andlyu commited on
Commit
d72e9ea
·
verified ·
1 Parent(s): c6d1e60

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 sha256:22cea4eb00e03b30bef64f65e6e7f27796aed07678a4931f7ac0ed998072d634
3
+ size 11308
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:93dc7490ed2af731dc22231c5eb127479b729c3b14de5e53bf9051a6bf59be2e
3
+ size 12285
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e4e5397ea2f09f0c5ac8f059d6352893f36aa9390df20ad105b5b4d8134d6334
3
+ size 10714
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Do Nothing"], "length": 149}
2
+ {"episode_index": 1, "tasks": ["Do Nothing"], "length": 148}
3
+ {"episode_index": 2, "tasks": ["Do Nothing"], "length": 148}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-16.69921875, 169.365234375, 99.140625, 74.091796875, -63.10546875, 18.994413375854492], "max": [7.470703125, 191.25, 113.90625, 100.634765625, -9.052734375, 22.718807220458984], "mean": [-1.2806077003479004, 185.22093200683594, 104.98033905029297, 93.92499542236328, -22.76544189453125, 19.864887237548828], "std": [9.682063102722168, 7.849084854125977, 3.7639825344085693, 8.927330017089844, 18.053953170776367, 0.6873481273651123], "count": [149]}, "observation.state": {"min": [-16.787109375, 171.826171875, 100.8984375, 76.728515625, -61.611328125, 19.27710723876953], "max": [6.6796875, 190.01953125, 114.08203125, 100.458984375, -9.052734375, 21.78714942932129], "mean": [-1.1378591060638428, 186.05560302734375, 105.26701354980469, 95.01448822021484, -21.365680694580078, 20.000131607055664], "std": [9.321568489074707, 6.049587249755859, 3.398402452468872, 7.972729206085205, 17.039127349853516, 0.607886552810669], "count": [149]}, "observation.images.base": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4794428410947712]], [[0.467631448120915]], [[0.47155686887254905]]], "std": [[[0.2874529388978357]], [[0.29339414809771874]], [[0.2880152120443373]]], "count": [100]}, "observation.images.base_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7706380596405229]], [[0.7147562091503268]], [[0.6173934599673203]]], "std": [[[0.32394143631590994]], [[0.33825064315588416]], [[0.3368508108701317]]], "count": [100]}, "observation.images.arm": {"min": [[[0.043137254901960784]], [[0.01568627450980392]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6679778288398692]], [[0.6320852022058823]], [[0.6287617524509803]]], "std": [[[0.3186589353855188]], [[0.34349495370880107]], [[0.35117639007184354]]], "count": [100]}, "observation.images.gripper": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41652954248366014]], [[0.4013779003267974]], [[0.4081122446895425]]], "std": [[[0.2749105105357149]], [[0.2799741521835214]], [[0.2752540356666497]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.933333333333334], "mean": [2.4666666666666663], "std": [1.4337208778404378], "count": [149]}, "frame_index": {"min": [0], "max": [148], "mean": [74.0], "std": [43.01162633521314], "count": [149]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [149]}, "index": {"min": [743], "max": [891], "mean": [817.0], "std": [43.01162633521314], "count": [149]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [149]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-24.345703125, 163.212890625, 99.140625, 71.71875, -81.5625, 19.180633544921875], "max": [10.72265625, 191.07421875, 117.7734375, 100.107421875, -9.580078125, 20.76350212097168], "mean": [-1.6331027746200562, 182.7744903564453, 106.67012023925781, 90.3681869506836, -35.3807258605957, 19.64114761352539], "std": [12.573777198791504, 9.340187072753906, 4.966071605682373, 9.800577163696289, 25.139314651489258, 0.2989377975463867], "count": [148]}, "observation.state": {"min": [-23.291015625, 165.322265625, 101.6015625, 73.30078125, -79.541015625, 19.27710723876953], "max": [10.283203125, 190.283203125, 118.037109375, 100.107421875, -9.404296875, 20.4819278717041], "mean": [-0.9371041059494019, 183.97943115234375, 107.07572174072266, 91.80651092529297, -33.53739929199219, 19.627153396606445], "std": [12.147174835205078, 8.119490623474121, 4.545062065124512, 9.133047103881836, 24.408174514770508, 0.34077611565589905], "count": [148]}, "observation.images.base": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4870860498366013]], [[0.47159174836601303]], [[0.47023699550653597]]], "std": [[[0.30353200659786983]], [[0.31269575454445175]], [[0.30943177706663183]]], "count": [100]}, "observation.images.base_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6898501143790849]], [[0.642625612745098]], [[0.5696587949346406]]], "std": [[[0.3803216186536009]], [[0.39753841782864585]], [[0.39835048175237214]]], "count": [100]}, "observation.images.arm": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5928913888888889]], [[0.5725975714869281]], [[0.5651926960784314]]], "std": [[[0.2984492921202041]], [[0.3224698080356179]], [[0.32817741999423183]]], "count": [100]}, "observation.images.gripper": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4345582883986928]], [[0.4155319342320261]], [[0.4083998570261438]]], "std": [[[0.29280131185723185]], [[0.29899055204119784]], [[0.2921177429861333]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.9], "mean": [2.4499999999999997], "std": [1.424098155168932], "count": [148]}, "frame_index": {"min": [0], "max": [147], "mean": [73.5], "std": [42.72294465506796], "count": [148]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [148]}, "index": {"min": [1486], "max": [1633], "mean": [1559.5], "std": [42.72294465506796], "count": [148]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [148]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-21.708984375, 