Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -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.topdown/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.topdown/episode_000001.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
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 1103}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 1114}
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meta/episodes_stats.jsonl
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{"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]}}}
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{"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]}}}
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meta/info.json
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
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videos/chunk-000/observation.images.side/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.side/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.topdown/episode_000000.mp4
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videos/chunk-000/observation.images.topdown/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.wrist/episode_000000.mp4
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size 3929130
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videos/chunk-000/observation.images.wrist/episode_000001.mp4
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:d60de3c4954db1cdb4c263d64bdf66150eeb1ac01479d2ade82adaa32b8212af
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| 3 |
+
size 3778868
|