abhatem commited on
Commit
3a2bc10
·
verified ·
1 Parent(s): 519e96a

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 sha256:1d5a63c65e5e7a7fbee1fb51ae863d1d78139777520010b32806d782d1bad82f
3
+ size 20865
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a49661821b5ba7dfab6264cdd5e478888a28bd99b96ca23b713179aa14bc763b
3
+ size 18240
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a77af14c442c757bbab666fc1eafae166efdca5b34de780c5d4c8372681f6b08
3
+ size 18202
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6d71abe975f497bb9f05fe5b63d113b668d2781e2c1c5d30b5732a2f76b485b0
3
+ size 18701
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0d299de822adcf6ece8fa7cf676f9a0ce6660fd807a021ff3a06afdb3e79a1a2
3
+ size 22327
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab PCB"], "length": 440}
2
+ {"episode_index": 1, "tasks": ["Grab PCB"], "length": 323}
3
+ {"episode_index": 2, "tasks": ["Grab PCB"], "length": 342}
4
+ {"episode_index": 3, "tasks": ["Grab PCB"], "length": 374}
5
+ {"episode_index": 4, "tasks": ["Grab PCB"], "length": 534}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-77.41334533691406, -99.08256530761719, 52.428504943847656, -8.09874439239502, -82.00999450683594, 0.15637215971946716], "max": [1.3790533542633057, -24.020017623901367, 100.0, 46.123863220214844, -53.02609634399414, 25.879592895507812], "mean": [-51.7003059387207, -53.654666900634766, 75.56602478027344, 8.015690803527832, -62.70410919189453, 6.707860946655273], "std": [24.512462615966797, 33.00381851196289, 19.73906707763672, 18.248458862304688, 12.649795532226562, 10.556406021118164], "count": [440]}, "observation.state": {"min": [-77.27775573730469, -98.57142639160156, 55.915428161621094, -6.472352981567383, -81.72015380859375, 2.280348777770996], "max": [1.5861306190490723, -23.697479248046875, 100.0, 45.820831298828125, -53.119384765625, 25.486249923706055], "mean": [-51.194828033447266, -53.69733810424805, 76.9917221069336, 9.531615257263184, -62.59027862548828, 8.477269172668457], "std": [24.621583938598633, 33.4101448059082, 19.085567474365234, 18.03558349609375, 12.576358795166016, 9.404916763305664], "count": [440]}, "observation.images.robot": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.5788731515522876]], [[0.5515195486111111]], [[0.5414793545751634]]], "std": [[[0.17117988006499396]], [[0.1718753976373847]], [[0.1761258741192287]]], "count": [100]}, "observation.images.world": {"min": [[[0.08235294117647059]], [[0.0784313725490196]], [[0.15294117647058825]]], "max": [[[1.0]], [[0.9058823529411765]], [[1.0]]], "mean": [[[0.4214875735294118]], [[0.38660395833333333]], [[0.361271039624183]]], "std": [[[0.14473584552440996]], [[0.13982707429630883]], [[0.09113807954865945]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.633333333333333], "mean": [7.3166666666666655], "std": [4.233891039378946], "count": [440]}, "frame_index": {"min": [0], "max": [439], "mean": [219.5], "std": [127.01673118136839], "count": [440]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [440]}, "index": {"min": [0], "max": [439], "mean": [219.5], "std": [127.01673118136839], "count": [440]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [440]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-75.10250091552734, -98.91576385498047, 54.97049331665039, -7.7522735595703125, -72.12659454345703, 0.0], "max": [1.08087956905365, -24.937448501586914, 99.364501953125, 40.92680740356445, -54.414215087890625, 24.472244262695312], "mean": [-50.59409713745117, -47.5050048828125, 67.9266128540039, 9.745837211608887, -62.44992446899414, 6.342050075531006], "std": [22.45635414123535, 25.3000545501709, 12.113635063171387, 17.5334529876709, 6.0690507888793945, 10.022576332092285], "count": [323]}, "observation.state": {"min": [-74.76945495605469, -98.40335845947266, 57.98470687866211, -6.129446983337402, -72.0154037475586, 2.280348777770996], "max": [1.5123571157455444, -24.705883026123047, 99.9100341796875, 45.13501739501953, -54.659820556640625, 24.077800750732422], "mean": [-49.942726135253906, -47.693946838378906, 69.941650390625, 11.640641212463379, -62.26131820678711, 8.044754981994629], "std": [23.00356674194336, 25.989429473876953, 12.394844055175781, 17.629940032958984, 6.039467811584473, 