andlyu commited on
Commit
8101322
·
verified ·
1 Parent(s): 18d85bc

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 sha256:24c8d717c7f886cf5b9292f3de05ae6205c46528308c21ef47e8b1e005c93f39
3
+ size 81883
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:109b6064ef20d8e79809f717c3efb9a2ae550edc41ad2343e9cbd7ad14fb8317
3
+ size 80082
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:68c1b1f285d923df0b432db4eb4f39b7979cbf65bfdfaa3e8eb039fd4cd4fa41
3
+ size 80653
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Do Nothing"], "length": 1773}
2
+ {"episode_index": 1, "tasks": ["Do Nothing"], "length": 1764}
3
+ {"episode_index": 2, "tasks": ["Do Nothing"], "length": 1765}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-37.265625, 71.3671875, 68.73046875, -22.67578125, -109.423828125, 16.666667938232422], "max": [26.3671875, 190.546875, 142.998046875, 101.865234375, -4.921875, 28.491619110107422], "mean": [3.766209840774536, 107.38045501708984, 105.45050048828125, 37.69990921020508, -70.8525390625, 20.738262176513672], "std": [15.11684513092041, 31.467559814453125, 19.212539672851562, 32.43722915649414, 21.340036392211914, 3.3116111755371094], "count": [1773]}, "observation.state": {"min": [-36.826171875, 70.048828125, 73.828125, -20.91796875, -108.984375, 17.570281982421875], "max": [25.83984375, 189.66796875, 144.31640625, 101.6015625, -5.537109375, 28.313251495361328], "mean": [3.895691156387329, 105.72881317138672, 108.98196411132812, 38.73457717895508, -70.65330505371094, 20.978334426879883], "std": [15.094051361083984, 32.72286605834961, 18.71280860900879, 32.1640739440918, 21.53299903869629, 3.013953685760498], "count": [1773]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6006573101462808]], [[0.5982537348272643]], [[0.5987810569740717]]], "std": [[[0.3111231239704418]], [[0.3209073652600679]], [[0.3150821138681198]]], "count": [273]}, "observation.images.base_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.8695833512892337]], [[0.8940135851349086]], [[0.8747166529004764]]], "std": [[[0.20917898915255637]], [[0.1986201950683788]], [[0.1919569644503275]]], "count": [273]}, "observation.images.arm": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6375826270679212]], [[0.6305569957683929]], [[0.6377285988113194]]], "std": [[[0.24203979580002746]], [[0.24683017072452768]], [[0.23200436562823556]]], "count": [273]}, "observation.images.gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5213251888362183]], [[0.5205096729931289]], [[0.5243215826929063]]], "std": [[[0.29766175547407936]], [[0.3067619835718387]], [[0.3072671639810858]]], "count": [273]}, "timestamp": {"min": [0.0], "max": [59.06666666666667], "mean": [29.53333333333333], "std": [17.06069774093098], "count": [1773]}, "frame_index": {"min": [0], "max": [1772], "mean": [886.0], "std": [511.82093222792935], "count": [1773]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1773]}, "index": {"min": [17274], "max": [19046], "mean": [18160.0], "std": [511.82093222792935], "count": [1773]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1773]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-37.529296875, 92.197265625, 101.337890625, -12.3046875, -95.80078125, 16.94599723815918], "max": [28.65234375, 190.810546875, 144.140625, 100.810546875, -5.361328125, 26.536312103271484], "mean": [7.91015625, 135.8983612060547, 118.68122863769531, 42.04997253417969, -76.5164566040039, 21.113182067871094], "std": [18.53723907470703, 26.54897117614746, 9.738147735595703, 32.10662078857422, 23.108531951904297, 3.010188579559326], "count": [1764]}, "observation.state": {"min": [-36.650390625, 90.703125, 103.271484375, -10.107421875, -95.44921875, 17.570281982421875], "max": [28.916015625, 189.755859375, 145.37109375, 100.72265625, -5.537109375, 25.80321502685547], "mean": [7.939004898071289, 134.00807189941406, 121.71829986572266, 42.986690521240234, -76.3502426147461, 21.036630630493164], "std": [18.423620223999023, 27.989431381225586, 9.705503463745117, 32.00493240356445, 23.31490135192871, 