Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +150 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.side/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.topdown/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.topdown/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.topdown/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000002.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b03ac2d635a1b93205f22cf5b6bb8de0684db992c6f98fe3ce3eda4f085d060e
|
| 3 |
+
size 17957
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:673e662f2f34f4a55aa87e93c84e274d600a179ceca723a7166698b79f5ca6d2
|
| 3 |
+
size 21236
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8ab50a9bcbfcc01835aa3585cf7ee153aef55478b7b50069432447d3885e68f7
|
| 3 |
+
size 22154
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 215}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 273}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 297}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [3.7584381103515625, 64.35309600830078, 38.57372283935547, 75.61931610107422, 56.735660552978516, -0.3540400266647339], "max": [35.79479217529297, 192.41122436523438, 175.97073364257812, 81.88924407958984, 83.8191909790039, 27.526968002319336], "mean": [26.095468521118164, 113.66055297851562, 92.052978515625, 77.06377410888672, 67.87305450439453, 2.3388314247131348], "std": [8.514419555664062, 37.79390335083008, 40.03302764892578, 1.40852952003479, 6.999576091766357, 6.222517967224121], "count": [215]}, "observation.state": {"min": [3.1640625, 63.45703125, 41.044921875, 76.376953125, 57.041015625, -0.13783597946166992], "max": [35.68359375, 194.23828125, 179.12109375, 81.650390625, 83.935546875, 25.706409454345703], "mean": [25.77648162841797, 114.94049835205078, 96.25045776367188, 77.3740005493164, 68.1185073852539, 2.022021532058716], "std": [8.981249809265137, 39.07204055786133, 40.86448669433594, 1.193479299545288, 7.2849860191345215, 5.442453384399414], "count": [215]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5158002757352942]], [[0.4915996629901961]], [[0.47903720588235293]]], "std": [[[0.2657236068518826]], [[0.2721403092101744]], [[0.27700814295970616]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5530200388071895]], [[0.5508573529411764]], [[0.5449429636437908]]], "std": [[[0.21866488070478932]], [[0.2232283946316474]], [[0.2326673931294496]]], "count": [100]}, "observation.images.topdown": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.664489489379085]], [[0.6276200224673202]], [[0.5948593055555556]]], "std": [[[0.17058759902118326]], [[0.192762902052745]], [[0.2234055231665637]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.133333333333334], "mean": [3.566666666666667], "std": [2.06881608655772], "count": [215]}, "frame_index": {"min": [0], "max": [214], "mean": [107.0], "std": [62.0644825967316], "count": [215]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [215]}, "index": {"min": [0], "max": [214], "mean": [107.0], "std": [62.0644825967316], "count": [215]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [215]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [4.654838562011719, 36.4657096862793, 29.05929183959961, 67.15933227539062, 60.344451904296875, -0.3326101303100586], "max": [36.867347717285156, 194.45516967773438, 179.912109375, 78.10945129394531, 81.61188507080078, 29.501827239990234], "mean": [25.648773193359375, 112.60955047607422, 91.06995391845703, 75.03968811035156, 69.62390899658203, 5.665096282958984], "std": [11.024138450622559, 55.725730895996094, 56.125030517578125, 2.8758065700531006, 7.040365219116211, 10.448073387145996], "count": [273]}, "observation.state": {"min": [4.658203125, 37.6171875, 32.431640625, 68.115234375, 60.556640625, -1.722949743270874], "max": [36.826171875, 193.7109375, 179.296875, 78.57421875, 81.826171875, 29.15230941772461], "mean": [25.392663955688477, 113.64579772949219, 94.57997131347656, 75.65097045898438, 69.92198181152344, 5.371062278747559], "std": [11.265789985656738, 56.15277099609375, 56.18709945678711, 2.754673480987549, 7.218433856964111, 10.29581356048584], "count": [273]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5150372446895425]], [[0.49042540645424837]], [[0.47907765522875817]]], "std": [[[0.2643142793400457]], [[0.2707802296602601]], [[0.27445315713563906]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5370323815359477]], [[0.5351211111111112]], [[0.5306115829248367]]], "std": [[[0.2320274884565122]], [[0.23798427227440155]], [[0.25008224073961177]]], "count": [100]}, "observation.images.topdown": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6625505473856209]], [[0.6255952777777778]], [[0.5931435437091503]]], "std": [[[0.17345413664277717]], [[0.19511459501732129]], [[0.22509707580472607]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.066666666666666], "mean": [4.533333333333334], "std": [2.6269261011190896], "count": [273]}, "frame_index": {"min": [0], "max": [272], "mean": [136.0], "std": [78.80778303357269], "count": [273]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [273]}, "index": {"min": [215], "max": [487], "mean": [351.0], "std": [78.80778303357269], "count": [273]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [273]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"action": {"min": [-10.561626434326172, 112.30885314941406, 92.39883422851562, 46.139122009277344, 77.537841796875, -0.2928431034088135], "max": [8.419689178466797, 194.7906036376953, 