Revilo7 commited on
Commit
9e0259d
·
verified ·
1 Parent(s): 8881908

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 sha256:380cac715b45c3eefb594f5e789658a8f9debcdde9cb42600408cb6575b775f4
3
+ size 81950
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2cb982ec0c4b5db96ea2e8217dcf8dcc5f817cfa1d6f7a9179b0b90d44b8be59
3
+ size 101827
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fcb7d1db86033a51b5ad6d58e487c3268a51e7d6bf7b2c25168be3bb38ebc1d5
3
+ size 97204
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ca35d9575679f1344bbabb2c7264bc113a6ace0f9c05a9db675b8289528ee11
3
+ size 99251
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ec9194d2eae2167a490ef0195f01d6e7b797f77ddb660ae1329251d10fcfbe06
3
+ size 93021
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Put object in bin"], "length": 1257}
2
+ {"episode_index": 1, "tasks": ["Put object in bin"], "length": 1501}
3
+ {"episode_index": 2, "tasks": ["Put object in bin"], "length": 1469}
4
+ {"episode_index": 3, "tasks": ["Put object in bin"], "length": 1501}
5
+ {"episode_index": 4, "tasks": ["Put object in bin"], "length": 1445}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [11.503653526306152, 37.50439453125, -5.0006103515625, 63.58908462524414, -24.247371673583984, 9.398743629455566], "max": [19.782615661621094, 85.66015625, 51.693397521972656, 94.90857696533203, -14.168500900268555, 28.15162467956543], "mean": [17.335552215576172, 48.24341583251953, 5.813812732696533, 83.07455444335938, -20.13953971862793, 20.70917320251465], "std": [0.9716206789016724, 4.9778337478637695, 5.710556507110596, 6.765045642852783, 1.2155343294143677, 2.9744348526000977], "count": [1257]}, "observation.state": {"min": [13.53515625, 36.38671875, -2.4609375, 57.216796875, -26.89453125, 12.313937187194824], "max": [19.16015625, 68.466796875, 43.154296875, 94.74609375, -16.787109375, 27.875507354736328], "mean": [17.17384147644043, 45.04228973388672, 7.368688583374023, 83.55027770996094, -20.296161651611328, 20.76297950744629], "std": [0.8381326794624329, 4.275879859924316, 5.597287178039551, 6.473771572113037, 1.2583303451538086, 2.8001761436462402], "count": [1257]}, "observation.images.pincer": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.518470231042654]], [[0.4663711096010284]], [[0.45883138571384324]]], "std": [[[0.2726913964090159]], [[0.2625807453568863]], [[0.2669580841599474]]], "count": [211]}, "observation.images.overview": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38325008518415266]], [[0.325233214849921]], [[0.2683771073397763]]], "std": [[[0.2988966384818314]], [[0.2584046948311687]], [[0.2381067622610148]]], "count": [211]}, "timestamp": {"min": [0.0], "max": [41.86666666666667], "mean": [20.93333333333333], "std": [12.095484311954637], "count": [1257]}, "frame_index": {"min": [0], "max": [1256], "mean": [628.0], "std": [362.8645293586391], "count": [1257]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1257]}, "index": {"min": [0], "max": [1256], "mean": [628.0], "std": [362.8645293586391], "count": [1257]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1257]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-3.1496453285217285, 32.55043029785156, -3.1113662719726562, 63.46562194824219, -23.080778121948242, -1.5041415691375732], "max": [20.892898559570312, 200.39332580566406, 184.27200317382812, 92.16542053222656, -0.9062228202819824, 31.884845733642578], "mean": [8.939967155456543, 73.50587463378906, 54.518123626708984, 76.72927856445312, -14.965569496154785, 10.856274604797363], "std": [6.104611396789551, 31.121801376342773, 38.62574005126953, 6.858616352081299, 4.593179225921631, 6.841718673706055], "count": [1501]}, "observation.state": {"min": [-2.63671875, 31.728515625, -0.52734375, 64.072265625, -22.763671875, -0.06765899807214737], "max": [20.302734375, 195.732421875, 181.23046875, 92.021484375, -1.0546875, 31.664409637451172], "mean": [8.947745323181152, 70.0938720703125, 53.571964263916016, 76.95427703857422, -15.003005981445312, 11.356160163879395], "std": [5.8751115798950195, 30.431671142578125, 38.353370666503906, 6.8380656242370605, 4.539278030395508, 