YoelChornton commited on
Commit
d5ab2a6
·
verified ·
1 Parent(s): d4520ab

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 sha256:5910b7228766934bb8f22d76d9cbfdb6592a120ded1bddea1b8a20b27cf3ecaf
3
+ size 18620
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["screwdriver"], "length": 199}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.state": {"min": [-40.92307662963867, -12.263736724853516, -73.4065933227539, 39.78022003173828, -40.21977996826172, 5.34834623336792, -81.75823974609375, -159.12088012695312, -221.53846740722656, -198.6813201904297, -90.54945373535156, -162.5615692138672, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.19953958690166473, -0.06119551882147789, -0.08492249995470047], "max": [18.153846740722656, 80.57142639160156, 3.2527472972869873, 95.34066009521484, 19.03296661376953, 49.61294937133789, 79.12088012695312, 164.39559936523438, 188.13186645507812, 210.989013671875, 103.73626708984375, 168.19142150878906, 42.0, 212.0, 295.0, 216.0, 30.0, 101.0, 0.36810293793678284, 0.17572592198848724, 0.2690111994743347], "mean": [-3.802088737487793, 21.381860733032227, -20.243640899658203, 86.9788589477539, -3.017503499984741, 11.134130477905273, -2.014467716217041, 3.1277263164520264, -3.54298996925354, 0.23413746058940887, -2.010050058364868, 0.3324154019355774, 1.839195966720581, 18.98492431640625, 13.507537841796875, 5.3919596672058105, 0.5628140568733215, 20.447237014770508, 0.24603712558746338, 0.020689871162176132, 0.05179307609796524], "std": [15.604889869689941, 25.19939613342285, 23.3695125579834, 12.73292350769043, 16.059892654418945, 12.019925117492676, 19.233848571777344, 39.51869583129883, 56.164852142333984, 45.597381591796875, 19.664329528808594, 22.485258102416992, 5.056888580322266, 33.71376037597656, 36.63591766357422, 20.564804077148438, 2.882075309753418, 32.40922927856445, 0.04078427329659462, 0.06805085390806198, 0.062027279287576675], "count": [199]}, "action": {"min": [-0.96875, -0.9921875, -0.890625, 0.0], "max": [1.0, 0.9921875, 1.0, 2.0], "mean": [0.006045854184776545, 0.036824747920036316, -0.0012170226546004415, 0.6834170818328857], "std": [0.330522358417511, 0.3819445073604584, 0.28047850728034973, 0.4862695336341858], "count": [199]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [199]}, "next.done": {"min": [false], "max": [false], "mean": [0.0], "std": [0.0], "count": [199]}, "complementary_info.discrete_penalty": {"min": [-0.019999999552965164], "max": [0.0], "mean": [-0.0004020100459456444], "std": [0.0028068821411579847], "count": [199]}, "observation.images.front": {"min": [[[0.7647058823529411]], [[0.7607843137254902]], [[0.7176470588235294]]], "max": [[[0.8549019607843137]], [[0.8470588235294118]], [[0.807843137254902]]], "mean": [[[0.8053945144952512]], [[0.8003628169041054]], [[0.7569436394186582]]], "std": [[[0.013524414130808675]], [[0.012338439194444903]], [[0.012434831018899493]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.20392156862745098]], [[0.16862745098039217]], [[0.11372549019607843]]], "max": [[[0.8235294117647058]], [[0.8823529411764706]], [[0.9725490196078431]]], "mean": [[[0.5608962450214461]], [[0.5291667097503064]], [[0.47210827636718755]]], "std": [[[0.09854087335819574]], [[0.10722890922686971]], [[0.12165658071553384]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [19.8], "mean": [9.9], "std": [5.744562646538029], "count": [199]}, "frame_index": {"min": [0], "max": [198], "mean": [99.0], "std": [57.445626465380286], "count": [199]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [199]}, "index": {"min": [0], "max": [198], "mean": [99.0], "std": [57.445626465380286], "count": [199]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [199]}}}
meta/info.json ADDED
@@ -0,0 +1,141 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": null,
4
+ "total_episodes": 1,
5
+ "total_frames": 199,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:1"
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
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 21
21
+ ],
22
+ "names": null
23
+ },
24
+ "action": {
25
+ "dtype": "float32",
26
+ "shape": [
27
+ 4
28
+ ],
29
+ "names": [
30
+ "delta_x_ee",
31
+ "delta_y_ee",
32
+ "delta_z_ee",
33
+ "gripper_delta"
34
+ ]
35
+ },
36
+ "next.reward": {
37
+ "dtype": "float32",
38
+ "shape": [
39
+ 1
40
+ ],
41
+ "names": null
42
+ },
43
+ "next.done": {
44
+ "dtype": "bool",
45
+ "shape": [
46
+ 1
47
+ ],
48
+ "names": null
49
+ },
50
+ "complementary_info.discrete_penalty": {
51
+ "dtype": "float32",
52
+ "shape": [
53
+ 1
54
+ ],
55
+ "names": [
56
+ "discrete_penalty"
57
+ ]
58
+ },
59
+ "observation.images.front": {
60
+ "dtype": "video",
61
+ "shape": [
62
+ 3,
63
+ 128,
64
+ 128
65
+ ],
66
+ "names": [
67
+ "channels",
68
+ "height",
69
+ "width"
70
+ ],
71
+ "info": {
72
+ "video.height": 128,
73
+ "video.width": 128,
74
+ "video.codec": "av1",
75
+ "video.pix_fmt": "yuv420p",
76
+ "video.is_depth_map": false,
77
+ "video.fps": 10,
78
+ "video.channels": 3,
79
+ "has_audio": false
80
+ }
81
+ },
82
+ "observation.images.wrist": {
83
+ "dtype": "video",
84
+ "shape": [
85
+ 3,
86
+ 128,
87
+ 128
88
+ ],
89
+ "names": [
90
+ "channels",
91
+ "height",
92
+ "width"
93
+ ],
94
+ "info": {
95
+ "video.height": 128,
96
+ "video.width": 128,
97
+ "video.codec": "av1",
98
+ "video.pix_fmt": "yuv420p",
99
+ "video.is_depth_map": false,
100
+ "video.fps": 10,
101
+ "video.channels": 3,
102
+ "has_audio": false
103
+ }
104
+ },
105
+ "timestamp": {
106
+ "dtype": "float32",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "frame_index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "episode_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ },
126
+ "index": {
127
+ "dtype": "int64",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "task_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ }
140
+ }
141
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "screwdriver"}
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:dec741cca5d235784c156c0e6be9766fb89c4467ad518133f73b36daf05a4466
3
+ size 10159
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 sha256:5300c937cea12f95ef122ff16aac9ac8dd7501516da5aa313790843d4747287e
3
+ size 244959