179.912109375, 77.68163299560547, 98.27507781982422, 14.297052383422852], "mean": [0.037675753235816956, 153.37313842773438, 135.52947998046875, 69.62625885009766, 84.14363861083984, 0.2547443211078644], "std": [4.614256381988525, 32.69068908691406, 34.78151321411133, 8.269356727600098, 5.853206157684326, 1.6307135820388794], "count": [297]}, "observation.state": {"min": [-10.107421875, 112.060546875, 95.185546875, 47.021484375, 77.783203125, -1.722949743270874], "max": [7.998046875, 193.798828125, 179.208984375, 78.662109375, 97.822265625, 14.059268951416016], "mean": [0.06244081258773804, 153.24839782714844, 137.28753662109375, 70.20330047607422, 84.11221313476562, 0.31512001156806946], "std": [4.5528740882873535, 33.3028450012207, 34.18175506591797, 8.390917778015137, 5.7362165451049805, 1.7029224634170532], "count": [297]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5207558067810457]], [[0.498673227124183]], [[0.4880615461601307]]], "std": [[[0.2635283278896906]], [[0.27201420700494444]], [[0.275728997212697]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5326273488562091]], [[0.5204772120098039]], [[0.523525089869281]]], "std": [[[0.19481387625831756]], [[0.1971314307024617]], [[0.2090535643009327]]], "count": [100]}, "observation.images.topdown": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6544002736928104]], [[0.6174043892973856]], [[0.5855322875816993]]], "std": [[[0.17617501502027108]], [[0.19573229505322545]], [[0.2236148164876862]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.866666666666667], "mean": [4.933333333333334], "std": [2.857867632940233], "count": [297]}, "frame_index": {"min": [0], "max": [296], "mean": [148.0], "std": [85.73602898820698], "count": [297]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [297]}, "index": {"min": [488], "max": [784], "mean": [636.0], "std": [85.73602898820698], "count": [297]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [297]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,150 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "so101",
|
| 4 |
+
"total_episodes": 3,
|
| 5 |
+
"total_frames": 785,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 9,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:3"
|
| 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.side": {
|
| 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.wrist": {
|
| 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 |
+
"observation.images.topdown": {
|
| 92 |
+
"dtype": "video",
|
| 93 |
+
"shape": [
|
| 94 |
+
480,
|
| 95 |
+
640,
|
| 96 |
+
3
|
| 97 |
+
],
|
| 98 |
+
"names": [
|
| 99 |
+
"height",
|
| 100 |
+
"width",
|
| 101 |
+
"channels"
|
| 102 |
+
],
|
| 103 |
+
"info": {
|
| 104 |
+
"video.height": 480,
|
| 105 |
+
"video.width": 640,
|
| 106 |
+
"video.codec": "av1",
|
| 107 |
+
"video.pix_fmt": "yuv420p",
|
| 108 |
+
"video.is_depth_map": false,
|
| 109 |
+
"video.fps": 30,
|
| 110 |
+
"video.channels": 3,
|
| 111 |
+
"has_audio": false
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"timestamp": {
|
| 115 |
+
"dtype": "float32",
|
| 116 |
+
"shape": [
|
| 117 |
+
1
|
| 118 |
+
],
|
| 119 |
+
"names": null
|
| 120 |
+
},
|
| 121 |
+
"frame_index": {
|
| 122 |
+
"dtype": "int64",
|
| 123 |
+
"shape": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"names": null
|
| 127 |
+
},
|
| 128 |
+
"episode_index": {
|
| 129 |
+
"dtype": "int64",
|
| 130 |
+
"shape": [
|
| 131 |
+
1
|
| 132 |
+
],
|
| 133 |
+
"names": null
|
| 134 |
+
},
|
| 135 |
+
"index": {
|
| 136 |
+
"dtype": "int64",
|
| 137 |
+
"shape": [
|
| 138 |
+
1
|
| 139 |
+
],
|
| 140 |
+
"names": null
|
| 141 |
+
},
|
| 142 |
+
"task_index": {
|
| 143 |
+
"dtype": "int64",
|
| 144 |
+
"shape": [
|
| 145 |
+
1
|
| 146 |
+
],
|
| 147 |
+
"names": null
|
| 148 |
+
}
|
| 149 |
+
}
|
| 150 |
+
}
|
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.side/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c110e41ebf38494b3a09b816ec769143ff4c253eaa891c8226da98583389ffa8
|
| 3 |
+
size 2004946
|
videos/chunk-000/observation.images.side/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:408f2e25fcf474bbc7f34b877d3fe44cc1f747a7e4e5e97f8ac878a1fcd99e21
|
| 3 |
+
size 2564118
|
videos/chunk-000/observation.images.side/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ce2e9c1a0915015432673b18514030a5a72907aca9081f9560f8dd85fd25b844
|
| 3 |
+
size 2339428
|
videos/chunk-000/observation.images.topdown/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f842c7d3e73e34e21406b90ea9d6d6d2f238622d8b9f69bdf34a7f752dd2a793
|
| 3 |
+
size 1656056
|
videos/chunk-000/observation.images.topdown/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:24d37e3af99a63f4ea6099a1a8785b18e0ebae9be832fab681ea7efe99d23cc1
|
| 3 |
+
size 2137767
|
videos/chunk-000/observation.images.topdown/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a97ae52b5e2823b0badcaaf32ccf0ba72632296589324b044a5630c5b8c37fc5
|
| 3 |
+
size 2668653
|
videos/chunk-000/observation.images.wrist/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:97e0b87d875614b13ea2802edf3d36a9148a0b52da729ab9be323b6362503dff
|
| 3 |
+
size 1350790
|
videos/chunk-000/observation.images.wrist/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5398d361723e57e4944b08821d191e0c803e19ed7770fcdaf0dc8c00c55b36c1
|
| 3 |
+
size 1807254
|
videos/chunk-000/observation.images.wrist/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ddb609d8322000eb532ca62e355568617be420ba08750439e8a98e8c053bd422
|
| 3 |
+
size 1460931
|