Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44490918aa7d4846fa785a3602e1aa358ee07b046e9cec95afb64cff24f1cfc7
+size 59325

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7655779c4dafec5d00064e62ad29afeaefaf84cbd3d01320e6fb913dc2e78418
+size 68251

meta/episodes.jsonl

@@ -0,0 +1,2 @@
+{"episode_index": 0, "tasks": ["Fold the towel"], "length": 521}
+{"episode_index": 1, "tasks": ["Fold the towel"], "length": 629}

meta/episodes_stats.jsonl

@@ -0,0 +1,2 @@
+{"episode_index": 0, "stats": {"action": {"min": [-65.2596206665039, -99.30286407470703, -97.58724975585938, 22.9260311126709, -33.67521286010742, 0.0, -60.02906799316406, -98.2680435180664, -84.99127197265625, 23.058252334594727, -64.3956069946289, 0.08628127723932266], "max": [66.90325164794922, 73.66382598876953, 99.65531921386719, 99.01921081542969, 52.96703338623047, 26.184324264526367, 81.97674560546875, 68.90721893310547, 99.9127426147461, 99.67637634277344, -6.275946140289307, 37.446075439453125], "mean": [-2.5204458236694336, -13.519700050354004, 20.072500228881836, 66.75677490234375, 19.477561950683594, 4.513949871063232, 24.378746032714844, -19.347816467285156, 34.26103591918945, 67.76011657714844, -26.262676239013672, 4.942549705505371], "std": [48.05924606323242, 45.94497299194336, 52.214073181152344, 20.849384307861328, 19.445390701293945, 8.105635643005371, 43.064720153808594, 44.352752685546875, 53.652164459228516, 19.904109954833984, 14.722757339477539, 9.854252815246582], "count": [521]}, "observation.state": {"min": [-64.83433532714844, -98.56237030029297, -97.11412048339844, 25.235849380493164, -33.43101501464844, 1.8892507553100586, -59.55137634277344, -97.4137954711914, -78.62531280517578, 25.087514877319336, -63.17460250854492, 1.0712034702301025], "max": [66.34036254882812, 73.19239044189453, 99.65019989013672, 98.03459167480469, 52.67399215698242, 25.732898712158203, 81.0419692993164, 67.71160125732422, 97.9044418334961, 98.91092681884766, 7.496947288513184, 36.862003326416016], "mean": [-2.0925354957580566, -12.744804382324219, 20.83839988708496, 66.54402160644531, 19.522924423217773, 5.8800764083862305, 23.697750091552734, -18.601028442382812, 34.98329544067383, 67.6327896118164, -25.997652053833008, 5.913331985473633], "std": [47.56499099731445, 46.065799713134766, 51.805633544921875, 20.714187622070312, 19.26274871826172, 7.34311580657959, 42.61190414428711, 44.49481201171875, 52.91167449951172, 19.706235885620117, 14.826616287231445, 9.392571449279785], "count": [521]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5202738002438488]], [[0.481925161399932]], [[0.43889047040834683]]], "std": [[[0.2563320237523563]], [[0.26074152566805875]], [[0.26667412605959423]]], "count": [109]}, "observation.images.left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4672042970858068]], [[0.46234329278347425]], [[0.4547354927444984]]], "std": [[[0.21119010235276933]], [[0.21205626994003535]], [[0.21775778794787579]]], "count": [109]}, "observation.images.right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9882352941176471]], [[0.984313725490196]]], "mean": [[[0.49770013154344306]], [[0.486251795137015]], [[0.4759455818642441]]], "std": [[[0.1652307851261693]], [[0.17001219282011218]], [[0.17740646278219066]]], "count": [109]}, "timestamp": {"min": [0.0], "max": [34.666666666666664], "mean": [17.333333333333332], "std": [10.026631205611052], "count": [521]}, "frame_index": {"min": [0], "max": [520], "mean": [260.0], "std": [150.3994680841658], "count": [521]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [521]}, "index": {"min": [0], "max": [520], "mean": [260.0], "std": [150.3994680841658], "count": [521]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [521]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-68.02391052246094, -99.53524780273438, -63.20551300048828, 12.545974731445312, -36.898658752441406, 0.0, -57.848838806152344, -98.51546478271484, -74.86911010742188, -36.00323486328125, -59.267398834228516, 0.0], "max": [73.32835388183594, 54.3764533996582, 99.65531921386719, 98.9374771118164, 50.52503204345703, 89.2334213256836, 91.56977081298828, 67.09278106689453, 99.73822021484375, 99.67637634277344, -9.89011001586914, 39.8619499206543], "mean": [-15.390325546264648, -26.347023010253906, 37.593692779541016, 61.69856643676758, 16.755117416381836, 10.007428169250488, 31.03350067138672, -20.956018447875977, 36.30474090576172, 66.80137634277344, -30.378843307495117, 5.0556254386901855], "std": [48.69622802734375, 43.05339431762695, 43.435237884521484, 20.314990997314453, 20.254066467285156, 18.296161651611328, 45.45048141479492, 47.320064544677734, 50.88322067260742, 23.610532760620117, 15.64234733581543, 9.892010688781738], "count": [629]}, "observation.state": {"min": [-67.54518127441406, -99.15433502197266, -60.99694061279297, 14.701257705688477, -33.089134216308594, 1.8892507553100586, -57.308250427246094, -97.4137954711914, -73.93126678466797, -33.722286224365234, -58.730159759521484, 1.0081915855407715], "max": [72.21385192871094, 54.33403778076172, 99.3003921508789, 98.11320495605469, 50.08546829223633, 82.99674224853516, 90.01447296142578, 65.98745727539062, 97.73680114746094, 98.98872375488281, -10.378510475158691, 37.996219635009766], "mean": [-15.434335708618164, -25.75440788269043, 38.29533386230469, 61.723388671875, 16.673362731933594, 11.007407188415527, 31.00741195678711, -20.209848403930664, 36.68918991088867, 66.9062728881836, -30.53314781188965, 5.782564640045166], "std": [48.45135498046875, 43.2050895690918, 43.211219787597656, 20.00171661376953, 20.215190887451172, 16.698999404907227, 45.37126922607422, 47.429874420166016, 50.389930725097656, 23.149877548217773, 15.62557315826416, 9.352799415588379], "count": [629]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5201767363834422]], [[0.47841752941176474]], [[0.43385531808278865]]], "std": [[[0.2554166377623889]], [[0.25976374031483285]], [[0.2662004589145493]]], "count": [125]}, "observation.images.left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4716495326797385]], [[0.4729063872549019]], [[0.4694906781045752]]], "std": [[[0.19942417361480064]], [[0.20217557769064756]], [[0.2095333254703386]]], "count": [125]}, "observation.images.right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9019607843137255]], [[0.9098039215686274]], [[0.9372549019607843]]], "mean": [[[0.4916118284313726]], [[0.4860148496732026]], [[0.4787970098039216]]], "std": [[[0.17432613221912582]], [[0.17990767264724156]], [[0.18924741628779151]]], "count": [125]}, "timestamp": {"min": [0.0], "max": [41.86666666666667], "mean": [20.93333333333333], "std": [12.105095345900146], "count": [629]}, "frame_index": {"min": [0], "max": [628], "mean": [314.0], "std": [181.57643018850217], "count": [629]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [629]}, "index": {"min": [521], "max": [1149], "mean": [835.0], "std": [181.57643018850217], "count": [629]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [629]}}}