6.452362537384033], "count": [1501]}, "observation.images.pincer": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4936019495972663]], [[0.47863043758305535]], [[0.48344501057684486]]], "std": [[[0.22975845998606492]], [[0.22554161374888765]], [[0.24301942635501558]]], "count": [241]}, "observation.images.overview": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38460608032978055]], [[0.32387054467360943]], [[0.2625025687833916]]], "std": [[[0.29582730008016717]], [[0.2557433308574883]], [[0.23406077801895564]]], "count": [241]}, "timestamp": {"min": [0.0], "max": [50.0], "mean": [25.0], "std": [14.443376028862199], "count": [1501]}, "frame_index": {"min": [0], "max": [1500], "mean": [750.0], "std": [433.3012808658659], "count": [1501]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1501]}, "index": {"min": [1257], "max": [2757], "mean": [2007.0], "std": [433.3012808658659], "count": [1501]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1501]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-2.618100643157959, 32.78550720214844, -9.099250793457031, 61.03208923339844, -24.906442642211914, -0.10369181632995605], "max": [19.190574645996094, 200.56790161132812, 183.05056762695312, 98.96363830566406, -2.12595796585083, 23.966583251953125], "mean": [15.794922828674316, 54.111167907714844, 14.847358703613281, 84.10824584960938, -19.12518310546875, 15.281694412231445], "std": [5.255250453948975, 29.93902587890625, 39.07337188720703, 7.828784942626953, 4.095494270324707, 5.894205570220947], "count": [1469]}, "observation.state": {"min": [-2.373046875, 31.640625, -6.6796875, 61.875, -24.43359375, 0.0], "max": [18.45703125, 195.8203125, 180.791015625, 98.525390625, -1.0546875, 23.41001319885254], "mean": [15.601273536682129, 51.24434280395508, 16.43662452697754, 84.48479461669922, -19.074777603149414, 15.642675399780273], "std": [5.166000843048096, 31.106143951416016, 39.631778717041016, 7.579159259796143, 4.2301459312438965, 5.307446002960205], "count": [1469]}, "observation.images.pincer": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5135182996194259]], [[0.4650960191390199]], [[0.45408971070847465]]], "std": [[[0.26533918702406134]], [[0.2550404250056038]], [[0.2621004603375895]]], "count": [237]}, "observation.images.overview": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9921568627450981]]], "mean": [[[0.3810661351038306]], [[0.32187846360414774]], [[0.2625169146948512]]], "std": [[[0.29640770069133787]], [[0.2554602931553326]], [[0.2346204002881071]]], "count": [237]}, "timestamp": {"min": [0.0], "max": [48.93333333333333], "mean": [24.466666666666665], "std": [14.135455815470227], "count": [1469]}, "frame_index": {"min": [0], "max": [1468], "mean": [734.0], "std": [424.06367446410684], "count": [1469]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1469]}, "index": {"min": [2758], "max": [4226], "mean": [3492.0], "std": [424.06367446410684], "count": [1469]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1469]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-2.543081283569336, 34.677215576171875, -4.065940856933594, 65.66789245605469, -21.521448135375977, -0.509164571762085], "max": [18.432706832885742, 201.02627563476562, 182.61380004882812, 94.04881286621094, -1.9836044311523438, 23.427030563354492], "mean": [9.226266860961914, 88.37312316894531, 64.56002807617188, 79.04025268554688, -14.477495193481445, 11.65792465209961], "std": [5.984827518463135, 58.34446716308594, 64.88263702392578, 6.604402542114258, 6.848087787628174, 7.535254001617432], "count": [1501]}, "observation.state": {"min": [-2.109375, 34.62890625, -1.494140625, 66.005859375, -21.26953125, -0.2029770016670227], "max": [17.75390625, 195.99609375, 180.966796875, 93.8671875, -0.87890625, 23.004058837890625], "mean": [9.137053489685059, 85.82465362548828, 64.67272186279297, 79.17906951904297, -14.4356107711792, 11.691349029541016], "std": [5.6969780921936035, 58.21466827392578, 64.68704223632812, 6.594076156616211, 6.904578685760498, 7.495157241821289], "count": [1501]}, "observation.images.pincer": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47262008278415096]], [[0.45547728944620725]], [[0.45704094713611587]]], "std": [[[0.2357762592559039]], [[0.23070107823750693]], [[0.24560280696478828]]], "count": [241]}, "observation.images.overview": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37986782588208173]], [[0.32196748128712066]], [[0.26303211699617607]]], "std": [[[0.2925671043390881]], [[0.25621123724469336]], [[0.2382838737571353]]], "count": [241]}, "timestamp": {"min": [0.0], "max": [50.0], "mean": [25.0], "std": [14.443376028862199], "count": [1501]}, "frame_index": {"min": [0], "max": [1500], "mean": [750.0], "std": [433.3012808658659], "count": [1501]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1501]}, "index": {"min": [4227], "max": [5727], "mean": [4977.0], "std": [433.3012808658659], "count": [1501]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1501]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-2.4830102920532227, 