Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- meta/episodes.jsonl +4 -0
- meta/episodes_stats.jsonl +4 -0
- meta/info.json +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000003.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0d528665d13aa06cb6cd437b729abd3f5495aa5c2e3c0b0ac7a44ec4d0d0b74e
|
| 3 |
+
size 21865
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f48e06d9dee972dc52064b8452180960579f5c83a8005db503ce4d52d1f2f553
|
| 3 |
+
size 23164
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e295fff9b38a9663ef26f7472a34a1a56f4959b3560eb73cf744e5feb1a5b014
|
| 3 |
+
size 23050
|
data/chunk-000/episode_000003.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ccb7e830fe90c28fd9a453699076b04a5e8af9b4b980ef31979556e0053b28b2
|
| 3 |
+
size 21887
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grab the orange cube and put it in the brown box"], "length": 415}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grab the orange cube and put it in the brown box"], "length": 427}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Grab the orange cube and put it in the brown box"], "length": 429}
|
| 4 |
+
{"episode_index": 3, "tasks": ["Grab the orange cube and put it in the brown box"], "length": 416}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-2.3861172199249268, -98.07611846923828, -68.64865112304688, 56.40468978881836, -1.3375295400619507, 0.0], "max": [73.5357894897461, 56.00167465209961, 96.12612915039062, 99.8263168334961, 25.255704879760742, 46.1773681640625], "mean": [18.48811149597168, -16.087133407592773, 5.7025957107543945, 77.23265838623047, 10.976203918457031, 12.698847770690918], "std": [24.883651733398438, 58.31620788574219, 68.62876892089844, 17.282045364379883, 8.44069766998291, 17.63140106201172], "count": [415]}, "observation.state": {"min": [-1.9730010032653809, -97.71089172363281, -64.71118927001953, 58.28274154663086, -0.9626274108886719, 1.255783200263977], "max": [73.52024841308594, 56.167869567871094, 96.02887725830078, 98.78577423095703, 25.084938049316406, 46.19960403442383], "mean": [18.666547775268555, -15.041402816772461, 7.4766387939453125, 77.43608856201172, 11.011492729187012, 17.597990036010742], "std": [24.831151962280273, 58.64818572998047, 68.05088806152344, 16.883716583251953, 8.174628257751465, 17.478710174560547], "count": [415]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3644580596405229]], [[0.35442586397058823]], [[0.3830210498366013]]], "std": [[[0.26196093640415646]], [[0.16999040606177335]], [[0.19968742301649076]]], "count": [100]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4887023120915033]], [[0.47009245506535946]], [[0.43770891544117646]]], "std": [[[0.15273100220457722]], [[0.1297130176839414]], [[0.16146715333653838]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.8], "mean": [6.9], "std": [3.9933277684991833], "count": [415]}, "frame_index": {"min": [0], "max": [414], "mean": [207.0], "std": [119.7998330549755], "count": [415]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [415]}, "index": {"min": [0], "max": [414], "mean": [207.0], "std": [119.7998330549755], "count": [415]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [415]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-3.5791757106781006, -98.5780029296875, -58.55855941772461, 39.643943786621094, 5.166535377502441, 0.0], "max": [74.29501342773438, 51.40108871459961, 98.82882690429688, 99.65262603759766, 28.14057159423828, 54.204891204833984], "mean": [16.06679344177246, -23.263961791992188, 11.898213386535645, 75.14824676513672, 14.179481506347656, 17.5676212310791], "std": [21.28720474243164, 64.18602752685547, 70.89568328857422, 18.697837829589844, 5.444882392883301, 20.3957576751709], "count": [427]}, "observation.state": {"min": [-3.9460020065307617, -97.62611389160156, -55.144405364990234, 41.283607482910156, 5.49263858795166, 1.1896893978118896], "max": [73.83177947998047, 51.759220123291016, 99.18772888183594, 98.87250518798828, 27.916194915771484, 53.99867630004883], "mean": [16.032533645629883, -22.352092742919922, 13.08706283569336, 75.29932403564453, 14.12853717803955, 19.938743591308594], "std": [21.313594818115234, 64.58364868164062, 70.07366180419922, 18.3884220123291, 5.406308174133301, 20.094436645507812], "count": [427]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3727581903594771]], [[0.3727246507352941]], [[0.3900192769607843]]], "std": [[[0.26824952040949246]], [[0.17921841795049048]], [[0.20126508274816957]]], "count": [100]}, "observation.images.top": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.484287716503268]], [[0.4714971793300654]], [[0.4432920383986928]]], "std": [[[0.15337939276811693]], [[0.13007708636121623]], [[0.1627643980430447]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.2], "mean": [7.1000000000000005], "std": [4.108798148147731], "count": [427]}, "frame_index": {"min": [0], "max": [426], "mean": [213.0], "std": [123.26394444443193], "count": [427]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [427]}, "index": {"min": [415], "max": [841], "mean": [628.0], "std": [123.26394444443193], "count": [427]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [427]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"action": {"min": [-9.43600845336914, -98.41070556640625, -55.58558654785156, 45.89665603637695, 7.631785869598389, 0.0], "max": [67.78742218017578, 48.72438430786133, 98.9189224243164, 99.56578063964844, 29.399423599243164, 