allday-technology commited on
Commit
d09b779
·
verified ·
1 Parent(s): 8932a01

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:c0454d7acedb7c81b6e30722f65601cf991aebfabc28c62f197cbe2cc45414dd
3
+ size 15340
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0de12c914b1961526453ffded2cf201f4ead0c448bedab69bc4ed765858f0cdf
3
+ size 15941
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a64007c21d94a3646d76ddd80e83f2b07c823deebf5dbb87a8c39295dfa11ff0
3
+ size 17191
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dd954fc6b99589d00f93875b69d55f129bb5d1ceeda82e1c36314aeefcf5f86a
3
+ size 16638
meta/episodes.jsonl ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["pick up an empty cup by the handle"], "length": 238}
2
+ {"episode_index": 1, "tasks": ["pick up an empty cup by the handle"], "length": 239}
3
+ {"episode_index": 2, "tasks": ["pick up an empty cup by the handle"], "length": 239}
4
+ {"episode_index": 3, "tasks": ["pick up an empty cup by the handle"], "length": 236}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [0.9008545279502869, 1.6821163892745972, 2.0357441902160645, -0.5674448609352112, -0.7036316394805908, -0.12722209095954895, -0.0007660500705242157], "max": [1.1724650859832764, 1.8598840236663818, 2.3584725856781006, -0.17338064312934875, -0.42744335532188416, -0.03681239113211632, 0.0390852689743042], "mean": [1.0887058973312378, 1.8011207580566406, 2.051839828491211, -0.3037896752357483, -0.5218430161476135, -0.07102660834789276, 0.027277184650301933], "std": [0.10857779532670975, 0.07679514586925507, 0.0592508539557457, 0.11917228996753693, 0.10453483462333679, 0.029524721205234528, 0.016325345262885094], "count": [238]}, "observation.state": {"min": [0.9004730582237244, 1.6817349195480347, 2.035362720489502, -0.5567635893821716, -0.7177462577819824, -0.12760357558727264, 0.00799254234880209], "max": [1.1732280254364014, 1.8598840236663818, 2.343595027923584, -0.17566949129104614, -0.42782482504844666, -0.04444190114736557, 0.039108552038669586], "mean": [1.086891531944275, 1.79877769947052, 2.0478596687316895, -0.3028920292854309, -0.5235548615455627, -0.07185685634613037, 0.02948373183608055], "std": [0.11029739677906036, 0.07789774239063263, 0.04927147179841995, 0.11730937659740448, 0.10635125637054443, 0.029568852856755257, 0.013144359923899174], "count": [238]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36437393178104577]], [[0.3896707169117647]], [[0.383309993872549]]], "std": [[[0.2934146394814261]], [[0.29046211302275393]], [[0.2957102876637806]]], "count": [100]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3429175163398693]], [[0.37907276348039215]], [[0.3666232189542484]]], "std": [[[0.2608453976526986]], [[0.20179074457343732]], [[0.20354473379657315]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.9], "mean": [3.9499999999999997], "std": [2.290135852350734], "count": [238]}, "frame_index": {"min": [0], "max": [237], "mean": [118.5], "std": [68.70407557052202], "count": [238]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [238]}, "index": {"min": [0], "max": [237], "mean": [118.5], "std": [68.70407557052202], "count": [238]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [238]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [0.8371480703353882, 1.6828793287277222, 2.0357441902160645, -0.43011367321014404, -0.6807430982589722, -0.10585946589708328, -0.0005691144615411758], "max": [0.9908827543258667, 2.0941100120544434, 2.3668649196624756, 0.04482337832450867, -0.5739299654960632, -0.02689402550458908, 0.0390852689743042], "mean": [0.9425875544548035, 1.9499174356460571, 2.223450183868408, -0.24237845838069916, -0.6189174056053162, -0.07648575305938721, 0.026366859674453735], "std": [0.04596654698252678, 0.1627722531557083, 0.14996954798698425, 0.12100102007389069, 0.035079989582300186, 0.01884649693965912, 0.016660109162330627], "count": [239]}, "observation.state": {"min": [0.8443961143493652, 1.6817349195480347, 2.035362720489502, -0.4659723937511444, -0.7177462577819824, -0.10433356463909149, 0.007712158374488354], "max": [0.9912642240524292, 2.094491481781006, 2.356565237045288, 0.046730753034353256, -0.5724040865898132, -0.029182879254221916, 0.039108552038669586], "mean": [0.9431461691856384, 1.9475219249725342, 2.2193100452423096, -0.243026465177536, -0.6195814609527588, -0.07734769582748413, 0.02860899828374386], "std": [0.044883016496896744, 0.16555190086364746, 0.15049627423286438, 0.12184125930070877, 0.036226943135261536, 