asafxrev commited on
Commit
e0fc7f2
·
verified ·
1 Parent(s): 293bb8c

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:adbd63134def64f232d5c3f287b514abfea4dda8cf3fc597261f0ccbbdeed726
3
+ size 32846
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1f14e7b06fe53f0803d3a9f737d74e03632c4c3e7bba3557176ca63a5763941
3
+ size 34758
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc394ea8b1c6d6cc79eb9ef1e0466cc85a3d8e1e5aca2a78cdbef8eaeda2b96b
3
+ size 36844
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:763ffa6f61a3973ec151810bcecda14a685272777f38c25914ea28129780b127
3
+ size 37758
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:59be0572904fba87845d885b189cb06c8d9f5b3dc10d58df9620cf898be696f8
3
+ size 35461
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a Jenga piece and put it on top of the box"], "length": 438}
2
+ {"episode_index": 1, "tasks": ["Grasp a Jenga piece and put it on top of the box"], "length": 463}
3
+ {"episode_index": 2, "tasks": ["Grasp a Jenga piece and put it on top of the box"], "length": 500}
4
+ {"episode_index": 3, "tasks": ["Grasp a Jenga piece and put it on top of the box"], "length": 513}
5
+ {"episode_index": 4, "tasks": ["Grasp a Jenga piece and put it on top of the box"], "length": 498}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-27.204845428466797, 54.42741394042969, 20.005516052246094, 55.60151672363281, -8.203614234924316, -0.6902275085449219], "max": [5.234965801239014, 171.5216827392578, 162.6055908203125, 102.91011810302734, 3.8558614253997803, 30.764333724975586], "mean": [-10.595074653625488, 111.02059173583984, 104.761962890625, 71.65070343017578, -0.36866381764411926, 8.225467681884766], "std": [11.760311126708984, 38.509742736816406, 33.82439041137695, 9.459378242492676, 2.567375898361206, 9.130352020263672], "count": [438]}, "observation.state": {"min": [-27.0703125, 62.666015625, 40.341796875, 56.42578125, -7.646484375, -0.6018916368484497], "max": [10.01953125, 190.72265625, 180.966796875, 100.72265625, 3.515625, 30.610488891601562], "mean": [-10.290427207946777, 111.13658142089844, 107.41761016845703, 71.73921966552734, -0.3182523548603058, 8.196210861206055], "std": [11.802399635314941, 39.427879333496094, 33.6010627746582, 9.068095207214355, 2.437356472015381, 9.011695861816406], "count": [438]}, "observation.images.follower_cam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5384455004084967]], [[0.5208297079248366]], [[0.5011267810457516]]], "std": [[[0.24820795917798735]], [[0.2455597859947872]], [[0.27538013618841645]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.566666666666666], "mean": [7.283333333333334], "std": [4.21464598047579], "count": [438]}, "frame_index": {"min": [0], "max": [437], "mean": [218.5], "std": [126.43937941427373], "count": [438]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [438]}, "index": {"min": [0], "max": [437], "mean": [218.5], "std": [126.43937941427373], "count": [438]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [438]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-25.19776153564453, 41.8516845703125, 13.230659484863281, 54.324012756347656, -9.474058151245117, -0.8996000289916992], "max": [7.0881524085998535, 190.30142211914062, 169.83160400390625, 100.50566864013672, 5.644260406494141, 34.55237579345703], "mean": [-10.131714820861816, 90.15003204345703, 85.55594635009766, 75.91722106933594, -1.0827211141586304, 10.262292861938477], "std": [10.146330833435059, 39.02696228027344, 40.54095458984375, 11.707005500793457, 4.226108074188232, 9.457541465759277], "count": [463]}, "observation.state": {"min": [-25.048828125, 41.1328125, 17.314453125, 54.931640625, -83.3203125, -0.08598452806472778], "max": [7.20703125, 192.65625, 179.736328125, 100.458984375, 5.44921875, 34.04987335205078], "mean": [-10.214105606079102, 89.93106842041016, 87.21730041503906, 76.19584655761719, -2.330904960632324, 10.458724021911621], "std": [10.011155128479004, 40.539798736572266, 41.32737350463867, 11.627300262451172, 10.034822463989258, 9.233267784118652], "count": [463]}, "observation.images.follower_cam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5375869076797385]], [[0.5241239746732027]], [[0.500576862745098]]], "std": [[[0.25162150401322686]], [[0.25767642420398507]], [[0.3011682542166712]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [15.4], "mean": [7.7], "std": [4.455209185760966], "count": [463]}, "frame_index": {"min": [0], "max": [462], "mean": [231.0], "std": [133.65627557282897], "count": [463]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [463]}, "index": {"min": [438], "max": [900], "mean": [669.0], "std": [133.65627557282897], "count": [463]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [463]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-26.55746841430664, 60.333290100097656, 30.721481323242188, 56.25836944580078, -10.086424827575684, -0.8533430099487305], "max": [4.375720500946045, 158.94735717773438, 149.3500213623047, 98.39283752441406, 5.126735687255859, 26.4998836517334], "mean": [-9.900875091552734, 100.21765899658203, 95.66365814208984, 73.6736068725586, -0.977480947971344, 9.479114532470703], "std": [9.788802146911621, 29.326427459716797, 31.71954917907715, 11.045206069946289, 3.7967605590820312, 6.906028747558594], "count": [500]}, "observation.state": {"min": [-26.103515625, 59.765625, 32.958984375, 56.07421875, -83.759765625, 0.08598452806472778], "max": [4.130859375, 192.65625, 179.736328125, 97.998046875, 4.921875, 27.17110824584961], "mean": [-9.8701171875, 99.26140594482422, 96.95848083496094, 73.97701263427734, -1.9824609756469727, 9.641792297363281], "std": [9.678808212280273, 30.70646095275879, 32.17955780029297, 10.954422950744629, 