Qipei commited on
Commit
edfc2f1
·
verified ·
1 Parent(s): 042c55f

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 sha256:91dacc45f390199c152a3d8f78f6b81edbbc9b51ed2fe76ba5e0d8da2ac5062d
3
+ size 98208
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["Cotrain_task_2_cont"], "length": 872}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-0.00019073777366429567, 1.0450522899627686, 0.5231937170028687, -0.7074463963508606, -0.5125123858451843, -0.6670100092887878, -0.00023198500275611877, -0.7368200421333313, 1.0465781688690186, 0.4190509021282196, -0.8375295400619507, -0.5880445837974548, -1.0034713745117188, -0.00040221773087978363, -0.023197535425424576, -0.07320722192525864], "max": [0.8669031858444214, 2.4298086166381836, 1.8430991172790527, 0.6246662139892578, 0.9252689480781555, 0.19245441257953644, 0.038678042590618134, 0.06694895774126053, 2.1555275917053223, 1.5341038703918457, 0.6261920928955078, 0.4869535267353058, 0.00019073777366429567, 0.03779349476099014, 0.021413110196590424, 0.06863176822662354], "mean": [0.2891150712966919, 1.486944317817688, 0.9458023905754089, 0.15577298402786255, -0.07272978127002716, -0.05436200648546219, 0.009392567910254002, -0.2702464461326599, 1.5734964609146118, 1.0312180519104004, -0.40304139256477356, -0.006035698112100363, -0.33475086092948914, 0.015070655383169651, -5.780966966995038e-05, 0.00034368355409242213], "std": [0.3041960895061493, 0.48899057507514954, 0.5175575613975525, 0.4718914330005646, 0.20259501039981842, 0.20602212846279144, 0.01319216750562191, 0.2602013051509857, 0.34180185198783875, 0.2737382650375366, 0.3830740749835968, 0.12264835089445114, 0.23406410217285156, 0.013868220150470734, 0.0036472969222813845, 0.01288540381938219], "count": [872]}, "observation.state": {"min": [-0.00019073777366429567, 1.045433759689331, 0.5224307775497437, -0.7085908055305481, -0.4804684519767761, -0.6670100092887878, -1.7546117305755615e-06, -0.7352941036224365, 1.0465781688690186, 0.4209582805633545, -0.8432517051696777, -0.5834668278694153, -0.995841920375824, -9.855255484580994e-05, -0.0013593605253845453, -5.5622476793359965e-05, -0.00684487447142601, -0.023197535425424576, -0.07320722192525864], "max": [0.8665217161178589, 2.433241844177246, 1.8453879356384277, 0.6242847442626953, 0.916113555431366, 0.19092851877212524, 0.03866127133369446, 0.06656748056411743, 2.1555275917053223, 1.5421148538589478, 0.6231403350830078, 0.47703516483306885, -0.000572213320992887, 0.03776003420352936, 0.00132486573420465, -9.144621799350716e-06, 0.002352924318984151, 0.021413110196590424, 0.06863176822662354], "mean": [0.28807565569877625, 1.4860650300979614, 0.9447229504585266, 0.15557220578193665, -0.07139945030212402, -0.05440707504749298, 0.01133444532752037, -0.26895809173583984, 1.572575330734253, 1.029555320739746, -0.4007757902145386, -0.006628500763326883, -0.3341044485569, 0.015044143423438072, 0.0003374562074895948, -2.1094569092383608e-05, -0.0009164599468931556, -5.780966966995038e-05, 0.00034368355409242213], "std": [0.3042212724685669, 0.4891803562641144, 0.5181812644004822, 0.4705665111541748, 0.20083284378051758, 0.20569103956222534, 0.012968383729457855, 0.26009929180145264, 0.3426266610622406, 0.27466925978660583, 0.38509783148765564, 0.12088450789451599, 0.23394696414470673, 0.013833682984113693, 0.00022907875245437026, 7.3596706897660624e-06, 0.0007209319155663252, 0.0036472969222813845, 0.01288540381938219], "count": [872]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8901960784313725]], [[1.0]], [[1.0]]], "mean": [[[0.46576892999387254]], [[0.4776543951695261]], [[0.4653096303104575]]], "std": [[[0.15243797517281812]], [[0.14429555042198394]], [[0.1467006296459969]]], "count": [160]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40738178232230393]], [[0.42588179253472225]], [[0.41301085580065355]]], "std": [[[0.26776639660106466]], [[0.25386499958306696]], [[0.26068328911496985]]], "count": [160]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42936345486111116]], [[0.4507432444852941]], [[0.4409263365502451]]], "std": [[[0.26880401981722263]], [[0.25362462859367435]], [[0.2626538734544936]]], "count": [160]}, "timestamp": {"min": [0.0], "max": [17.42], "mean": [8.709999999999999], "std": [5.034491036837785], "count": [872]}, "frame_index": {"min": [0], "max": [871], "mean": [435.5], "std": [251.72455184188928], "count": [872]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [872]}, "index": {"min": [0], "max": [871], "mean": [435.5], "std": [251.72455184188928], "count": [872]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [872]}}}