meta/info.json

@@ -0,0 +1,162 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "bi_so100_follower",
+    "total_episodes": 2,
+    "total_frames": 1150,
+    "total_tasks": 1,
+    "total_videos": 6,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:2"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_shoulder_pan.pos",
+                "left_shoulder_lift.pos",
+                "left_elbow_flex.pos",
+                "left_wrist_flex.pos",
+                "left_wrist_roll.pos",
+                "left_gripper.pos",
+                "right_shoulder_pan.pos",
+                "right_shoulder_lift.pos",
+                "right_elbow_flex.pos",
+                "right_wrist_flex.pos",
+                "right_wrist_roll.pos",
+                "right_gripper.pos"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_shoulder_pan.pos",
+                "left_shoulder_lift.pos",
+                "left_elbow_flex.pos",
+                "left_wrist_flex.pos",
+                "left_wrist_roll.pos",
+                "left_gripper.pos",
+                "right_shoulder_pan.pos",
+                "right_shoulder_lift.pos",
+                "right_elbow_flex.pos",
+                "right_wrist_flex.pos",
+                "right_wrist_roll.pos",
+                "right_gripper.pos"
+            ]
+        },
+        "observation.images.front": {
+            "dtype": "video",
+            "shape": [
+                720,
+                1280,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 720,
+                "video.width": 1280,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Fold the towel"}

videos/chunk-000/observation.images.front/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abcffdc5cef145eedd3f146c8bd6413a2f419446e7be38ee2a07dfc3af87db62
+size 15689674

videos/chunk-000/observation.images.front/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa68593b7511a427c5cc83b4e5afaff7db14e8aed88c5a04b273733f3a02047a
+size 19282031

videos/chunk-000/observation.images.left_wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6013dc350b04b66ec04b7bb4b5f00815dc7ab181fc029ef898a98007b67bce
+size 1985286

videos/chunk-000/observation.images.left_wrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9f546774ad829296349bb0c10eb8f60bf79500d02523001f4640413d53d38a9
+size 2361732

videos/chunk-000/observation.images.right_wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2787ccf33eea5b23ff930ae9e8347e1a1615267ff184b2824dab8c6be21181b2
+size 3007123

videos/chunk-000/observation.images.right_wrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:574da0c2deaeef3879ffa63de381f8afa869d77f4299b04b73f27cf4947a814b
+size 3805649