8.866328239440918], "count": [323]}, "observation.images.robot": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9803921568627451]]], "mean": [[[0.5904302675653594]], [[0.5709209946895425]], [[0.5619764808006537]]], "std": [[[0.16692810739259678]], [[0.1743205819828492]], [[0.17882347349518216]]], "count": [100]}, "observation.images.world": {"min": [[[0.08235294117647059]], [[0.0784313725490196]], [[0.1450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40882564746732025]], [[0.3745874632352941]], [[0.35331579248366013]]], "std": [[[0.13828754997626172]], [[0.13384000584023914]], [[0.08728707736363012]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [10.733333333333333], "mean": [5.366666666666667], "std": [3.1080540535840107], "count": [323]}, "frame_index": {"min": [0], "max": [322], "mean": [161.0], "std": [93.24162160752032], "count": [323]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [323]}, "index": {"min": [440], "max": [762], "mean": [601.0], "std": [93.24162160752032], "count": [323]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [323]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-78.307861328125, -93.32777404785156, 49.70494842529297, -1.6890429258346558, -75.23597717285156, 0.15637215971946716], "max": [-55.34849166870117, -31.776479721069336, 87.0177001953125, 22.73711585998535, -58.356468200683594, 34.16731643676758], "mean": [-65.86470031738281, -38.605072021484375, 57.384098052978516, 8.943106651306152, -67.05290222167969, 8.993069648742676], "std": [7.871774196624756, 13.618236541748047, 6.815208435058594, 8.527691841125488, 7.128530979156494, 13.631795883178711], "count": [342]}, "observation.state": {"min": [-78.38436126708984, -92.01680755615234, 52.40665817260742, 0.04286326467990875, -74.89088439941406, 2.1462106704711914], "max": [-55.51457214355469, -31.596637725830078, 85.60504150390625, 23.3604793548584, -58.819000244140625, 33.735748291015625], "mean": [-65.70115661621094, -38.6716194152832, 59.798709869384766, 10.489508628845215, -66.91744995117188, 11.157964706420898], "std": [7.941235065460205, 14.541213035583496, 7.029877185821533, 8.51387882232666, 7.118964195251465, 12.189420700073242], "count": [342]}, "observation.images.robot": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.984313725490196]], [[1.0]]], "mean": [[[0.5895296037581699]], [[0.5637060886437908]], [[0.5566886887254903]]], "std": [[[0.18059430196647105]], [[0.17702513405760395]], [[0.1836833803358921]]], "count": [100]}, "observation.images.world": {"min": [[[0.08627450980392157]], [[0.0784313725490196]], [[0.14901960784313725]]], "max": [[[0.9372549019607843]], [[0.9647058823529412]], [[1.0]]], "mean": [[[0.4111080085784314]], [[0.3771375919117647]], [[0.3551667933006536]]], "std": [[[0.13739774587666348]], [[0.13295047772683022]], [[0.08660634396013941]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.366666666666667], "mean": [5.683333333333334], "std": [3.2908824663617824], "count": [342]}, "frame_index": {"min": [0], "max": [341], "mean": [170.5], "std": [98.72647399085346], "count": [342]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [342]}, "index": {"min": [763], "max": [1104], "mean": [933.5], "std": [98.72647399085346], "count": [342]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [342]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-71.59895324707031, -60.21684646606445, 36.3595085144043, 10.26418399810791, -74.06996154785156, 0.0], "max": [-46.85054016113281, -18.849040985107422, 69.22378540039062, 23.689908981323242, -55.52470779418945, 23.768569946289062], "mean": [-60.30232620239258, -33.7583122253418, 52.11780548095703, 14.598958015441895, -61.712249755859375, 10.389779090881348], "std": [6.133622169494629, 13.785395622253418, 10.337783813476562, 4.061799049377441, 7.4287109375, 10.815242767333984], "count": [374]}, "observation.state": {"min": [-71.81851959228516, -63.52941131591797, 39.90103530883789, 11.958850860595703, -73.86392974853516, 3.353454113006592], "max": [-42.014015197753906, -18.487394332885742, 70.7602310180664, 23.3604793548584, -55.89216995239258, 23.4071102142334], "mean": [-60.113433837890625, -33.1142463684082, 54.23942947387695, 15.38786792755127, -61.61531448364258, 11.90673542022705], "std": [6.299302101135254, 14.22579288482666, 9.915600776672363, 4.0542731285095215, 7.462766170501709, 9.375970840454102], "count": [374]}, "observation.images.robot": {"min": [[[0.00392156862745098]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[0.996078431372549]], [[0.9803921568627451]]], "mean": [[[0.5614422651143791]], [[0.5382034089052287]], [[0.5258348488562092]]], "std": [[[0.1776989441801154]], [[0.1809765238234355]], [[0.1858606716577155]]], "count": [100]}, "observation.images.world": {"min": [[[0.08627450980392157]], [[0.0784313725490196]], [[0.15294117647058825]]], "max": [[[1.0]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.3998707169117647]], [[0.36553300857843135]], [[0.34722759191176467]]], "std": [[[0.13449014409397927]], [[0.13014479484770725]], [[0.08498323216943517]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [12.433333333333334], "mean": [6.216666666666665], "std": [3.598803813614864], "count": [374]}, "frame_index": {"min": [0], "max": [373], "mean": [186.5], "std": [107.96411440844592], "count": [374]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [374]}, "index": {"min": [1105], "max": [1478], "mean": [1291.5], "std": [107.96411440844592], "count": [374]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [374]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-67.64815521240234, -80.31693267822266, 