38.420074462890625, -0.289825439453125, 62.44831085205078, -19.694833755493164, -0.9688527584075928], "max": [18.10349464416504, 201.49107360839844, 183.61624145507812, 93.26788330078125, -1.759474277496338, 26.78053855895996], "mean": [12.004444122314453, 81.76576232910156, 48.61130905151367, 81.66922760009766, -14.429553985595703, 13.275876998901367], "std": [6.443733215332031, 58.99576950073242, 68.93647766113281, 7.019984245300293, 6.3151397705078125, 8.020342826843262], "count": [1445]}, "observation.state": {"min": [-2.109375, 37.08984375, 2.28515625, 62.75390625, -19.51171875, 0.0], "max": [17.40234375, 195.908203125, 181.23046875, 93.076171875, -1.0546875, 26.319351196289062], "mean": [12.003365516662598, 78.8823471069336, 50.071022033691406, 81.92707824707031, -14.344297409057617, 13.588372230529785], "std": [6.342037200927734, 59.342491149902344, 68.52976989746094, 6.926295757293701, 6.3695244789123535, 7.643687725067139], "count": [1445]}, "observation.images.pincer": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4748284566853807]], [[0.4449425363806491]], [[0.4411892684067929]]], "std": [[[0.25516172609520626]], [[0.24646988554416666]], [[0.25492160573999556]]], "count": [234]}, "observation.images.overview": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.3818113198983297]], [[0.32422384224345013]], [[0.2662760381752416]]], "std": [[[0.2944885187930175]], [[0.2575014927288795]], [[0.2393386519551485]]], "count": [234]}, "timestamp": {"min": [0.0], "max": [48.13333333333333], "mean": [24.066666666666663], "std": [13.904515653396762], "count": [1445]}, "frame_index": {"min": [0], "max": [1444], "mean": [722.0], "std": [417.13546960190286], "count": [1445]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1445]}, "index": {"min": [5728], "max": [7172], "mean": [6450.0], "std": [417.13546960190286], "count": [1445]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1445]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101",
4
+ "total_episodes": 5,
5
+ "total_frames": 7173,
6
+ "total_tasks": 1,
7
+ "total_videos": 10,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:5"
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.pincer": {
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.overview": {
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": "Put object in bin"}
videos/chunk-000/observation.images.overview/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c637037863ca9461ff1282151f97dde3e5f045ec52357431f65753b2e0afb412
3
+ size 19036199
videos/chunk-000/observation.images.overview/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e75c5fbb4c33a7be3bb490bbf58c7038d478e4d5dd4192457c790d4364d2368
3
+ size 23077878
videos/chunk-000/observation.images.overview/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6e4de77aa00a61bc0d940a5ba70b5f26ebd7eab85f513f5e218a53f552471ca2
3
+ size 21974419
videos/chunk-000/observation.images.overview/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c8000bcd057cc01442c5dd73ce9ad73079526c2c5821c5d080826d2c1ddaeb7a
3
+ size 21954116
videos/chunk-000/observation.images.overview/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a097661c899a290bcd61012e38db00fb2ddc6167da8822bb98c3b96c8bc84516
3
+ size 20842231
videos/chunk-000/observation.images.pincer/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d4676baa2db32eb6bbc36c0a8a497ddcc6d4836bb46d4558eccad8a4201f963
3
+ size 23828465
videos/chunk-000/observation.images.pincer/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b25e0c72db61b4356a35b4fbabc3164d291b2962eab123308e40a00b4d7abbb9
3
+ size 16469453
videos/chunk-000/observation.images.pincer/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9bb6a28d1facbc1a4d631ac7c6bd08c5face774c166505df4fa2e2f622cf6024
3
+ size 24980567
videos/chunk-000/observation.images.pincer/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:12cb0628e3da16b5e895f1a31af1482bd73e218f0bf1175cd4214af9e2e705f7
3
+ size 19710375
videos/chunk-000/observation.images.pincer/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dfc68923b1dab2599a02c1cfe64548f23c2e952f47e59060c5d443ff48a99a75
3
+ size 23498452