171.03515625, 96.328125, 71.89453125, -61.611328125, 18.249534606933594], "max": [3.33984375, 190.8984375, 118.828125, 104.94140625, -5.44921875, 22.067039489746094], "mean": [-3.0619194507598877, 186.69155883789062, 102.28092956542969, 97.3483657836914, -16.89162826538086, 19.378774642944336], "std": [8.652539253234863, 6.154529094696045, 5.134034633636475, 10.636481285095215, 17.499597549438477, 0.8733336925506592], "count": [148]}, "observation.state": {"min": [-20.302734375, 174.814453125, 98.0859375, 75.05859375, -58.88671875, 18.87550163269043], "max": [3.1640625, 190.107421875, 118.125, 103.974609375, -5.2734375, 21.385541915893555], "mean": [-2.573770046234131, 187.3798370361328, 102.15266418457031, 97.96063232421875, -15.313159942626953, 19.48333168029785], "std": [8.160393714904785, 4.503812789916992, 4.643070220947266, 9.115633010864258, 16.100858688354492, 0.5566664934158325], "count": [148]}, "observation.images.base": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4846606556372549]], [[0.47334775531045753]], [[0.47166134599673204]]], "std": [[[0.30194698629493083]], [[0.31091925071649423]], [[0.30802785253573606]]], "count": [100]}, "observation.images.base_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6323286070261438]], [[0.5765471772875816]], [[0.49923738970588233]]], "std": [[[0.3774139971384953]], [[0.3934563309347338]], [[0.3863149296185003]]], "count": [100]}, "observation.images.arm": {"min": [[[0.023529411764705882]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.525560420751634]], [[0.5068052124183007]], [[0.5010627818627451]]], "std": [[[0.32467793936128514]], [[0.346715061657459]], [[0.3503862911654553]]], "count": [100]}, "observation.images.gripper": {"min": [[[0.027450980392156862]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4055928737745098]], [[0.3920724489379085]], [[0.39492896854575166]]], "std": [[[0.2891493235866353]], [[0.2981300091400251]], [[0.2943807061035438]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.9], "mean": [2.4499999999999997], "std": [1.424098155168932], "count": [148]}, "frame_index": {"min": [0], "max": [147], "mean": [73.5], "std": [42.72294465506796], "count": [148]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [148]}, "index": {"min": [2227], "max": [2374], "mean": [2300.5], "std": [42.72294465506796], "count": [148]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [148]}}}
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": 445,
6
+ "total_tasks": 1,
7
+ "total_videos": 12,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:21"
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 sha256:42ab0aa5548e1daa5de20de800ad01c67d8a1d195bccac557dd56739a91f6bbe
3
+ size 3256498
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 sha256:3f890524ee4567415b25ab994f2116291533235a300e98c9ad167fb3341c413c
3
+ size 2751951
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:cb6d4ef219a0c1e424cee1020a772b9a6eb7981e2d3830345753170f192e43cc
3
+ size 2380351
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:a7ba9e1e6510f0a20b4b8c7fda5deb95b425c19f47ac956667a283a306c9de9f
3
+ size 2409718
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 sha256:7bb7496aa4c55c2f9651aefbca88bf2195cf50e76a0c9a62272ffe6d2b8c5570
3
+ size 3383759
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 sha256:0f22715973b42f85c920ba58fe0cc400efc42b93f8c971e8074e3fd2449f56e5
3
+ size 2943584
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 sha256:19bf77f05e1c63c0622e47ded5f3753491871cfe4971c9095d56f1bf282279b0
3
+ size 4136362
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:a72a77e4b9077f4fb74d128d8c635fc065f8b86270daa5d82bf003add669385d
3
+ size 5234566
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 sha256:4dc0ae873b6b7eab6985f246fa887064cecd8422a2ab004aef4d164a8c46d710
3
+ size 4898699
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 sha256:078ef76f45ad9d97c563124238d20a8ce3d13b9dea2a3d5900be8070e296250f
3
+ size 2501454
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 sha256:2664cf1bd28b4c5dc27c5a1feb1f7352c71400c195280b2dccaaefa2c4174a8f
3
+ size 2750584
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 sha256:93ccabec5831a986f659bc4ba5694e440fdee5526ca98542c8b1a15a3e760031
3
+ size 2351686