apayan commited on
Commit
026658f
·
verified ·
1 Parent(s): 3fe12f5

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 sha256:6e4bb463076dff016dbb0d9cf38e86dbf1947cf65f0adb0f23c4ee0dd23b1c13
3
+ size 335272
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:09af076aaacc76fbe100f2f8b2946b7fcb11cc710ca733f410bbf2cc1d5d3d77
3
+ size 153448
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp object and put it in the box"], "length": 5091}
2
+ {"episode_index": 1, "tasks": ["Grasp object and put it in the box"], "length": 2349}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-40.69951248168945, 58.59576416015625, 101.60786437988281, -19.23377227783203, -94.46749877929688, -0.11774921417236328], "max": [103.12911987304688, 187.04452514648438, 179.61053466796875, 46.93064880371094, -2.4489822387695312, 34.10145568847656], "mean": [24.36954689025879, 132.47276306152344, 152.74642944335938, 3.987480878829956, -77.50115203857422, 16.250268936157227], "std": [45.492759704589844, 39.15937805175781, 22.332677841186523, 14.447933197021484, 29.01167869567871, 13.060158729553223], "count": [5091]}, "observation.state": {"min": [-40.341796875, 58.623046875, 102.919921875, -18.193359375, -94.39453125, 0.3469812572002411], "max": [102.919921875, 186.50390625, 178.06640625, 46.58203125, -2.724609375, 34.1429557800293], "mean": [24.3269100189209, 131.70391845703125, 153.6083221435547, 4.45291805267334, -77.34297943115234, 18.234771728515625], "std": [45.28617477416992, 39.670204162597656, 21.882341384887695, 14.383068084716797, 28.995277404785156, 11.267244338989258], "count": [5091]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33427443685807656]], [[0.32751015338305867]], [[0.3244942169212646]]], "std": [[[0.277843818220084]], [[0.276543113367238]], [[0.2802875429985626]]], "count": [602]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4745262096117517]], [[0.4688352092290405]], [[0.47577428757355655]]], "std": [[[0.30704249364642994]], [[0.311163551738162]], [[0.3072048401370259]]], "count": [602]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4312151223861638]], [[0.41795360338903]], [[0.4284570657720453]]], "std": [[[0.2834432731013254]], [[0.28712601908445273]], [[0.2819366461684628]]], "count": [602]}, "timestamp": {"min": [0.0], "max": [169.66666666666666], "mean": [84.83333333333333], "std": [48.988169395689205], "count": [5091]}, "frame_index": {"min": [0], "max": [5090], "mean": [2545.0], "std": [1469.6450818706762], "count": [5091]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [5091]}, "index": {"min": [0], "max": [5090], "mean": [2545.0], "std": [1469.6450818706762], "count": [5091]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [5091]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-24.66341781616211, 53.71337890625, 88.5386962890625, -7.474611282348633, -93.47982025146484, -0.4533224105834961], "max": [72.68603515625, 181.46466064453125, 178.25784301757812, 42.40131378173828, -5.9304046630859375, 30.188068389892578], "mean": [43.46964645385742, 96.52001190185547, 128.0562744140625, -0.5896064043045044, -85.09870147705078, 18.845287322998047], "std": [34.941654205322266, 40.02067184448242, 25.94808578491211, 8.927009582519531, 18.18587303161621, 10.364828109741211], "count": [2349]}, "observation.state": {"min": [-24.697265625, 53.0859375, 90.439453125, -7.20703125, -92.63671875, 0.0693962499499321], "max": [72.24609375, 185.2734375, 177.978515625, 46.58203125, -4.21875, 30.187368392944336], "mean": [43.47298812866211, 95.70227813720703, 129.06504821777344, -0.10689804702997208, -84.92962646484375, 18.74249267578125], "std": [34.776580810546875, 40.56571578979492, 25.917808532714844, 9.034502983093262, 18.451488494873047, 10.230792045593262], "count": [2349]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33093113981497646]], [[0.3281002174608716]], [[0.32394633904501463]]], "std": [[[0.26554219490974706]], [[0.26727420754266584]], [[0.2757066510289301]]], "count": [337]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4761852114485755]], [[0.4713168661876224]], [[0.4797436307238029]]], "std": [[[0.3071065373571695]], [[0.3103379286032323]], [[0.3066542979086351]]], "count": [337]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4309624879996509]], [[0.41729062663641125]], [[0.4233999546653478]]], "std": [[[0.29268770773247144]], [[0.2963454792580066]], [[0.29224327227657715]]], "count": [337]}, "timestamp": {"min": [0.0], "max": [78.26666666666667], "mean": [39.13333333333334], "std": [22.603260990560795], "count": [2349]}, "frame_index": {"min": [0], "max": [2348], "mean": [1174.0], "std": [678.0978297168239], "count": [2349]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2349]}, "index": {"min": [5091], "max": [7439], "mean": [6265.0], "std": [678.0978297168239], "count": [2349]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2349]}}}
meta/info.json ADDED
@@ -0,0 +1,150 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 2,
5
+ "total_frames": 7440,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
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.top": {
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": "h264",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.front": {
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.fps": 30.0,
82
+ "video.height": 480,
83
+ "video.width": 640,
84
+ "video.channels": 3,
85
+ "video.codec": "h264",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "observation.images.wrist": {
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": "h264",
109
+ "video.pix_fmt": "yuv420p",
110
+ "video.is_depth_map": false,
111
+ "has_audio": false
112
+ }
113
+ },
114
+ "timestamp": {
115
+ "dtype": "float32",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "frame_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ },
128
+ "episode_index": {
129
+ "dtype": "int64",
130
+ "shape": [
131
+ 1
132
+ ],
133
+ "names": null
134
+ },
135
+ "index": {
136
+ "dtype": "int64",
137
+ "shape": [
138
+ 1
139
+ ],
140
+ "names": null
141
+ },
142
+ "task_index": {
143
+ "dtype": "int64",
144
+ "shape": [
145
+ 1
146
+ ],
147
+ "names": null
148
+ }
149
+ }
150
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp object and put it in the 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 sha256:585dac70d7b6659672f277245188387574b0039a0661f77241bf18e20dec4d7f
3
+ size 60907000
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 sha256:09d53c4619b48ba9c27121728c96d6f1ae4e382623cf2ce3f17936d46cf63e2d
3
+ size 27856696
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 sha256:985e8b4e04b954629eba6491141ddee0109b1ffc7be91ad6bfd43ffbf72574d9
3
+ size 38149315
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 sha256:3d5ff33b54f5de634897cf740355c072faf105d11b742fcc17689de1be57f773
3
+ size 17729071
videos/chunk-000/observation.images.wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb216876a61176483e0b2e64e59edc6b5199af2e6006811ee363c65473ed8fab
3
+ size 27922630
videos/chunk-000/observation.images.wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:016e87faf934a6906c65e2dac8e58a9024693cb2f4a25c2f676b5337575c865a
3
+ size 13132533