U-RIL commited on
Commit
ff27600
·
verified ·
1 Parent(s): cb9a356

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 sha256:1730c4951134e2048084b5bf7d8f88c73294db4f9d7a87f0031a0d51c6c2315b
3
+ size 125172
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e9864d36cf940992cb0cd6cf7163e1d7d10672435819987e5b8ac1f24a41ebf0
3
+ size 127301
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:193a0bcddabe106764b2790f3ef2cbe46da11f53625a598b684e7ac812ffdfd6
3
+ size 89441
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5e4477a007212390e6b42353bbd743f8f1e38a3f4b6283ad9a73de4d654ae118
3
+ size 4631
meta/episodes.jsonl ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the pastry"], "length": 1786}
2
+ {"episode_index": 1, "tasks": ["Grab the pastry"], "length": 1794}
3
+ {"episode_index": 2, "tasks": ["Grab the pastry"], "length": 1255}
4
+ {"episode_index": 3, "tasks": ["Grab the pastry"], "length": 16}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-72.48780059814453, -101.67341613769531, -78.6183853149414, 46.96108627319336, -29.798572540283203, -0.7064132690429688], "max": [2.1452369689941406, 63.89838409423828, 99.92310333251953, 91.98204803466797, 1.2304730415344238, 51.084442138671875], "mean": [-19.423248291015625, 4.896799087524414, -10.517650604248047, 73.64100646972656, -9.120014190673828, 23.67011260986328], "std": [20.239723205566406, 55.42101287841797, 57.27363204956055, 11.573915481567383, 7.712474346160889, 15.033951759338379], "count": [1786]}, "observation.state": {"min": [-71.74535369873047, -99.31005096435547, -77.2605209350586, 46.41264724731445, -29.670330047607422, 0.06770480424165726], "max": [2.3605151176452637, 62.570072174072266, 99.28379821777344, 91.89299011230469, 2.3199024200439453, 50.64319610595703], "mean": [-19.564451217651367, 5.76406192779541, -9.356423377990723, 73.64097595214844, -9.094411849975586, 23.537561416625977], "std": [20.250320434570312, 55.765541076660156, 57.15633010864258, 11.600769996643066, 7.712811470031738, 14.975571632385254], "count": [1786]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4327537174693479]], [[0.41790099172272316]], [[0.38514513188182814]]], "std": [[[0.24067531951025453]], [[0.24336318214234776]], [[0.24657919847766202]]], "count": [274]}, "timestamp": {"min": [0.0], "max": [59.5], "mean": [29.749999999999996], "std": [17.18579031900741], "count": [1786]}, "frame_index": {"min": [0], "max": [1785], "mean": [892.5], "std": [515.5737095702224], "count": [1786]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1786]}, "index": {"min": [0], "max": [1785], "mean": [892.5], "std": [515.5737095702224], "count": [1786]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1786]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-73.4805908203125, -101.49613952636719, -53.8106689453125, 46.73658752441406, -20.29875946044922, -0.8569221496582031], "max": [8.464393615722656, 52.67827606201172, 100.09549713134766, 95.87620544433594, 5.818066120147705, 56.15550994873047], "mean": [-15.359821319580078, -25.522140502929688, 22.807804107666016, 71.89886474609375, -6.595365047454834, 21.111377716064453], "std": [24.214282989501953, 55.1390495300293, 54.576629638671875, 14.93402099609375, 6.737967014312744, 17.514211654663086], "count": [1794]}, "observation.state": {"min": [-73.24749755859375, -99.48253631591797, -53.08863067626953, 46.57478713989258, -20.146520614624023, 0.06770480424165726], "max": [8.082975387573242, 51.099613189697266, 99.01522064208984, 95.6222152709961, 5.5433454513549805, 55.7210578918457], "mean": [-15.539946556091309, -24.476383209228516, 23.598609924316406, 72.07878875732422, -6.665112495422363, 21.13231086730957], "std": [24.1943416595459, 55.338348388671875, 54.13615036010742, 14.833062171936035, 6.704319953918457, 17.422197341918945], "count": [1794]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.43732467617349974]], [[0.42185346033868093]], [[0.38987946895424835]]], "std": [[[0.2397399246198865]], [[0.2441957726687351]], [[0.24839620123630216]]], "count": [275]}, "timestamp": {"min": [0.0], "max": [59.766666666666666], "mean": [29.883333333333336], "std": [17.262770366912164], "count": [1794]}, "frame_index": {"min": [0], "max": [1793], "mean": [896.5], "std": [517.883111007365], "count": [1794]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1794]}, "index": {"min": [1786], "max": [3579], "mean": [2682.5], "std": [517.883111007365], "count": [1794]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1794]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-72.71613311767578, -101.3727798461914, -44.664764404296875, 