904785156, 78.23555755615234, 61.51447677612305, -53.793827056884766, 53.76850509643555], "mean": [2.604684352874756, -23.971973419189453, 8.436081886291504, 61.481502532958984, -53.85376739501953, 21.99059295654297], "std": [31.68227767944336, 36.36786651611328, 35.40310287475586, 0.05160890519618988, 0.103383369743824, 20.064659118652344], "count": [627]}, "observation.state": {"min": [-44.04669189453125, -92.22315979003906, -48.76847457885742, 61.247215270996094, -54.160125732421875, 1.8169583082199097], "max": [43.57976531982422, 40.659339904785156, 78.23555755615234, 61.51447677612305, -53.793827056884766, 53.76850509643555], "mean": [2.604684352874756, -23.971973419189453, 8.436081886291504, 61.481502532958984, -53.85376739501953, 21.99059295654297], "std": [31.68227767944336, 36.36786651611328, 35.40310287475586, 0.05160890519618988, 0.103383369743824, 20.064659118652344], "count": [627]}, "observation.images.main": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33331997385620915]], [[0.3238757712418301]], [[0.3083997211328976]]], "std": [[[0.34561438833175706]], [[0.3440320909689533]], [[0.34093073690150155]]], "count": [125]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40970269063180825]], [[0.4326614117647059]], [[0.4043665533769063]]], "std": [[[0.33235445857402146]], [[0.33823369536028214]], [[0.3446312599729275]]], "count": [125]}, "timestamp": {"min": [0.0], "max": [20.866666666666667], "mean": [10.433333333333332], "std": [6.033302639578156], "count": [627]}, "frame_index": {"min": [0], "max": [626], "mean": [313.0], "std": [180.99907918734468], "count": [627]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [627]}, "index": {"min": [645], "max": [1271], "mean": [958.0], "std": [180.99907918734468], "count": [627]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [627]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-38.21011734008789, -91.96956634521484, -56.918941497802734, 61.15813064575195, -54.160125732421875, 1.1440107822418213], "max": [33.85213851928711, 37.278106689453125, 81.01209259033203, 61.51447677612305, -53.793827056884766, 71.60161590576172], "mean": [9.49751091003418, -9.85915470123291, 0.6975982189178467, 61.47141647338867, -53.9300422668457, 35.51877212524414], "std": [24.598278045654297, 33.70729064941406, 33.984066009521484, 0.056613873690366745, 0.13445423543453217, 25.665800094604492], "count": [1000]}, "observation.state": {"min": [-38.21011734008789, -91.96956634521484, -56.918941497802734, 61.15813064575195, -54.160125732421875, 1.1440107822418213], "max": [33.85213851928711, 37.278106689453125, 81.01209259033203, 61.51447677612305, -53.793827056884766, 71.60161590576172], "mean": [9.49751091003418, -9.85915470123291, 0.6975982189178467, 61.47141647338867, -53.9300422668457, 35.51877212524414], "std": [24.598278045654297, 33.70729064941406, 33.984066009521484, 0.056613873690366745, 0.13445423543453217, 25.665800094604492], "count": [1000]}, "observation.images.main": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3040784621444309]], [[0.3058395369447214]], [[0.28705938357766203]]], "std": [[[0.3367588783391179]], [[0.3372451477787684]], [[0.33292476405454996]]], "count": [177]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4191201503514149]], [[0.4526423968834238]], [[0.41514798351858007]]], "std": [[[0.32328523481326255]], [[0.3248590027826892]], [[0.3290143889225173]]], "count": [177]}, "timestamp": {"min": [0.0], "max": [33.3], "mean": [16.65], "std": [9.622499675240316], "count": [1000]}, "frame_index": {"min": [0], "max": [999], "mean": [499.5], "std": [288.6749902572095], "count": [1000]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1000]}, "index": {"min": [1272], "max": [2271], "mean": [1771.5], "std": [288.6749902572095], "count": [1000]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1000]}}}
+{"episode_index": 3, "stats": {"action": {"min": [-34.085601806640625, -91.88504028320312, -41.60322570800781, 60.890869140625, -54.10779571533203, 0.0], "max": [39.92218017578125, 37.61623001098633, 78.32512664794922, 61.51447677612305, -53.793827056884766, 65.47779083251953], "mean": [6.447166919708252, -23.080339431762695, 8.214694023132324, 61.42193603515625, -53.82402801513672, 18.346803665161133], "std": [30.16456413269043, 41.559391021728516, 37.279212951660156, 0.07632480561733246, 0.060841094702482224, 20.501131057739258], "count": [696]}, "observation.state": {"min": [-34.085601806640625, -91.88504028320312, -41.60322570800781, 60.890869140625, -54.10779571533203, 0.0], "max": [39.92218017578125, 37.61623001098633, 78.32512664794922, 61.51447677612305, -53.793827056884766, 65.47779083251953], "mean": [6.447166919708252, -23.080339431762695, 8.214694023132324, 61.42193603515625, -53.82402801513672, 18.346803665161133], "std": [30.16456413269043, 41.559391021728516, 37.279212951660156, 0.07632480561733246, 0.060841094702482224, 20.501131057739258], "count": [696]}, "observation.images.main": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3072636468167514]], [[0.3078728475752441]], [[0.2887136286613411]]], "std": [[[0.34395450957190704]], [[0.3455815234718319]], [[0.34034996505790893]]], "count": [135]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42953638142499795]], [[0.4565144436375373]], [[0.4320842027757605]]], "std": [[[0.32444228633001976]], [[0.32877971315427773]], [[0.3337347462599406]]], "count": [135]}, "timestamp": {"min": [0.0], "max": [23.166666666666668], "mean": [11.583333333333334], "std": [6.697256209877351], "count": [696]}, "frame_index": {"min": [0], "max": [695], "mean": [347.5], "std": [200.9176862963205], "count": [696]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [696]}, "index": {"min": [2272], "max": [2967], "mean": [2619.5], "std": [200.9176862963205], "count": [696]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [696]}}}