48.252384185791016, 7.7522735595703125, -72.12659454345703, 0.07818607985973358], "max": [-1.7517703771591187, -24.937448501586914, 100.0, 43.438716888427734, -55.85785675048828, 35.965599060058594], "mean": [-34.11979293823242, -63.073333740234375, 80.35247039794922, 24.958045959472656, -60.37361145019531, 5.889016628265381], "std": [27.630760192871094, 18.809547424316406, 18.21579933166504, 13.452625274658203, 5.837886333465576, 12.59091567993164], "count": [534]}, "observation.state": {"min": [-67.90852355957031, -79.7479019165039, 51.23706817626953, 8.958422660827637, -72.0154037475586, 2.2132797241210938], "max": [-1.733677625656128, -25.042016983032227, 100.0, 43.163307189941406, -56.09756088256836, 35.74782180786133], "mean": [-33.49858093261719, -62.4806022644043, 81.62394714355469, 25.571603775024414, -60.463558197021484, 7.802888870239258], "std": [27.76689910888672, 19.1264705657959, 17.396316528320312, 13.181882858276367, 5.7518463134765625, 11.694568634033203], "count": [534]}, "observation.images.robot": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9803921568627451]]], "mean": [[[0.582230198948949]], [[0.5701570872342931]], [[0.5589979409556616]]], "std": [[[0.14286829373686538]], [[0.1565394353342823]], [[0.1620642994576146]]], "count": [111]}, "observation.images.world": {"min": [[[0.08235294117647059]], [[0.0784313725490196]], [[0.15294117647058825]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4016974216863923]], [[0.3680820802420067]], [[0.3487043440499323]]], "std": [[[0.13441145703365318]], [[0.12996014726393734]], [[0.08466401294116824]]], "count": [111]}, "timestamp": {"min": [0.0], "max": [17.766666666666666], "mean": [8.883333333333335], "std": [5.138408385944109], "count": [534]}, "frame_index": {"min": [0], "max": [533], "mean": [266.5], "std": [154.15225157832327], "count": [534]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [534]}, "index": {"min": [1479], "max": [2012], "mean": [1745.5], "std": [154.15225157832327], "count": [534]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [534]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 2013,
6
+ "total_tasks": 1,
7
+ "total_videos": 10,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:5"
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.robot": {
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.world": {
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
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab PCB"}
videos/chunk-000/observation.images.robot/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ebabe7b60524c2946a41932f21c3b64c3966073130a98c75ebb96d15e390d855
3
+ size 2068489
videos/chunk-000/observation.images.robot/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f1d40e343bc881ddbcb0aadb8ab44baaf09e68bb23fc6c4b1d0c3e9d2e8a7d54
3
+ size 1343564
videos/chunk-000/observation.images.robot/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b36457acd231e6e7d9bad500e7b4f3a9afc2e1442661de6e2d43ec17811f69ae
3
+ size 1869067
videos/chunk-000/observation.images.robot/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c7d6bc92a1c98f0cecc1d32af8b02faef561cba506ad52a30715703d6ea61dfa
3
+ size 1623787
videos/chunk-000/observation.images.robot/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3b9f294c471b907ea7c03da784b82c6c84af2c5102b1b807eb9ddfe66747b6ef
3
+ size 1627482
videos/chunk-000/observation.images.world/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a23eb503a4187f1084ddddb984154de91a2129cd727c3a8133204863e782cc0
3
+ size 1225063
videos/chunk-000/observation.images.world/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e099718e1cfc822ea44ea65f53d8c8b1d48fc2a2e131f143c6263c769002cb0e
3
+ size 885139
videos/chunk-000/observation.images.world/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4f47c8e9dc6968b5eb8e9b13cfd16fc17cc05e7f61e9cd660c5cc17a25b23b0b
3
+ size 896657
videos/chunk-000/observation.images.world/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:255f6861912d8e73984c74cd889c0c9e8d24f7e9521626349857434d817ef58e
3
+ size 1091775
videos/chunk-000/observation.images.world/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:17d5db9bc847569749ae12be412e33423d4716ca9b080dbcd83bcebef8b42e1c
3
+ size 1415950