PatoTMR commited on
Commit
002b80a
·
verified ·
1 Parent(s): 9f805a4

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 sha256:1762d131c9fa2ed8360621dd6e75724aa956a2d4799a6885d7df68395a8e74df
3
+ size 32304741
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["move the right arm, pick up an orange, put inside the pot"], "length": 144}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9686274509803922]], [[0.9647058823529412]]], "mean": [[[0.5482613160376455]], [[0.6049812131395527]], [[0.638714184330959]]], "std": [[[0.24144789489344837]], [[0.20060733513409312]], [[0.1884553875203603]]], "count": [100]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9607843137254902]], [[0.9607843137254902]]], "mean": [[[0.5223607644473804]], [[0.5778641554888557]], [[0.6041300054811964]]], "std": [[[0.257558182477998]], [[0.23796676718295348]], [[0.2321279282352099]]], "count": [100]}, "observation.images.left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9411764705882353]], [[0.9411764705882353]], [[0.9450980392156862]]], "mean": [[[0.5186146706973805]], [[0.5689822513355929]], [[0.5944191547468597]]], "std": [[[0.26004816727947155]], [[0.24033544788363473]], [[0.2350923718791904]]], "count": [100]}, "observation.state": {"min": [-0.6132000088691711, -0.0003000000142492354, -0.3650999963283539, -1.579800009727478, -0.3109000027179718, -0.5278000235557556, -0.4036000072956085, -0.8393999934196472, -0.28619998693466187, -0.32989999651908875, -1.5291999578475952, -1.264299988746643, -0.4650999903678894, -0.218299999833107, -0.009499999694526196, -0.002899999963119626], "max": [0.035100001841783524, 0.17589999735355377, 0.5368000268936157, -1.2944999933242798, 0.6295999884605408, 1.1717000007629395, 0.25440001487731934, -0.09049999713897705, -0.0997999981045723, 0.2362000048160553, -1.0752999782562256, 0.3075000047683716, 1.1195000410079956, 0.6171000003814697, 0.0031999999191612005, 0.0031999999191612005], "mean": [-0.18471810221672058, 0.01614583283662796, -0.01128403190523386, -1.4428398609161377, 0.2517743408679962, 0.21687357127666473, -0.23745274543762207, -0.23224793374538422, -0.16598473489284515, 0.03180069103837013, -1.3561042547225952, -0.1739201694726944, 0.2245042324066162, 0.28532636165618896, -0.0001805555511964485, 3.33333300659433e-05], "std": [0.09676253795623779, 0.034762389957904816, 0.1967751532793045, 0.0812729150056839, 0.18697261810302734, 0.44440287351608276, 0.1699128895998001, 0.11281930655241013, 0.04039596766233444, 0.12439417839050293, 0.10054586082696915, 0.324484646320343, 0.38374000787734985, 0.19981902837753296, 0.0009495083941146731, 0.0007178285159170628], "count": [144]}, "action": {"min": [-0.6166602969169617, -0.21015536785125732, -0.3650874197483063, -1.5815341472625732, -0.3298058807849884, -0.5200194716453552, -0.3988350033760071, -0.8421554565429688, -0.28685441613197327, -0.32827189564704895, -1.5401166677474976, -1.2195147275924683, -0.4601942300796509, -0.2178252786397934, -0.22549517452716827, -0.21322332322597504], "max": [0.024555683135986328, 0.18263289332389832, 0.5356208086013794, -1.2333205938339233, 0.6307740807533264, 1.169464349746704, 0.2593694031238556, -0.08436894416809082, -0.10431069135665894, 0.6507256031036377, -1.0538448095321655, 0.30848076939582825, 1.1218878030776978, 0.615426778793335, -0.1978835165500641, -0.16106797754764557], "mean": [-0.19516700506210327, -0.027784062549471855, -0.020313983783125877, -1.4397579431533813, 