meta/info.json

@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so101_follower",
+    "total_episodes": 4,
+    "total_frames": 2968,
+    "total_tasks": 2,
+    "total_videos": 8,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:4"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 720,
+                "video.width": 1280,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 720,
+                "video.width": 1280,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Pick up the pen and place it on the tray"}
+{"task_index": 1, "task": "Pick up the hairband and place it on the tray"}

videos/chunk-000/observation.images.main/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5fe54f59eca735f3dd4ed03956037d355863ae6057d3bd36171180072761018
+size 35949771

videos/chunk-000/observation.images.main/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19b72f75bcf048d91ecee8707ccf84cb6aa514b05ad3ae70e8ef21a644790acb
+size 34691913

videos/chunk-000/observation.images.main/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81ed8fff0f8c3d413137a8482fcca3fbef489fdbfc3cc79155599af52973cdcf
+size 53003155

videos/chunk-000/observation.images.main/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:371dcddc2e04f21f4da21f87a734749ecd9107b567d3136311bf3f8db5d253af
+size 36740789

videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1cab0a8149410b72fd7422877fecf7b360854d9bbea0d6b9bee7d4941d3e2ce
+size 14860254

videos/chunk-000/observation.images.wrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:256035b6aacfef4cfc60eaf75a847a6ca0e6d160397a6222406e4ea10ca4de2a
+size 16376167

videos/chunk-000/observation.images.wrist/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef5093de5103ef7ca043e5beff307d70afca721c855248f415dc2ad2757dadc0
+size 22852497

videos/chunk-000/observation.images.wrist/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f386822bd25f199b6d031716db2d6a5d2bf40cb6440669a4e50ce164c885d1cd
+size 17167728