55.58103942871094], "mean": [14.769495964050293, -39.50193786621094, 28.375627517700195, 71.3732681274414, 15.552789688110352, 13.976550102233887], "std": [19.82565689086914, 62.77509307861328, 68.3031005859375, 16.794252395629883, 6.182059288024902, 19.801424026489258], "count": [429]}, "observation.state": {"min": [-9.138110160827637, -98.13480377197266, -52.97834014892578, 47.09453582763672, 7.870894908905029, 1.1235954761505127], "max": [67.60124969482422, 48.96142578125, 99.18772888183594, 98.78577423095703, 29.21857261657715, 54.92399215698242], "mean": [14.782367706298828, -38.70781326293945, 29.697561264038086, 71.47900390625, 15.46928882598877, 16.91800308227539], "std": [19.77275848388672, 63.395530700683594, 67.57884979248047, 16.53335952758789, 6.1102070808410645, 19.683252334594727], "count": [429]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.379545720996732]], [[0.38060908088235296]], [[0.38626231413398693]]], "std": [[[0.24736400209441048]], [[0.18420804470850896]], [[0.20397712661952616]]], "count": [100]}, "observation.images.top": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4857089950980392]], [[0.47567570874183007]], [[0.44870018382352944]]], "std": [[[0.1505434033048189]], [[0.1264598670172754]], [[0.16042297037564798]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.266666666666667], "mean": [7.133333333333334], "std": [4.128043209650396], "count": [429]}, "frame_index": {"min": [0], "max": [428], "mean": [214.0], "std": [123.84129628951187], "count": [429]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [429]}, "index": {"min": [842], "max": [1270], "mean": [1056.0], "std": [123.84129628951187], "count": [429]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [429]}}}
|
| 4 |
+
{"episode_index": 3, "stats": {"action": {"min": [-16.160520553588867, -98.32705688476562, -52.702701568603516, 36.778114318847656, 1.9669551849365234, 0.6880733966827393], "max": [81.88719940185547, 47.88791275024414, 98.73873901367188, 99.65262603759766, 23.472332000732422, 57.87461853027344], "mean": [16.439992904663086, -31.075876235961914, 19.64007568359375, 71.13145446777344, 11.433923721313477, 19.095006942749023], "std": [24.013418197631836, 63.15085983276367, 69.75862884521484, 20.447418212890625, 6.287382125854492, 17.88975715637207], "count": [416]}, "observation.state": {"min": [-14.8494291305542, -97.88045501708984, -49.819496154785156, 38.161319732666016, 2.1517553329467773, 1.1235954761505127], "max": [81.4122543334961, 48.36795425415039, 99.18772888183594, 98.87250518798828, 23.38618278503418, 55.12227249145508], "mean": [16.501890182495117, -30.107330322265625, 21.231746673583984, 71.33335876464844, 11.37747859954834, 20.036304473876953], "std": [23.996400833129883, 63.82958221435547, 68.70117950439453, 20.188703536987305, 6.2936835289001465, 18.102067947387695], "count": [416]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3745627573529412]], [[0.3750337847222222]], [[0.38458309436274507]]], "std": [[[0.26838389613544417]], [[0.1773082274411506]], [[0.1981820104992735]]], "count": [100]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4805844424019608]], [[0.4731768055555555]], [[0.44579362540849676]]], "std": [[[0.15040307600219116]], [[0.12709999054163726]], [[0.16037177511458217]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.833333333333334], "mean": [6.916666666666666], "std": [4.002950300854497], "count": [416]}, "frame_index": {"min": [0], "max": [415], "mean": [207.5], "std": [120.08850902563492], "count": [416]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [416]}, "index": {"min": [1271], "max": [1686], "mean": [1478.5], "std": [120.08850902563492], "count": [416]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [416]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "so101_follower",
|
| 4 |
+
"total_episodes": 4,
|
| 5 |
+
"total_frames": 1687,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 8,
|
| 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 |
+
"observation.images.top": {
|
| 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 the orange cube and put it in the brown box"}
|
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 sha256:360f459f67735bff5268c8268b01207d5a6e8dc7cd81813f31a10f9df2174e24
|
| 3 |
+
size 2956400
|
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 sha256:4aa9a7e1cbec6332b216e2e7d93ce7a4c96b61370893cfb70e7f45eea40989ac
|
| 3 |
+
size 3011004
|
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 sha256:023107c481bcd2967bfd1e0469d8265ca585be8c67825f1935a70bbfe4cbbbc6
|
| 3 |
+
size 3186239
|
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 sha256:23ce8ae6d8ba2835ff491c0719987129a5aa85a93bd679e7aa5decb7b911d050
|
| 3 |
+
size 2852060
|
videos/chunk-000/observation.images.top/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:19f8e26095d793f1f223013c61fd3758d3dc8dd2c5250e4e187f4f054ca4174f
|
| 3 |
+
size 2515396
|
videos/chunk-000/observation.images.top/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8b4ee1137eceefaad69bf7dd5f503066a71f9fc1df7fdb06e20da62a601eb966
|
| 3 |
+
size 2569891
|
videos/chunk-000/observation.images.top/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aec37da91e82f084783fe7d9ec2d21edc147a1db9c3f061e65305be85876bb97
|
| 3 |
+
size 2575428
|
videos/chunk-000/observation.images.top/episode_000003.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6347eec5f40565414ee015e4a1a0b48302a52bd29188a80d1f616fa11b8d01cf
|
| 3 |
+
size 2494677
|