meta/info.json ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "trossen_subversion": "v1.0",
4
+ "robot_type": "trossen_ai_mobile",
5
+ "total_episodes": 1,
6
+ "total_frames": 872,
7
+ "total_tasks": 1,
8
+ "total_videos": 3,
9
+ "total_chunks": 1,
10
+ "chunks_size": 1000,
11
+ "fps": 50,
12
+ "splits": {
13
+ "train": "0:1"
14
+ },
15
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
16
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
17
+ "features": {
18
+ "action": {
19
+ "dtype": "float32",
20
+ "shape": [
21
+ 16
22
+ ],
23
+ "names": [
24
+ "linear_vel",
25
+ "angular_vel",
26
+ "left_joint_0",
27
+ "left_joint_1",
28
+ "left_joint_2",
29
+ "left_joint_3",
30
+ "left_joint_4",
31
+ "left_joint_5",
32
+ "left_joint_6",
33
+ "right_joint_0",
34
+ "right_joint_1",
35
+ "right_joint_2",
36
+ "right_joint_3",
37
+ "right_joint_4",
38
+ "right_joint_5",
39
+ "right_joint_6"
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "dtype": "float32",
44
+ "shape": [
45
+ 19
46
+ ],
47
+ "names": [
48
+ "odom_x",
49
+ "odom_y",
50
+ "odom_theta",
51
+ "linear_vel",
52
+ "angular_vel",
53
+ "left_joint_0",
54
+ "left_joint_1",
55
+ "left_joint_2",
56
+ "left_joint_3",
57
+ "left_joint_4",
58
+ "left_joint_5",
59
+ "left_joint_6",
60
+ "right_joint_0",
61
+ "right_joint_1",
62
+ "right_joint_2",
63
+ "right_joint_3",
64
+ "right_joint_4",
65
+ "right_joint_5",
66
+ "right_joint_6"
67
+ ]
68
+ },
69
+ "observation.images.cam_high": {
70
+ "dtype": "video",
71
+ "shape": [
72
+ 480,
73
+ 640,
74
+ 3
75
+ ],
76
+ "names": [
77
+ "height",
78
+ "width",
79
+ "channels"
80
+ ],
81
+ "info": {
82
+ "video.fps": 50.0,
83
+ "video.height": 480,
84
+ "video.width": 640,
85
+ "video.channels": 3,
86
+ "video.codec": "av1",
87
+ "video.pix_fmt": "yuv420p",
88
+ "video.is_depth_map": false,
89
+ "has_audio": false
90
+ }
91
+ },
92
+ "observation.images.cam_left_wrist": {
93
+ "dtype": "video",
94
+ "shape": [
95
+ 480,
96
+ 640,
97
+ 3
98
+ ],
99
+ "names": [
100
+ "height",
101
+ "width",
102
+ "channels"
103
+ ],
104
+ "info": {
105
+ "video.fps": 50.0,
106
+ "video.height": 480,
107
+ "video.width": 640,
108
+ "video.channels": 3,
109
+ "video.codec": "av1",
110
+ "video.pix_fmt": "yuv420p",
111
+ "video.is_depth_map": false,
112
+ "has_audio": false
113
+ }
114
+ },
115
+ "observation.images.cam_right_wrist": {
116
+ "dtype": "video",
117
+ "shape": [
118
+ 480,
119
+ 640,
120
+ 3
121
+ ],
122
+ "names": [
123
+ "height",
124
+ "width",
125
+ "channels"
126
+ ],
127
+ "info": {
128
+ "video.fps": 50.0,
129
+ "video.height": 480,
130
+ "video.width": 640,
131
+ "video.channels": 3,
132
+ "video.codec": "av1",
133
+ "video.pix_fmt": "yuv420p",
134
+ "video.is_depth_map": false,
135
+ "has_audio": false
136
+ }
137
+ },
138
+ "timestamp": {
139
+ "dtype": "float32",
140
+ "shape": [
141
+ 1
142
+ ],
143
+ "names": null
144
+ },
145
+ "frame_index": {
146
+ "dtype": "int64",
147
+ "shape": [
148
+ 1
149
+ ],
150
+ "names": null
151
+ },
152
+ "episode_index": {
153
+ "dtype": "int64",
154
+ "shape": [
155
+ 1
156
+ ],
157
+ "names": null
158
+ },
159
+ "index": {
160
+ "dtype": "int64",
161
+ "shape": [
162
+ 1
163
+ ],
164
+ "names": null
165
+ },
166
+ "task_index": {
167
+ "dtype": "int64",
168
+ "shape": [
169
+ 1
170
+ ],
171
+ "names": null
172
+ }
173
+ }
174
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Cotrain_task_2_cont"}
videos/chunk-000/observation.images.cam_high/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:17358f8a64c9e697d1ca0e4c858d619d4ee8b23e96e351cf572121a51615f1a8
3
+ size 3112169
videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:192e8d2101b21ad753d7a065a9a9763f01ef861f29517e16609627428bd2b189
3
+ size 4792286
videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ca0db78ae1fe03c90b514c29bdb64a757c1ccfae99443c77a4429f70ccced57
3
+ size 3961399