0.018323956057429314, 0.013615828938782215], "count": [239]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3638777553104575]], [[0.38871237540849674]], [[0.38077969771241826]]], "std": [[[0.29189843640432994]], [[0.288775480635948]], [[0.29376629568532675]]], "count": [100]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4141335355392157]], [[0.47095606004901963]], [[0.46293250612745096]]], "std": [[[0.22021119288615082]], [[0.20339601546594543]], [[0.2104924192271919]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.933333333333334], "mean": [3.9666666666666663], "std": [2.2997584414213788], "count": [239]}, "frame_index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [239]}, "index": {"min": [238], "max": [476], "mean": [357.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [239]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [0.8562218546867371, 1.6817349195480347, 2.0365071296691895, -0.4964904189109802, -0.8573662638664246, -0.1340886503458023, -0.0006759278476238251], "max": [1.2853819131851196, 2.184138298034668, 2.3622872829437256, 0.018501564860343933, -0.25234606862068176, 0.06504157930612564, 0.0390852689743042], "mean": [1.180306077003479, 2.0261638164520264, 2.2795028686523438, -0.15240590274333954, -0.393677681684494, -0.027492519468069077, 0.023454608395695686], "std": [0.14415818452835083, 0.1865645796060562, 0.13113801181316376, 0.17587976157665253, 0.17948046326637268, 0.05208352953195572, 0.017580494284629822], "count": [239]}, "observation.state": {"min": [0.881017804145813, 1.6817349195480347, 2.0357441902160645, -0.4850461483001709, -0.8226520419120789, -0.13141833245754242, 0.008169452659785748], "max": [1.2861448526382446, 2.1837568283081055, 2.355802297592163, 0.01926451548933983, -0.25120165944099426, 0.06504157930612564, 0.039108552038669586], "mean": [1.1806120872497559, 2.024043321609497, 2.2752504348754883, -0.15233568847179413, -0.39220142364501953, -0.02936156839132309, 0.026368398219347], "std": [0.14323578774929047, 0.18965840339660645, 0.1331925094127655, 0.1753530651330948, 0.1761152595281601, 0.0519881509244442, 0.014187938533723354], "count": [239]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3646342054738562]], [[0.38823601102941174]], [[0.3806938807189542]]], "std": [[[0.2934748166739128]], [[0.28976394017713014]], [[0.29459763010933043]]], "count": [100]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42480044321895427]], [[0.44032327410130717]], [[0.429998233251634]]], "std": [[[0.22046704264187778]], [[0.20831484761540917]], [[0.21407240843247816]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.933333333333334], "mean": [3.9666666666666663], "std": [2.2997584414213788], "count": [239]}, "frame_index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [239]}, "index": {"min": [477], "max": [715], "mean": [596.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [239]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [0.6364919543266296, 1.6821163892745972, 2.0365071296691895, -0.45872434973716736, -0.8314259648323059, -0.10852979123592377, -0.0006659124046564102], "max": [0.9187838435173035, 2.1517128944396973, 2.3638131618499756, -0.01926451548933983, -0.5231937170028687, 0.14744029939174652, 0.03908193111419678], "mean": [0.8757349848747253, 2.0162558555603027, 2.270448684692383, -0.16033108532428741, -0.5956699848175049, 0.011340796947479248, 0.023186709731817245], "std": [0.055937569588422775, 0.17350183427333832, 0.13847783207893372, 0.12864725291728973, 0.07445007562637329, 0.06858338415622711, 0.017598392441868782], "count": [236]}, "observation.state": {"min": [0.6597619652748108, 1.6817349195480347, 2.0357441902160645, -0.4659723937511444, -0.7978560924530029, -0.10662241280078888, 0.008763600140810013], "max": [0.919165313243866, 2.1532387733459473, 2.3569467067718506, -0.026512550190091133, -0.5270084738731384, 0.14591439068317413, 0.039108552038669586], "mean": [0.8785507678985596, 2.0127227306365967, 2.2663073539733887, -0.16449324786663055, -0.5945094227790833, 0.008371436968445778, 0.026357296854257584], "std": [0.05026424303650856, 0.17767052352428436, 0.14038757979869843, 0.1326812505722046, 0.07146693021059036, 0.06816812604665756, 0.01392680685967207], "count": [236]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3693764644607843]], [[0.39158344975490195]], [[0.38392187704248365]]], "std": [[[0.2890887416183014]], [[0.28583400708482465]], [[0.29135086818616257]]], "count": [100]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38594806576797386]], [[0.381869573120915]], [[0.35272777777777775]]], "std": [[[0.24489204771032055]], [[0.21799811608505384]], [[0.2295621565619722]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.833333333333333], "mean": [3.9166666666666665], "std": [2.270890672058971], "count": [236]}, "frame_index": {"min": [0], "max": [235], "mean": [117.5], "std": [68.12672016176913], "count": [236]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [236]}, "index": {"min": [716], "max": [951], "mean": [833.5], "std": [68.12672016176913], "count": [236]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [236]}}}