2.8089873790740967], "count": [1764]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6327834629409362]], [[0.6244132762939735]], [[0.6194862582900806]]], "std": [[[0.29999386900897695]], [[0.31163802122224155]], [[0.30915785422358666]]], "count": [272]}, "observation.images.base_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7291939908929258]], [[0.7448344852340446]], [[0.7297790197880623]]], "std": [[[0.27762958844455665]], [[0.2812118815153931]], [[0.26963790120610626]]], "count": [272]}, "observation.images.arm": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.586127321072424]], [[0.579190719164504]], [[0.5843535576761342]]], "std": [[[0.2451903087748152]], [[0.25071709383612445]], [[0.23789930188454256]]], "count": [272]}, "observation.images.gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5281115030877547]], [[0.5233797044706363]], [[0.5238134484032583]]], "std": [[[0.2946616509694194]], [[0.30468128750194806]], [[0.3038261959302645]]], "count": [272]}, "timestamp": {"min": [0.0], "max": [58.766666666666666], "mean": [29.383333333333333], "std": [16.974095186707522], "count": [1764]}, "frame_index": {"min": [0], "max": [1763], "mean": [881.5], "std": [509.2228556012256], "count": [1764]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1764]}, "index": {"min": [20817], "max": [22580], "mean": [21698.5], "std": [509.2228556012256], "count": [1764]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1764]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-41.220703125, 79.1015625, 97.20703125, -13.88671875, -81.650390625, 15.270018577575684], "max": [18.10546875, 190.810546875, 144.404296875, 103.53515625, -4.482421875, 29.51582908630371], "mean": [-3.497100830078125, 125.35723114013672, 125.42567443847656, 28.32045555114746, -59.65909194946289, 21.348634719848633], "std": [14.582223892211914, 32.96221160888672, 11.987311363220215, 32.06740188598633, 19.216245651245117, 3.721011161804199], "count": [1765]}, "observation.state": {"min": [-40.78125, 77.34375, 98.876953125, -12.3046875, -80.859375, 16.16465950012207], "max": [18.45703125, 189.931640625, 144.84375, 103.0078125, -4.5703125, 29.31726837158203], "mean": [-3.489382266998291, 123.37594604492188, 128.66534423828125, 29.319459915161133, -59.4473762512207, 21.281936645507812], "std": [14.444292068481445, 34.68415451049805, 12.16579532623291, 32.086551666259766, 19.282320022583008, 3.533571481704712], "count": [1765]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.564542241115196]], [[0.5578112016712322]], [[0.5622612802167436]]], "std": [[[0.3012169060476157]], [[0.3102003638522681]], [[0.30752837758806556]]], "count": [272]}, "observation.images.base_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7080009927071319]], [[0.7255847916065936]], [[0.7119376096333141]]], "std": [[[0.2893479969874928]], [[0.2918140608378478]], [[0.2765490152147014]]], "count": [272]}, "observation.images.arm": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5635861665284987]], [[0.5590201920535371]], [[0.5679092070958285]]], "std": [[[0.2499523299159284]], [[0.25570383956126325]], [[0.2438036983640338]]], "count": [272]}, "observation.images.gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4859012173803345]], [[0.48133759551614763]], [[0.48725388897899846]]], "std": [[[0.2865793717015048]], [[0.29470447033869596]], [[0.2945145159943827]]], "count": [272]}, "timestamp": {"min": [0.0], "max": [58.8], "mean": [29.4], "std": [16.983717692739322], "count": [1765]}, "frame_index": {"min": [0], "max": [1764], "mean": [882.0], "std": [509.51153078217965], "count": [1765]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1765]}, "index": {"min": [22581], "max": [24345], "mean": [23463.0], "std": [509.51153078217965], "count": [1765]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1765]}}}
meta/info.json ADDED
@@ -0,0 +1,173 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 3,
5
+ "total_frames": 5302,
6
+ "total_tasks": 1,
7
+ "total_videos": 12,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:25"
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
+ "main_shoulder_pan",
24
+ "main_shoulder_lift",
25
+ "main_elbow_flex",
26
+ "main_wrist_flex",
27
+ "main_wrist_roll",
28
+ "main_gripper"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "main_shoulder_pan",
38
+ "main_shoulder_lift",
39
+ "main_elbow_flex",
40
+ "main_wrist_flex",
