Rorschach4153 commited on
Commit
cd3624c
·
verified ·
1 Parent(s): 5213ea1

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 sha256:513d5d027f41d6c4d4b060cfd82c75534a2c0c197fea8c8308e405b5c9d4621d
3
+ size 75086
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c543ac37db5abeb3788cc734897aef5cd9ca52d12e31942b733b8d72254a707c
3
+ size 74368
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 1103}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 1114}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [2.079367160797119, 41.53229522705078, 23.96387481689453, -4.816150665283203, 44.66621398925781, -0.14977741241455078], "max": [39.847354888916016, 194.60693359375, 179.04830932617188, 85.52665710449219, 86.99100494384766, 27.880115509033203], "mean": [26.237266540527344, 105.75214385986328, 105.77687072753906, 52.61907196044922, 74.31629180908203, 12.555253982543945], "std": [10.87718391418457, 52.010772705078125, 50.225833892822266, 32.29787826538086, 13.923003196716309, 11.037487030029297], "count": [1103]}, "observation.state": {"min": [1.318359375, 41.30859375, 33.662109375, -3.69140625, 45.263671875, 0.06891798973083496], "max": [39.90234375, 193.974609375, 179.12109375, 85.25390625, 86.66015625, 27.980703353881836], "mean": [26.01944923400879, 105.39591979980469, 108.10469818115234, 52.99985122680664, 74.49824523925781, 12.546448707580566], "std": [11.02287769317627, 52.871788024902344, 49.86394500732422, 32.07978439331055, 13.953544616699219, 10.954627990722656], "count": [1103]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.629806455959347]], [[0.6061683049310476]], [[0.5846312996184512]]], "std": [[[0.22827233361789095]], [[0.22946102599744242]], [[0.24354539732015137]]], "count": [191]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5027371227286725]], [[0.4876023583735414]], [[0.4888608790593026]]], "std": [[[0.18737565135069298]], [[0.18451016331391315]], [[0.19524239093146556]]], "count": [191]}, "observation.images.topdown": {"min": [[[0.03529411764705882]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[0.996078431372549]], [[1.0]]], "mean": [[[0.5765091419857646]], [[0.567876416906204]], [[0.5714066937857167]]], "std": [[[0.15362017024702546]], [[0.15679370926811176]], [[0.15872932041176244]]], "count": [191]}, "timestamp": {"min": [0.0], "max": [18.366666666666667], "mean": [9.183333333333332], "std": [5.306809043316164], "count": [1103]}, "frame_index": {"min": [0], "max": [1102], "mean": [551.0], "std": [318.40854259896986], "count": [1103]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1103]}, "index": {"min": [0], "max": [1102], "mean": [551.0], "std": [318.40854259896986], "count": [1103]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1103]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [23.818641662597656, 44.447364807128906, 24.09789276123047, 64.27824401855469, 55.853965759277344, -0.2662076950073242], "max": [39.56810760498047, 90.00813293457031, 71.0385971069336, 86.13556671142578, 92.94120788574219, 26.41537094116211], "mean": [34.087890625, 57.716373443603516, 50.48061752319336, 76.63277435302734, 70.9228515625, 10.254545211791992], "std": [3.9209511280059814, 9.955451965332031, 9.704973220825195, 5.103016376495361, 9.60104751586914, 9.153428077697754], "count": [1114]}, "observation.state": {"min": [1.142578125, 43.9453125, 31.2890625, 64.951171875, 56.337890625, -0.13783597946166992], "max": [39.287109375, 194.150390625, 179.12109375, 85.78125, 92.373046875, 26.119916915893555], "mean": [33.69160842895508, 57.49333953857422, 53.91822814941406, 76.81098937988281, 71.13966369628906, 10.260005950927734], "std": [4.617308139801025, 16.833900451660156, 15.488372802734375, 5.0414719581604, 9.586974143981934, 9.075423240661621], "count": [1114]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6160369370404412]], [[0.5936473864719499]], [[0.5715615883289079]]], "std": [[[0.2376830040463748]], [[0.237194706604997]], [[0.24902933357963639]]], "count": [192]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4706628646684368]], [[0.4663481838916122]], [[0.4674021107792075]]], "std": [[[0.1725066885706346]], [[0.17001066432607403]], [[0.17454961473706823]]], "count": [192]}, "observation.images.topdown": {"min": [[[0.043137254901960784]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5722050377008443]], [[0.5655462941687092]], [[0.5700524758731618]]], "std": [[[0.1573422497326354]], [[0.16009064437070136]], [[0.16073448456333328]]], "count": [192]}, "timestamp": {"min": [0.0], "max": [18.55], "mean": [9.275], "std": [5.359732839527649], "count": [1114]}, "frame_index": {"min": [0], "max": [1113], "mean": [556.5], "std": [321.5839703716589], "count": [1114]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1114]}, "index": {"min": [1103], "max": [2216], "mean": [1659.5], "std": [321.5839703716589], "count": [1114]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1114]}}}
meta/info.json ADDED
@@ -0,0 +1,150 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101",
4
+ "total_episodes": 2,
5
+ "total_frames": 2217,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 60,
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.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": 60,
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": 60,
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": 60,
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 sha256:4319925869d4b198f6d1f85537b61884c1cacdf352717f1a8668337f35ca9c5e
3
+ size 11197708
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 sha256:7d1ddf1db84cf6ccbcef5bcf1022349243c88dc395051549ba0831c0b8f9a986
3
+ size 12094631
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:e67d4e46a6896396f995b3a4fba2d7db5e8435469c0d16275e85dd10b6957769
3
+ size 6107194
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 sha256:557bc48b1f12257083ec60113fcf3c67ab03ae5ed760d52507b664ae010df42d
3
+ size 6725917
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 sha256:4b17682fcdf236b82a48d4cc18e93d18d57c44684dcac9dd906fded884cdbc02
3
+ size 3929130
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:d60de3c4954db1cdb4c263d64bdf66150eeb1ac01479d2ade82adaa32b8212af
3
+ size 3778868