49.092464447021484, -15.472455978393555, -0.7165908813476562], "max": [32.10942840576172, 50.82911682128906, 98.75222778320312, 83.69400024414062, 1.1236834526062012, 52.18372344970703], "mean": [-7.083407878875732, -32.1524543762207, 30.7131290435791, 65.49234771728516, -6.008220195770264, 18.492414474487305], "std": [32.32541275024414, 52.44816207885742, 51.318939208984375, 11.2550630569458, 4.775224685668945, 16.918468475341797], "count": [1255]}, "observation.state": {"min": [-72.31759643554688, -99.48253631591797, -44.76275634765625, 46.57478713989258, -15.2625150680542, 0.0], "max": [30.829757690429688, 50.40966033935547, 99.01522064208984, 83.38062286376953, 2.5152626037597656, 51.726470947265625], "mean": [-7.3094940185546875, -31.14959144592285, 31.58197593688965, 65.52992248535156, -6.048388957977295, 18.529029846191406], "std": [32.219905853271484, 52.70596694946289, 50.87385559082031, 11.137453079223633, 4.767784118652344, 16.87431526184082], "count": [1255]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4358175799486461]], [[0.4226958265250545]], [[0.3902575523264862]]], "std": [[[0.2392437449272583]], [[0.24348330397277357]], [[0.2475158010611223]]], "count": [210]}, "timestamp": {"min": [0.0], "max": [41.8], "mean": [20.9], "std": [12.076239296881937], "count": [1255]}, "frame_index": {"min": [0], "max": [1254], "mean": [627.0], "std": [362.2871789064581], "count": [1255]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1255]}, "index": {"min": [3580], "max": [4834], "mean": [4207.0], "std": [362.2871789064581], "count": [1255]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1255]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [1.6033573150634766, -99.82323455810547, 97.78556823730469, 48.05121612548828, -0.1679081916809082, 0.1049652099609375], "max": [2.615420341491699, -97.78843688964844, 98.10736846923828, 50.77271270751953, 0.6342053413391113, 0.8546581268310547], "mean": [2.1038618087768555, -99.35384368896484, 97.92383575439453, 50.13945770263672, 0.01779589056968689, 0.5604685544967651], "std": [0.3174336850643158, 0.5429468154907227, 0.08636358380317688, 0.7550118565559387, 0.21861129999160767, 0.2185801863670349], "count": [16]}, "observation.state": {"min": [1.645207405090332, -99.31005096435547, 98.29901885986328, 46.57478713989258, -0.02442002482712269, 0.4739336371421814], "max": [2.4320456981658936, -98.96507263183594, 99.10474395751953, 50.46615219116211, 2.5152626037597656, 0.4739336371421814], "mean": [2.03415584564209, -99.19146728515625, 98.5340347290039, 49.245025634765625, 0.7387058734893799, 0.4739336669445038], "std": [0.22615596652030945, 0.13247396051883698, 0.3163211941719055, 1.4526230096817017, 0.9340260624885559, 2.9802322387695312e-08], "count": [16]}, "observation.images.front": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.4409244536356209]], [[0.42523486008986927]], [[0.3873335886437908]]], "std": [[[0.23747733317719982]], [[0.24413321000690058]], [[0.2512730086495241]]], "count": [16]}, "timestamp": {"min": [0.0], "max": [0.5], "mean": [0.25], "std": [0.1536590742882148], "count": [16]}, "frame_index": {"min": [0], "max": [15], "mean": [7.5], "std": [4.6097722286464435], "count": [16]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [16]}, "index": {"min": [4835], "max": [4850], "mean": [4842.5], "std": [4.6097722286464435], "count": [16]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [16]}}}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100_follower",
4
+ "total_episodes": 4,
5
+ "total_frames": 4851,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:4"
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
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.front": {
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
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab the pastry"}
videos/chunk-000/observation.images.front/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a9d6c696c4139d2611f2f4f6c22d93cb4fd0b7ca1b7ae52a2dbeb65db5cc625
3
+ size 11829441
videos/chunk-000/observation.images.front/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c304482981bc81dd72cc9cb832954ebdb44e5ca07c2b5785a34a22c818717073
3
+ size 11588498
videos/chunk-000/observation.images.front/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb62ca10d2053a9046e9ce0b4a1d3d35ee17b416184d03f10572eb788e6f9641
3
+ size 8183413
videos/chunk-000/observation.images.front/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:531c58c09a57e5995734add41e4d7869d58db6a0d74b2f4d4d53b638b2be1bcd
3
+ size 99849