41
+ "main_wrist_roll",
42
+ "main_gripper"
43
+ ]
44
+ },
45
+ "observation.images.base": {
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.fps": 30.0,
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.channels": 3,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.base_right": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 1280,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.fps": 30.0,
82
+ "video.height": 480,
83
+ "video.width": 1280,
84
+ "video.channels": 3,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "observation.images.arm": {
92
+ "dtype": "video",
93
+ "shape": [
94
+ 480,
95
+ 640,
96
+ 3
97
+ ],
98
+ "names": [
99
+ "height",
100
+ "width",
101
+ "channels"
102
+ ],
103
+ "info": {
104
+ "video.fps": 30.0,
105
+ "video.height": 480,
106
+ "video.width": 640,
107
+ "video.channels": 3,
108
+ "video.codec": "av1",
109
+ "video.pix_fmt": "yuv420p",
110
+ "video.is_depth_map": false,
111
+ "has_audio": false
112
+ }
113
+ },
114
+ "observation.images.gripper": {
115
+ "dtype": "video",
116
+ "shape": [
117
+ 480,
118
+ 640,
119
+ 3
120
+ ],
121
+ "names": [
122
+ "height",
123
+ "width",
124
+ "channels"
125
+ ],
126
+ "info": {
127
+ "video.fps": 30.0,
128
+ "video.height": 480,
129
+ "video.width": 640,
130
+ "video.channels": 3,
131
+ "video.codec": "av1",
132
+ "video.pix_fmt": "yuv420p",
133
+ "video.is_depth_map": false,
134
+ "has_audio": false
135
+ }
136
+ },
137
+ "timestamp": {
138
+ "dtype": "float32",
139
+ "shape": [
140
+ 1
141
+ ],
142
+ "names": null
143
+ },
144
+ "frame_index": {
145
+ "dtype": "int64",
146
+ "shape": [
147
+ 1
148
+ ],
149
+ "names": null
150
+ },
151
+ "episode_index": {
152
+ "dtype": "int64",
153
+ "shape": [
154
+ 1
155
+ ],
156
+ "names": null
157
+ },
158
+ "index": {
159
+ "dtype": "int64",
160
+ "shape": [
161
+ 1
162
+ ],
163
+ "names": null
164
+ },
165
+ "task_index": {
166
+ "dtype": "int64",
167
+ "shape": [
168
+ 1
169
+ ],
170
+ "names": null
171
+ }
172
+ }
173
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Do Nothing"}
videos/chunk-000/observation.images.arm/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8a7de9436fb64a86eb94ab074818834db402cc44a4167a7acd9a3b2e88863ec7
3
+ size 118411757
videos/chunk-000/observation.images.arm/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4ca29d55475108d2a6f6f08f17c716d4f6c4bcb0e756ecbc395522835799e7d2
3
+ size 115640061
videos/chunk-000/observation.images.arm/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e8caeca0d00b06cd9748b7ca0ea74e2dae0c45c2ce0f9bde3bba9fe94f84bc46
3
+ size 110701253
videos/chunk-000/observation.images.base/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b049a7f89890d3bfd4e635a5f7f1baf0d027d09f3ba592e4a0b510ef46e03abc
3
+ size 78502571
videos/chunk-000/observation.images.base/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:61e0247e18bb7b63182900246f337c539b0c4e52764e77b7abeaa50d9e22ee9c
3
+ size 96138913
videos/chunk-000/observation.images.base/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4b8cf4d0b6685cc2c8127397995bbf4acaab3e06251fe7f411d4314c59afa3ec
3
+ size 97561548
videos/chunk-000/observation.images.base_right/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:94a09607cd290e5a8ed3c8d93ce14d908a8d730edff325eb10e706d787d8d6e1
3
+ size 111898744
videos/chunk-000/observation.images.base_right/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e6b12f2685aa61a9fe2af5ffc16f84b89d9ea0a441d2e9869a4830c0b086adba
3
+ size 204049844
videos/chunk-000/observation.images.base_right/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9b06d4a2d615c08535d4287f81d008bb0978c824f8d0577be6065c68870da761
3
+ size 205153272
videos/chunk-000/observation.images.gripper/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0a1e870aa12e0dd446e39fc2399432b8bba1950ff345eb508296e9d2a56e484e
3
+ size 66567041
videos/chunk-000/observation.images.gripper/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e20eebffca64388116fed55045309f97ea65ac1ec23db5193c6a3fb2fba572b5
3
+ size 81289879
videos/chunk-000/observation.images.gripper/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3059fca7e41e90fca2415f1bda4b999251a73925c4a1115fdefff69bc8ba77ea
3
+ size 80770462