meta/info.json ADDED
@@ -0,0 +1,130 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "trossen_subversion": "v1.0",
4
+ "robot_type": "trossen_ai_stationary",
5
+ "total_episodes": 4,
6
+ "total_frames": 952,
7
+ "total_tasks": 1,
8
+ "total_videos": 8,
9
+ "total_chunks": 1,
10
+ "chunks_size": 1000,
11
+ "fps": 30,
12
+ "splits": {
13
+ "train": "0:4"
14
+ },
15
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
16
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
17
+ "features": {
18
+ "action": {
19
+ "dtype": "float32",
20
+ "shape": [
21
+ 7
22
+ ],
23
+ "names": [
24
+ "left_joint_0",
25
+ "left_joint_1",
26
+ "left_joint_2",
27
+ "left_joint_3",
28
+ "left_joint_4",
29
+ "left_joint_5",
30
+ "left_joint_6"
31
+ ]
32
+ },
33
+ "observation.state": {
34
+ "dtype": "float32",
35
+ "shape": [
36
+ 7
37
+ ],
38
+ "names": [
39
+ "left_joint_0",
40
+ "left_joint_1",
41
+ "left_joint_2",
42
+ "left_joint_3",
43
+ "left_joint_4",
44
+ "left_joint_5",
45
+ "left_joint_6"
46
+ ]
47
+ },
48
+ "observation.images.cam_high": {
49
+ "dtype": "video",
50
+ "shape": [
51
+ 480,
52
+ 640,
53
+ 3
54
+ ],
55
+ "names": [
56
+ "height",
57
+ "width",
58
+ "channels"
59
+ ],
60
+ "info": {
61
+ "video.fps": 30.0,
62
+ "video.height": 480,
63
+ "video.width": 640,
64
+ "video.channels": 3,
65
+ "video.codec": "av1",
66
+ "video.pix_fmt": "yuv420p",
67
+ "video.is_depth_map": false,
68
+ "has_audio": false
69
+ }
70
+ },
71
+ "observation.images.cam_left_wrist": {
72
+ "dtype": "video",
73
+ "shape": [
74
+ 480,
75
+ 640,
76
+ 3
77
+ ],
78
+ "names": [
79
+ "height",
80
+ "width",
81
+ "channels"
82
+ ],
83
+ "info": {
84
+ "video.fps": 30.0,
85
+ "video.height": 480,
86
+ "video.width": 640,
87
+ "video.channels": 3,
88
+ "video.codec": "av1",
89
+ "video.pix_fmt": "yuv420p",
90
+ "video.is_depth_map": false,
91
+ "has_audio": false
92
+ }
93
+ },
94
+ "timestamp": {
95
+ "dtype": "float32",
96
+ "shape": [
97
+ 1
98
+ ],
99
+ "names": null
100
+ },
101
+ "frame_index": {
102
+ "dtype": "int64",
103
+ "shape": [
104
+ 1
105
+ ],
106
+ "names": null
107
+ },
108
+ "episode_index": {
109
+ "dtype": "int64",
110
+ "shape": [
111
+ 1
112
+ ],
113
+ "names": null
114
+ },
115
+ "index": {
116
+ "dtype": "int64",
117
+ "shape": [
118
+ 1
119
+ ],
120
+ "names": null
121
+ },
122
+ "task_index": {
123
+ "dtype": "int64",
124
+ "shape": [
125
+ 1
126
+ ],
127
+ "names": null
128
+ }
129
+ }
130
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "pick up an empty cup by the handle"}
videos/chunk-000/observation.images.cam_high/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:04fbfca54f056cc50e5281f84585fb9b7a2aa3f427fe5f56180d68136ee14b67
3
+ size 4189945
videos/chunk-000/observation.images.cam_high/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:679e7c6992892eb29300914ca348f82d8430c0abaa395e6f144313c2a07457b2
3
+ size 4173031
videos/chunk-000/observation.images.cam_high/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:588eed4ae98c1085f8db761c98c201ee78c4db76b692c0ba83cc75ebc88424b5
3
+ size 4349814
videos/chunk-000/observation.images.cam_high/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aced6d793154a03c7be97e376789802e2335d81ac30b706686d12986b310ca9a
3
+ size 4134487
videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2092fb0efcd6047dba1855fd5caee67e56af06afbcde7fcb1380b3f881ce63c8
3
+ size 1642904
videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e276b71bd2e27d59fc41587694935d602dcf5200964da44e0cc9e66b776dae04
3
+ size 1858194
videos/chunk-000/observation.images.cam_left_wrist/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c623694578ced6a072300c630dd6e3cd6c966e7b219de57a866e503af2a1773e
3
+ size 1446707
videos/chunk-000/observation.images.cam_left_wrist/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0cd486026f76fe030c95c48e547fb466d34e10afb2ca472003c7b5a2676629ff
3
+ size 1532089