antwoor commited on
Commit
c7b2fb9
·
verified ·
1 Parent(s): ec612fa

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:e7709bb6c05750d589fbf4a3898d311665b11e14d5809c3d05f8788d0d5fabe5
3
+ size 174447
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6e0c586c55a994b5afb4517ab84d4416dd308dc411845f2d2f44e21e4a7426e
3
+ size 172449
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b5f449a55a8e85234fdf150609ef255571839f84a05ab8a839469459628a16e0
3
+ size 174684
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:53f8a8db7a78466a69606be8dfe819ae554b2cae1ff76ed33ed011255319682a
3
+ size 179136
meta/episodes.jsonl ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["put the brown toy into the box and close it."], "length": 2621}
2
+ {"episode_index": 1, "tasks": ["put the brown toy into the box and close it."], "length": 2623}
3
+ {"episode_index": 2, "tasks": ["put the brown toy into the box and close it."], "length": 2623}
4
+ {"episode_index": 3, "tasks": ["put the brown toy into the box and close it."], "length": 2621}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-240.0, -225.977783203125, 388.0, -285.0, 879.0, -687.0, 0.0], "max": [695.0, 650.022216796875, 1258.0, 233.0, 1180.0, 43.0, 1.0], "mean": [201.38763427734375, 175.6925506591797, 875.6593017578125, -14.017168998718262, 1004.2857666015625, -159.5825958251953, 0.22892026603221893], "std": [233.9778289794922, 224.05810546875, 233.5250244140625, 98.84703826904297, 58.41773223876953, 152.30886840820312, 0.4201340675354004], "count": [2621]}, "observation.state": {"min": [-86.90853118896484, -41.807273864746094, 396.53985595703125, -273.4695739746094, 900.609130859375, -410.3925476074219, 0.0], "max": [589.2965087890625, 637.4690551757812, 1184.06103515625, 160.71055603027344, 1147.2574462890625, 10.728118896484375, 1.0], "mean": [201.80657958984375, 185.4160919189453, 862.4727172851562, -13.976564407348633, 1003.0761108398438, -154.4960479736328, 0.22892026603221893], "std": [213.46336364746094, 212.50599670410156, 225.3923797607422, 83.96793365478516, 50.62915802001953, 132.78323364257812, 0.4201340675354004], "count": [2621]}, "observation.images.camera_1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.996078431372549]], [[1.0]]], "mean": [[[0.3952348973400836]], [[0.3850921941408622]], [[0.4575045090896104]]], "std": [[[0.335899047136795]], [[0.3029886750862835]], [[0.26600168323064843]]], "count": [366]}, "observation.images.camera_2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49120122258830673]], [[0.417120524951784]], [[0.43965004330511803]]], "std": [[[0.2606833129113945]], [[0.2588081124958268]], [[0.2544061041920331]]], "count": [366]}, "timestamp": {"min": [0.0], "max": [87.33333333333333], "mean": [43.66666666666667], "std": [25.220582423444895], "count": [2621]}, "frame_index": {"min": [0], "max": [2620], "mean": [1310.0], "std": [756.617472703347], "count": [2621]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2621]}, "index": {"min": [0], "max": [2620], "mean": [1310.0], "std": [756.617472703347], "count": [2621]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2621]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [31.0, -84.97777557373047, 444.0, -220.0, 912.0, -666.0, 0.0], "max": [719.0, 610.022216796875, 1223.0, 176.0, 1195.0, 95.0, 1.0], "mean": [318.09149169921875, 185.72486877441406, 909.1368408203125, -51.67975616455078, 1021.6683349609375, -177.34121704101562, 0.23865802586078644], "std": [197.6681671142578, 189.82411193847656, 215.8051300048828, 82.15644073486328, 71.4487075805664, 143.0655517578125, 0.4262586534023285], "count": [2623]}, "observation.state": {"min": [44.803829193115234, -58.957252502441406, 544.5706787109375, -218.3817138671875, 933.4307861328125, -523.57275390625, 0.0], "max": [656.0874633789062, 588.25537109375, 1207.155029296875, 134.107177734375, 1185.7811279296875, 33.74135971069336, 1.0], "mean": [312.9426574707031, 187.32518005371094, 907.1553344726562, -52.40555953979492, 1021.5892333984375, -171.89340209960938, 