arsenxeno commited on
Commit
0e88c36
·
verified ·
1 Parent(s): bbc6565

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 sha256:454afd49c332f1cebdc2e6fe11d7ba30c0d34115d3b147ea9d2579de191d64f7
3
+ size 77914
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["Fold the towel"], "length": 709}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-65.8572998046875, -99.53524780273438, -82.85221862792969, 18.26726531982422, -26.398046493530273, 0.0, -60.901161193847656, -98.35051727294922, -87.7835922241211, 43.12297821044922, -60.879119873046875, 0.08628127723932266], "max": [50.91520309448242, 65.14330291748047, 99.74149322509766, 99.10093688964844, 64.34676361083984, 39.79328155517578, 67.58721160888672, 71.9587631225586, 99.5636978149414, 99.67637634277344, -10.769230842590332, 41.58757400512695], "mean": [-3.646536111831665, 1.7349209785461426, -7.569160461425781, 87.1907730102539, 31.472562789916992, 9.609959602355957, 16.95867156982422, -11.002870559692383, 18.595108032226562, 78.34356689453125, -29.48246955871582, 7.1061882972717285], "std": [45.43071746826172, 49.142730712890625, 54.963748931884766, 16.508689880371094, 21.90132713317871, 13.596675872802734, 43.64455795288086, 44.49155807495117, 55.37226486206055, 15.474583625793457, 14.849297523498535, 12.145179748535156], "count": [709]}, "observation.state": {"min": [-65.96385192871094, -99.91543579101562, -81.02317810058594, 21.147798538208008, -25.128204345703125, 1.954397439956665, -60.419681549072266, -98.0407485961914, -82.8164291381836, 44.14624786376953, -59.07204055786133, 1.1972274780273438], "max": [50.52710723876953, 64.65116119384766, 99.3003921508789, 98.97798919677734, 63.9560432434082, 38.76221466064453, 65.91896057128906, 70.45454406738281, 97.98826599121094, 100.0, -11.062271118164062, 39.760555267333984], "mean": [-3.876253366470337, 2.7946958541870117, -6.746001243591309, 86.90045166015625, 31.3453369140625, 10.72791576385498, 16.6176700592041, -9.847068786621094, 22.006031036376953, 78.76737976074219, -29.494272232055664, 8.091935157775879], "std": [45.34614562988281, 49.639564514160156, 54.82419204711914, 16.389638900756836, 21.7459716796875, 12.771838188171387, 43.31698989868164, 45.03931427001953, 50.647281646728516, 15.402243614196777, 14.62454605102539, 11.517248153686523], "count": [709]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5229970977847749]], [[0.4851647663120398]], [[0.4337563292145731]]], "std": [[[0.24031819662818749]], [[0.24145282157765002]], [[0.25092812806859843]]], "count": [137]}, "observation.images.left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4832678327210852]], [[0.47850637692222064]], [[0.4827891500882592]]], "std": [[[0.20582170516773268]], [[0.21213770592839015]], [[0.2102045266736715]]], "count": [137]}, "observation.images.right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4623486295978245]], [[0.4577997054052765]], [[0.4623340111794921]]], "std": [[[0.20190375865345575]], [[0.2105466603223083]], [[0.20884496282834614]]], "count": [137]}, "timestamp": {"min": [0.0], "max": [47.2], "mean": [23.6], "std": [13.644697789902779], "count": [709]}, "frame_index": {"min": [0], "max": [708], "mean": [354.0], "std": [204.67046684854168], "count": [709]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [709]}, "index": {"min": [0], "max": [708], "mean": [354.0], "std": [204.67046684854168], "count": [709]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [709]}}}
meta/info.json ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "bi_so100_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 709,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:1"
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
+ 12
21
+ ],
22
+ "names": [
23
+ "left_shoulder_pan.pos",
24
+ "left_shoulder_lift.pos",
25
+ "left_elbow_flex.pos",
26
+ "left_wrist_flex.pos",
27
+ "left_wrist_roll.pos",
28
+ "left_gripper.pos",
29
+ "right_shoulder_pan.pos",
30
+ "right_shoulder_lift.pos",
31
+ "right_elbow_flex.pos",
32
+ "right_wrist_flex.pos",
33
+ "right_wrist_roll.pos",
34
+ "right_gripper.pos"
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "left_shoulder_pan.pos",
44
+ "left_shoulder_lift.pos",
45
+ "left_elbow_flex.pos",
46
+ "left_wrist_flex.pos",
47
+ "left_wrist_roll.pos",
48
+ "left_gripper.pos",
49
+ "right_shoulder_pan.pos",
50
+ "right_shoulder_lift.pos",
51
+ "right_elbow_flex.pos",
52
+ "right_wrist_flex.pos",
53
+ "right_wrist_roll.pos",
54
+ "right_gripper.pos"
55
+ ]
56
+ },
57
+ "observation.images.front": {
58
+ "dtype": "video",
59
+ "shape": [
60
+ 1080,
61
+ 1920,
62
+ 3
63
+ ],
64
+ "names": [
65
+ "height",
66
+ "width",
67
+ "channels"
68
+ ],
69
+ "info": {
70
+ "video.height": 1080,
71
+ "video.width": 1920,
72
+ "video.codec": "av1",
73
+ "video.pix_fmt": "yuv420p",
74
+ "video.is_depth_map": false,
75
+ "video.fps": 15,
76
+ "video.channels": 3,
77
+ "has_audio": false
78
+ }
79
+ },
80
+ "observation.images.left_wrist": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 720,
84
+ 1280,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channels"
91
+ ],
92
+ "info": {
93
+ "video.height": 720,
94
+ "video.width": 1280,
95
+ "video.codec": "av1",
96
+ "video.pix_fmt": "yuv420p",
97
+ "video.is_depth_map": false,
98
+ "video.fps": 15,
99
+ "video.channels": 3,
100
+ "has_audio": false
101
+ }
102
+ },
103
+ "observation.images.right_wrist": {
104
+ "dtype": "video",
105
+ "shape": [
106
+ 720,
107
+ 1280,
108
+ 3
109
+ ],
110
+ "names": [
111
+ "height",
112
+ "width",
113
+ "channels"
114
+ ],
115
+ "info": {
116
+ "video.height": 720,
117
+ "video.width": 1280,
118
+ "video.codec": "av1",
119
+ "video.pix_fmt": "yuv420p",
120
+ "video.is_depth_map": false,
121
+ "video.fps": 15,
122
+ "video.channels": 3,
123
+ "has_audio": false
124
+ }
125
+ },
126
+ "timestamp": {
127
+ "dtype": "float32",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "frame_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ },
140
+ "episode_index": {
141
+ "dtype": "int64",
142
+ "shape": [
143
+ 1
144
+ ],
145
+ "names": null
146
+ },
147
+ "index": {
148
+ "dtype": "int64",
149
+ "shape": [
150
+ 1
151
+ ],
152
+ "names": null
153
+ },
154
+ "task_index": {
155
+ "dtype": "int64",
156
+ "shape": [
157
+ 1
158
+ ],
159
+ "names": null
160
+ }
161
+ }
162
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Fold the towel"}
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 sha256:4a19e693e4b5c53f1b6fb70fa20dea7c00b902afe4897caee03673134a065682
3
+ size 33550445
videos/chunk-000/observation.images.left_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:102904328124b72a2d10205ee54a7caf34afc3a6eeff037783d9344ba42176e7
3
+ size 13495174
videos/chunk-000/observation.images.right_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:beba29cdf7f0c762c5b532cf2649c8f524c8389ceb7a26eb4367649b2c82803e
3
+ size 12450479