Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.top/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:77c4b3c3d7477565a8ecab1b0bf4b006ccdd421a2672a53563352cab31b80f60
|
| 3 |
+
size 70642
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:31c1e3b9e6bdefdc82b8faad3c05128abae51e3f27743b4f9254eaec27310958
|
| 3 |
+
size 69946
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grab the green object and place it in the red bin"], "length": 1005}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grab the green object and place it in the red bin"], "length": 1014}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-5.586484432220459, -68.00564575195312, -1.8737564086914062, 44.91810607910156, -5.363833427429199, 0.2987632751464844], "max": [10.452160835266113, 0.43833160400390625, 74.87577819824219, 89.32819366455078, 25.78759765625, 39.69504928588867], "mean": [1.6043741703033447, -32.548397064208984, 43.34503173828125, 57.08015060424805, 1.900649070739746, 8.366640090942383], "std": [3.3581857681274414, 16.394441604614258, 19.509340286254883, 9.060479164123535, 4.893516540527344, 12.138132095336914], "count": [1005]}, "observation.state": {"min": [-5.3452982902526855, -66.06990814208984, 0.8100810050964355, 46.48972702026367, -4.681069850921631, 1.7391303777694702], "max": [9.949277877807617, 1.6197783946990967, 75.15751647949219, 87.92808532714844, 26.95473289489746, 39.26421356201172], "mean": [1.4619498252868652, -30.803869247436523, 46.389888763427734, 57.55702209472656, 2.2021007537841797, 8.556632041931152], "std": [3.357212781906128, 16.893888473510742, 19.458173751831055, 9.030546188354492, 5.081297874450684, 11.608328819274902], "count": [1005]}, "observation.images.top": {"min": [[[0.047058823529411764]], [[0.08627450980392157]], [[0.08627450980392157]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.5720370125578321]], [[0.5945616279283249]], [[0.5964712904824852]]], "std": [[[0.10932780750023728]], [[0.1210608844021204]], [[0.12481351224870565]]], "count": [178]}, "observation.images.wrist": {"min": [[[0.13333333333333333]], [[0.0]], [[0.0]]], "max": [[[0.9254901960784314]], [[0.8901960784313725]], [[0.8980392156862745]]], "mean": [[[0.6263222228342024]], [[0.5473298037379746]], [[0.593302325830457]]], "std": [[[0.09043890251842027]], [[0.19438661160953077]], [[0.20207903545514988]]], "count": [178]}, "timestamp": {"min": [0.0], "max": [33.46666666666667], "mean": [16.733333333333334], "std": [9.670612221609382], "count": [1005]}, "frame_index": {"min": [0], "max": [1004], "mean": [502.0], "std": [290.11836664828144], "count": [1005]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1005]}, "index": {"min": [0], "max": [1004], "mean": [502.0], "std": [290.11836664828144], "count": [1005]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1005]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-5.447751522064209, -74.52505493164062, 0.1775970458984375, 27.395477294921875, -5.647456169128418, 0.40829944610595703], "max": [8.294515609741211, -4.693241119384766, 73.032958984375, 83.71815490722656, 14.15872573852539, 38.00042724609375], "mean": [1.9033609628677368, -22.69225311279297, 28.382877349853516, 62.32891082763672, 6.015350818634033, 3.8190441131591797], "std": [1.9353283643722534, 10.904950141906738, 12.905229568481445, 8.138131141662598, 4.576632976531982, 7.847977638244629], "count": [1014]}, "observation.state": {"min": [-5.3452982902526855, -98.209716796875, 5.310531139373779, -14.383562088012695, -5.144032955169678, 1.7391303777694702], "max": [7.764338493347168, -3.5805625915527344, 99.90998840332031, 83.5616455078125, 13.63168716430664, 37.458194732666016], "mean": [1.8015426397323608, -20.85768699645996, 31.596370697021484, 62.24770736694336, 5.982337474822998, 4.2425923347473145], "std": [1.8906939029693604, 12.590811729431152, 13.978326797485352, 9.89760684967041, 4.611942291259766, 