0.23865802586078644], "std": [186.1905975341797, 180.40858459472656, 207.5701904296875, 75.44788360595703, 66.77748107910156, 121.08485412597656, 0.4262586832046509], "count": [2623]}, "observation.images.camera_1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4106274336806672]], [[0.40371210467338114]], [[0.4857644821020394]]], "std": [[[0.3517420785474005]], [[0.3116111010316907]], [[0.27292253311524267]]], "count": [366]}, "observation.images.camera_2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47045849237919213]], [[0.408631879151934]], [[0.43025481936854887]]], "std": [[[0.2557994193908593]], [[0.25194776694971777]], [[0.24271184050078357]]], "count": [366]}, "timestamp": {"min": [0.0], "max": [87.4], "mean": [43.7], "std": [25.23982743381755], "count": [2623]}, "frame_index": {"min": [0], "max": [2622], "mean": [1311.0], "std": [757.1948230145264], "count": [2623]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2623]}, "index": {"min": [2621], "max": [5243], "mean": [3932.0], "std": [757.1948230145264], "count": [2623]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2623]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-7.0, -14.977777481079102, -176.0, -405.0, 904.0, -916.0, 0.0], "max": [932.0, 689.022216796875, 1240.0, 537.0, 1495.0, 65.0, 1.0], "mean": [288.68243408203125, 240.20925903320312, 854.656494140625, -76.42508697509766, 1025.968017578125, -189.92794799804688, 0.29203203320503235], "std": [247.65516662597656, 213.59231567382812, 292.84234619140625, 179.7093963623047, 72.06781005859375, 206.25917053222656, 0.454698771238327], "count": [2623]}, "observation.state": {"min": [3.962158679962158, -22.960655212402344, -12.77026653289795, -403.9664001464844, 939.805419921875, -684.0551147460938, 0.0], "max": [733.2943115234375, 670.794921875, 1212.305419921875, 434.3604431152344, 1241.197265625, 102.00902557373047, 1.0], "mean": [282.8785705566406, 241.42242431640625, 840.5091552734375, -61.38545608520508, 1024.1082763671875, -184.6356201171875, 0.29203203320503235], "std": [229.44554138183594, 216.54966735839844, 301.9461669921875, 171.83624267578125, 56.730045318603516, 177.21658325195312, 0.45469874143600464], "count": [2623]}, "observation.images.camera_1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40049410079377834]], [[0.40510624319172117]], [[0.5104242590137148]]], "std": [[[0.3564793530722304]], [[0.3125962116989433]], [[0.273840863092856]]], "count": [366]}, "observation.images.camera_2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48093629962230794]], [[0.4117610143442623]], [[0.43474523587895997]]], "std": [[[0.25257134585078655]], [[0.24383282455574407]], [[0.23944282208975998]]], "count": [366]}, "timestamp": {"min": [0.0], "max": [87.4], "mean": [43.7], "std": [25.23982743381755], "count": [2623]}, "frame_index": {"min": [0], "max": [2622], "mean": [1311.0], "std": [757.1948230145264], "count": [2623]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2623]}, "index": {"min": [5244], "max": [7866], "mean": [6555.0], "std": [757.1948230145264], "count": [2623]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2623]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-43.0, -29.9777774810791, 135.0, -362.0, 847.0, -652.0, 0.0], "max": [568.0, 684.022216796875, 1407.0, 376.0, 1073.0, 229.0, 1.0], "mean": [328.0892639160156, 292.0484619140625, 795.6783447265625, -50.3857307434082, 972.2056274414062, -239.61961364746094, 0.4345669448375702], "std": [166.11947631835938, 206.8475799560547, 317.0232849121094, 149.83055114746094, 49.76795196533203, 191.18849182128906, 0.4956946074962616], "count": [2621]}, "observation.state": {"min": [-28.259084701538086, -18.95515251159668, 181.46055603027344, -358.6375427246094, 887.5729370117188, -612.8569946289062, 0.0], "max": [563.4285888671875, 665.0694580078125, 1387.68896484375, 347.78912353515625, 1049.4454345703125, 168.9275665283203, 1.0], "mean": [327.6900329589844, 293.08428955078125, 793.7953491210938, -49.773284912109375, 971.9593505859375, -241.89537048339844, 