9.053425788879395, 6.742166519165039], "count": [500]}, "observation.images.follower_cam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.556068316215375]], [[0.5464671004512915]], [[0.5330021553065671]]], "std": [[[0.23553111395761808]], [[0.23122025263445492]], [[0.25546013762366515]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.633333333333333], "mean": [8.316666666666668], "std": [4.811242620732772], "count": [500]}, "frame_index": {"min": [0], "max": [499], "mean": [249.5], "std": [144.33727862198316], "count": [500]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [500]}, "index": {"min": [901], "max": [1400], "mean": [1150.5], "std": [144.33727862198316], "count": [500]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [500]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-23.97149658203125, 53.878684997558594, 26.569869995117188, 57.16056823730469, -9.838312149047852, 0.19292736053466797], "max": [1.5531013011932373, 120.38216400146484, 129.44915771484375, 99.34681701660156, 4.055389404296875, 31.748794555664062], "mean": [-13.601536750793457, 79.61153411865234, 79.7099838256836, 76.37628936767578, -1.4854514598846436, 11.42332935333252], "std": [7.074312686920166, 17.572731018066406, 27.795364379882812, 11.47757339477539, 3.8543431758880615, 9.194680213928223], "count": [513]}, "observation.state": {"min": [-23.90625, 53.173828125, 29.091796875, 57.216796875, -84.375, 0.8598452210426331], "max": [1.669921875, 192.65625, 179.6484375, 98.7890625, 4.04296875, 29.320722579956055], "mean": [-13.603343963623047, 79.03028869628906, 81.2331771850586, 76.64515686035156, -2.5322093963623047, 11.544550895690918], "std": [6.982346057891846, 20.697891235351562, 28.519351959228516, 11.193317413330078, 9.278008460998535, 9.058948516845703], "count": [513]}, "observation.images.follower_cam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8784313725490196]], [[0.8666666666666667]], [[0.8941176470588236]]], "mean": [[[0.5582415914574552]], [[0.5452694742227109]], [[0.5422820001832509]]], "std": [[[0.2018131150499702]], [[0.20161741387148474]], [[0.2291777451896533]]], "count": [107]}, "timestamp": {"min": [0.0], "max": [17.066666666666666], "mean": [8.533333333333333], "std": [4.936335422903047], "count": [513]}, "frame_index": {"min": [0], "max": [512], "mean": [256.0], "std": [148.09006268709143], "count": [513]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [513]}, "index": {"min": [1401], "max": [1913], "mean": [1657.0], "std": [148.09006268709143], "count": [513]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [513]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-28.12207794189453, 61.621803283691406, 56.7897834777832, 61.06617736816406, -5.450613975524902, 0.7696108818054199], "max": [-5.395700454711914, 132.44808959960938, 127.47650909423828, 94.44253540039062, 3.2168266773223877, 25.78559684753418], "mean": [-20.186006546020508, 80.58294677734375, 82.27355194091797, 74.70958709716797, -0.09949242323637009, 11.983596801757812], "std": [5.7794718742370605, 18.72065544128418, 17.18841552734375, 5.693368434906006, 2.3262081146240234, 7.030081748962402], "count": [498]}, "observation.state": {"min": [-28.125, 60.8203125, 58.974609375, 61.611328125, -84.55078125, 1.3757524490356445], "max": [-5.625, 192.65625, 179.6484375, 89.47265625, 2.98828125, 27.17110824584961], "mean": [-20.078771591186523, 80.57766723632812, 84.93002319335938, 74.8460922241211, -1.1591678857803345, 12.006415367126465], "std": [5.79737663269043, 21.846473693847656, 19.19397735595703, 5.603510856628418, 8.982081413269043, 6.9637131690979], "count": [498]}, "observation.images.follower_cam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9803921568627451]], [[0.9725490196078431]]], "mean": [[[0.5385012177093059]], [[0.5336356870525988]], [[0.5228750272331154]]], "std": [[[0.23372782032109785]], [[0.22956116378273295]], [[0.2645404861685934]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.566666666666666], "mean": [8.283333333333333], "std": [4.791997573115072], "count": [498]}, "frame_index": {"min": [0], "max": [497], "mean": [248.5], "std": [143.75992719345217], "count": [498]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [498]}, "index": {"min": [1914], "max": [2411], "mean": [2162.5], "std": [143.75992719345217], "count": [498]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [498]}}}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 5,
5
+ "total_frames": 2412,
6
+ "total_tasks": 1,
7
+ "total_videos": 5,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:5"
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.follower_cam": {
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.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a Jenga piece and put it on top of the box"}
videos/chunk-000/observation.images.follower_cam/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:080758efcf826b05b0f4e725b9a1cdb34f86c4d8e54141226de4550a34a2adcd
3
+ size 2529965
videos/chunk-000/observation.images.follower_cam/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:17246077b307fff1dd0081293bb449bf7386564dc0d71ea9765051df2fea7983
3
+ size 1927833
videos/chunk-000/observation.images.follower_cam/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4f9f0d94916af05e2c4794ed3b9c6c7399770713ffde3e6487fb183792959c2
3
+ size 1929235
videos/chunk-000/observation.images.follower_cam/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c618ab7ac3f2aaee2ee94e2b18e0d6ae37fa7e2b21f116028bdb7ba54dac68fe
3
+ size 1362181
videos/chunk-000/observation.images.follower_cam/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:170f5f9a1b49793faf0fc8d22fcfaef9508b0c2c5348f3ca43f32d0426bd70ed
3
+ size 1596113