RaulSaya commited on
Commit
fa3c975
·
verified ·
1 Parent(s): 5bc92c3

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 sha256:27d4e8fd1e8164261f9e22aed111566d537cc5ec297df5ddf809f549d9bcc07e
3
+ size 15140
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:28e8b581b04eff1109d3f6acc604ee8e4e20167dc18be25bb6f6d422c68e572f
3
+ size 18201
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 663}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 537}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-0.3515625, 196.435546875, 164.267578125, -97.03125, 88.41796875, 26.85982894897461], "max": [-0.263671875, 196.5234375, 181.142578125, -97.03125, 88.505859375, 26.85982894897461], "mean": [-0.29230591654777527, 196.46499633789062, 180.6311492919922, -97.03125, 88.41810607910156, 26.859596252441406], "std": [0.041191764175891876, 0.04119972512125969, 1.8290784358978271, 0.0, 0.003410808974877, 0.000232696533203125], "count": [663]}, "observation.state": {"min": [-0.439453125, 197.05078125, 168.310546875, -97.03125, 88.76953125, 27.112674713134766], "max": [-0.439453125, 197.05078125, 180.703125, -97.03125, 88.76953125, 27.112674713134766], "mean": [-0.439453125, 197.048828125, 180.46603393554688, -97.03125, 88.76953125, 27.112600326538086], "std": [0.0, 0.001953125, 1.384970784187317, 0.0, 0.0, 7.43865966796875e-05], "count": [663]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5632313159879336]], [[0.5281883876948216]], [[0.5206665943941678]]], "std": [[[0.20080231777433724]], [[0.2399449162545656]], [[0.24934782079756887]]], "count": [130]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.984313725490196]]], "mean": [[[0.4936396021870287]], [[0.5638227532679738]], [[0.5147014014580191]]], "std": [[[0.3316218911386267]], [[0.2680473222573307]], [[0.25395269498038653]]], "count": [130]}, "timestamp": {"min": [0.0], "max": [22.066666666666666], "mean": [11.033333333333333], "std": [6.379713217750524], "count": [663]}, "frame_index": {"min": [0], "max": [662], "mean": [331.0], "std": [191.3913965325157], "count": [663]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [663]}, "index": {"min": [0], "max": [662], "mean": [331.0], "std": [191.3913965325157], "count": [663]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [663]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-0.3515625, 93.251953125, 81.5625, -97.03125, 65.91796875, 26.155052185058594], "max": [45.52734375, 196.5234375, 180.966796875, 37.177734375, 89.296875, 26.85982894897461], "mean": [6.253164291381836, 180.14822387695312, 158.97567749023438, -57.07685852050781, 87.4642105102539, 26.733074188232422], "std": [15.4051513671875, 28.261207580566406, 33.661415100097656, 56.06951904296875, 4.53480863571167, 0.2314917892217636], "count": [537]}, "observation.state": {"min": [-0.52734375, 93.427734375, 87.71484375, -97.03125, 66.181640625, 26.54929542541504], "max": [45.17578125, 197.05078125, 180.703125, 37.08984375, 89.12109375, 27.112674713134766], "mean": [5.870340824127197, 180.86654663085938, 160.6661376953125, -57.7130241394043, 87.66282653808594, 26.904409408569336], "std": [15.136137008666992, 28.411834716796875, 31.190378189086914, 55.92040252685547, 4.430213928222656, 0.27152198553085327], "count": [537]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5489154595772242]], [[0.5157485426603073]], [[0.5102469215539068]]], "std": [[[0.2138102452044213]], [[0.24930530303679604]], [[0.2560504533800194]]], "count": [111]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46399572918506743]], [[0.5206533702820467]], [[0.4736687735529647]]], "std": [[[0.31265013345990167]], [[0.2692858496863537]], [[0.2571225992835152]]], "count": [111]}, "timestamp": {"min": [0.0], "max": [17.866666666666667], "mean": [8.933333333333334], "std": [5.167275949737999], "count": [537]}, "frame_index": {"min": [0], "max": [536], "mean": [268.0], "std": [155.01827849213998], "count": [537]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [537]}, "index": {"min": [663], "max": [1199], "mean": [931.0], "std": [155.01827849213998], "count": [537]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [537]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101",
4
+ "total_episodes": 2,
5
+ "total_frames": 1200,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
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
+ 6
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
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "main_shoulder_pan",
38
+ "main_shoulder_lift",
39
+ "main_elbow_flex",
40
+ "main_wrist_flex",
41
+ "main_wrist_roll",
42
+ "main_gripper"
43
+ ]
44
+ },
45
+ "observation.images.laptop": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.phone": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 30,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
videos/chunk-000/observation.images.laptop/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5d263d20eac9f9d405dc1b75af56f459a796c149a14fddcf36bdccdedd0456f6
3
+ size 9969333
videos/chunk-000/observation.images.laptop/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:986c1fe384614dcf2843532e51ad9d17dbac29918f60d384feca8ce6e1423ced
3
+ size 8415292
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:a5c26e9d55c1fcd6be7bb0673336c4644f1736437f53662dc364b15be579d2e4
3
+ size 2742966
videos/chunk-000/observation.images.phone/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:65fdccf1f003502572a1de238e82422b2fc48187b3844a0a770d2bfbf15f70d4
3
+ size 2902574