0.2485715001821518, 0.21216581761837006, -0.22645258903503418, -0.24323198199272156, -0.16548888385295868, 0.035948678851127625, -1.3528645038604736, -0.15043197572231293, 0.2203798145055771, 0.2741084396839142, -0.1997690200805664, -0.16662879288196564], "std": [0.1081584095954895, 0.07144425809383392, 0.20047204196453094, 0.08558284491300583, 0.19581831991672516, 0.4583998918533325, 0.1879906952381134, 0.1371377408504486, 0.040851179510354996, 0.16391147673130035, 0.10472137480974197, 0.2732759118080139, 0.3922610878944397, 0.2104005366563797, 0.003092994447797537, 0.010430434718728065], "count": [144]}, "timestamp": {"min": [0.6000000000000001], "max": [14.9], "mean": [7.75], "std": [4.156821702535083], "count": [144]}, "frame_index": {"min": [0], "max": [143], "mean": [71.5], "std": [41.56821702535083], "count": [144]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [144]}, "index": {"min": [0], "max": [143], "mean": [71.5], "std": [41.56821702535083], "count": [144]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [144]}}}
meta/info.json ADDED
@@ -0,0 +1,144 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "ffw",
4
+ "total_episodes": 1,
5
+ "total_frames": 144,
6
+ "total_tasks": 1,
7
+ "total_videos": 0,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
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
+ "observation.images.top": {
18
+ "dtype": "image",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ]
29
+ },
30
+ "observation.images.right": {
31
+ "dtype": "image",
32
+ "shape": [
33
+ 256,
34
+ 256,
35
+ 3
36
+ ],
37
+ "names": [
38
+ "height",
39
+ "width",
40
+ "channel"
41
+ ]
42
+ },
43
+ "observation.images.left": {
44
+ "dtype": "image",
45
+ "shape": [
46
+ 256,
47
+ 256,
48
+ 3
49
+ ],
50
+ "names": [
51
+ "height",
52
+ "width",
53
+ "channel"
54
+ ]
55
+ },
56
+ "observation.state": {
57
+ "dtype": "float32",
58
+ "shape": [
59
+ 16
60
+ ],
61
+ "names": {
62
+ "motors": [
63
+ "arm_l_joint1",
64
+ "arm_l_joint2",
65
+ "arm_l_joint3",
66
+ "arm_l_joint4",
67
+ "arm_l_joint5",
68
+ "arm_l_joint6",
69
+ "arm_l_joint7",
70
+ "arm_r_joint1",
71
+ "arm_r_joint2",
72
+ "arm_r_joint3",
73
+ "arm_r_joint4",
74
+ "arm_r_joint5",
75
+ "arm_r_joint6",
76
+ "arm_r_joint7",
77
+ "gripper_l_joint1",
78
+ "gripper_r_joint1"
79
+ ]
80
+ }
81
+ },
82
+ "action": {
83
+ "dtype": "float32",
84
+ "shape": [
85
+ 16
86
+ ],
87
+ "names": {
88
+ "motors": [
89
+ "arm_l_joint1",
90
+ "arm_l_joint2",
91
+ "arm_l_joint3",
92
+ "arm_l_joint4",
93
+ "arm_l_joint5",
94
+ "arm_l_joint6",
95
+ "arm_l_joint7",
96
+ "arm_r_joint1",
97
+ "arm_r_joint2",
98
+ "arm_r_joint3",
99
+ "arm_r_joint4",
100
+ "arm_r_joint5",
101
+ "arm_r_joint6",
102
+ "arm_r_joint7",
103
+ "gripper_l_joint1",
104
+ "gripper_r_joint1"
105
+ ]
106
+ }
107
+ },
108
+ "timestamp": {
109
+ "dtype": "float32",
110
+ "shape": [
111
+ 1
112
+ ],
113
+ "names": null
114
+ },
115
+ "frame_index": {
116
+ "dtype": "int64",
117
+ "shape": [
118
+ 1
119
+ ],
120
+ "names": null
121
+ },
122
+ "episode_index": {
123
+ "dtype": "int64",
124
+ "shape": [
125
+ 1
126
+ ],
127
+ "names": null
128
+ },
129
+ "index": {
130
+ "dtype": "int64",
131
+ "shape": [
132
+ 1
133
+ ],
134
+ "names": null
135
+ },
136
+ "task_index": {
137
+ "dtype": "int64",
138
+ "shape": [
139
+ 1
140
+ ],
141
+ "names": null
142
+ }
143
+ }
144
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "move the right arm, pick up an orange, put inside the pot"}