7.596962928771973], "count": [1014]}, "observation.images.top": {"min": [[[0.050980392156862744]], [[0.058823529411764705]], [[0.08235294117647059]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5708208806489697]], [[0.5953996923722934]], [[0.6009671072650041]]], "std": [[[0.10552028402058632]], [[0.11628075082787742]], [[0.12038364325629086]]], "count": [179]}, "observation.images.wrist": {"min": [[[0.10196078431372549]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[0.8941176470588236]], [[0.8274509803921568]], [[0.8823529411764706]]], "mean": [[[0.5924323158189408]], [[0.5606208328769123]], [[0.6079748359927459]]], "std": [[[0.0948872152564488]], [[0.16421883814639507]], [[0.15557569148438172]]], "count": [179]}, "timestamp": {"min": [0.0], "max": [33.766666666666666], "mean": [16.883333333333333], "std": [9.757214804478824], "count": [1014]}, "frame_index": {"min": [0], "max": [1013], "mean": [506.5], "std": [292.71644413436474], "count": [1014]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1014]}, "index": {"min": [1005], "max": [2018], "mean": [1511.5], "std": [292.71644413436474], "count": [1014]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1014]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "so101_follower",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 2019,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 4,
|
| 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 |
+
"shoulder_pan.pos",
|
| 24 |
+
"shoulder_lift.pos",
|
| 25 |
+
"elbow_flex.pos",
|
| 26 |
+
"wrist_flex.pos",
|
| 27 |
+
"wrist_roll.pos",
|
| 28 |
+
"gripper.pos"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"shoulder_pan.pos",
|
| 38 |
+
"shoulder_lift.pos",
|
| 39 |
+
"elbow_flex.pos",
|
| 40 |
+
"wrist_flex.pos",
|
| 41 |
+
"wrist_roll.pos",
|
| 42 |
+
"gripper.pos"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.top": {
|
| 46 |
+
"dtype": "video",
|
| 47 |
+
"shape": [
|
| 48 |
+
1080,
|
| 49 |
+
1920,
|
| 50 |
+
3
|
| 51 |
+
],
|
| 52 |
+
"names": [
|
| 53 |
+
"height",
|
| 54 |
+
"width",
|
| 55 |
+
"channels"
|
| 56 |
+
],
|
| 57 |
+
"info": {
|
| 58 |
+
"video.height": 1080,
|
| 59 |
+
"video.width": 1920,
|
| 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 |
+
"observation.images.wrist": {
|
| 69 |
+
"dtype": "video",
|
| 70 |
+
"shape": [
|
| 71 |
+
1080,
|
| 72 |
+
1920,
|
| 73 |
+
3
|
| 74 |
+
],
|
| 75 |
+
"names": [
|
| 76 |
+
"height",
|
| 77 |
+
"width",
|
| 78 |
+
"channels"
|
| 79 |
+
],
|
| 80 |
+
"info": {
|
| 81 |
+
"video.height": 1080,
|
| 82 |
+
"video.width": 1920,
|
| 83 |
+
"video.codec": "av1",
|
| 84 |
+
"video.pix_fmt": "yuv420p",
|
| 85 |
+
"video.is_depth_map": false,
|
| 86 |
+
"video.fps": 30,
|
| 87 |
+
"video.channels": 3,
|
| 88 |
+
"has_audio": false
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"timestamp": {
|
| 92 |
+
"dtype": "float32",
|
| 93 |
+
"shape": [
|
| 94 |
+
1
|
| 95 |
+
],
|
| 96 |
+
"names": null
|
| 97 |
+
},
|
| 98 |
+
"frame_index": {
|
| 99 |
+
"dtype": "int64",
|
| 100 |
+
"shape": [
|
| 101 |
+
1
|
| 102 |
+
],
|
| 103 |
+
"names": null
|
| 104 |
+
},
|
| 105 |
+
"episode_index": {
|
| 106 |
+
"dtype": "int64",
|
| 107 |
+
"shape": [
|
| 108 |
+
1
|
| 109 |
+
],
|
| 110 |
+
"names": null
|
| 111 |
+
},
|
| 112 |
+
"index": {
|
| 113 |
+
"dtype": "int64",
|
| 114 |
+
"shape": [
|
| 115 |
+
1
|
| 116 |
+
],
|
| 117 |
+
"names": null
|
| 118 |
+
},
|
| 119 |
+
"task_index": {
|
| 120 |
+
"dtype": "int64",
|
| 121 |
+
"shape": [
|
| 122 |
+
1
|
| 123 |
+
],
|
| 124 |
+
"names": null
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Grab the green object and place it in the red bin"}
|
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 sha256:6f1a941ae9f62f9e9fb9828391da62e28104880c48d914e9bd7e315002601c1e
|
| 3 |
+
size 18736242
|
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 sha256:50c5bf964974a440089de7570de74ee869b25ff5d7aeadcace045ef8067d33cf
|
| 3 |
+
size 18251179
|
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 sha256:3bb9e9bcdd6f8899d7f70f0a4063d00c13d8e398da13a80fd4c146d4f2dcb499
|
| 3 |
+
size 13625615
|
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 sha256:77ceeebe45aaa57dcd4a61b2dd356905dcb11da31de1338b47cdfa233f8b789f
|
| 3 |
+
size 11865090
|