0.4345669448375702], "std": [157.6993408203125, 202.6515655517578, 312.5082702636719, 144.0132598876953, 44.10780334472656, 180.90977478027344, 0.4956946074962616], "count": [2621]}, "observation.images.camera_1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.996078431372549]], [[1.0]]], "mean": [[[0.39595603023768705]], [[0.404008686136112]], [[0.5330932773268687]]], "std": [[[0.36818337150062946]], [[0.3173947074675034]], [[0.2684148466583296]]], "count": [366]}, "observation.images.camera_2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5081524892630094]], [[0.3972081195980213]], [[0.4264915063930855]]], "std": [[[0.25560957431889064]], [[0.25486630790000675]], [[0.25443501379465466]]], "count": [366]}, "timestamp": {"min": [0.0], "max": [87.33333333333333], "mean": [43.66666666666667], "std": [25.220582423444895], "count": [2621]}, "frame_index": {"min": [0], "max": [2620], "mean": [1310.0], "std": [756.617472703347], "count": [2621]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2621]}, "index": {"min": [7867], "max": [10487], "mean": [9177.0], "std": [756.617472703347], "count": [2621]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2621]}}}
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "mcx",
4
+ "total_episodes": 4,
5
+ "total_frames": 10488,
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
+ 7
21
+ ],
22
+ "names": [
23
+ "joint1.pos",
24
+ "joint2.pos",
25
+ "joint3.pos",
26
+ "joint4.pos",
27
+ "joint5.pos",
28
+ "joint6.pos",
29
+ "gripper.pos"
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "shape": [
35
+ 7
36
+ ],
37
+ "names": [
38
+ "joint1.pos",
39
+ "joint2.pos",
40
+ "joint3.pos",
41
+ "joint4.pos",
42
+ "joint5.pos",
43
+ "joint6.pos",
44
+ "gripper.pos"
45
+ ]
46
+ },
47
+ "observation.images.camera_1": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.height": 480,
61
+ "video.width": 640,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "video.fps": 30,
66
+ "video.channels": 3,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.camera_2": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.height": 480,
84
+ "video.width": 640,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "video.fps": 30,
89
+ "video.channels": 3,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "timestamp": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "frame_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "task_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ }
128
+ }
129
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "put the brown toy into the box and close it."}
videos/chunk-000/observation.images.camera_1/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5b2db9b37bf81b8cc61bd1c0b99f5040acf384c2864d3b17513e7701efaf36d3
3
+ size 32584570
videos/chunk-000/observation.images.camera_1/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2f5e75cc365df323b87cef524cd8bb7432d7b90255f2ea5924e59fd5ff3356c9
3
+ size 32573376
videos/chunk-000/observation.images.camera_1/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:98313d37d42d39786902ad57ec1cfcd7a7bac76ad7b0a3ef0219c3a946bc2d64
3
+ size 29688116
videos/chunk-000/observation.images.camera_1/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7a04a853a31a8671b4f1626e0988b27d10299db51c52c46ab67c54245f62ef1e
3
+ size 26918136
videos/chunk-000/observation.images.camera_2/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:068daeda23ea1229b2818c005e8017e9d37ff554ac038005486eb51c5de068a9
3
+ size 14899103
videos/chunk-000/observation.images.camera_2/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:32944477e1015a5cf070bf0363cc4d37be04528b070893799e13e685a049119a
3
+ size 16685722
videos/chunk-000/observation.images.camera_2/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:99db66b22b91b7a957677f17791f753bf156191d843c838263546683a0d44779
3
+ size 16529705
videos/chunk-000/observation.images.camera_2/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cfc924307794e61af1e73a0cf9c94c86cfaee266b2ca25720f6a877ca5a44a12
3
+ size 16497466