atuiamat commited on
Commit
7aabf29
·
verified ·
1 Parent(s): db242c8

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 sha256:898a1e10f1c236ba8d4df31dd8c6c8900e05ecb9632a03a21213270f5751d283
3
+ size 56959
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:630da19c6423b31cd96b4e6f4d11bc1b008dd5bc77bd81c78df05038dd17a46f
3
+ size 60180
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:be657a7eaff997985860dc096a7e2a558fdc3b18ef3ae3bda157c7f7980b0589
3
+ size 58035
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:351a537fe23ee9216304e73405bcfc20642e172d095f3930df6e4ec30f0a92fd
3
+ size 55129
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ff371abe3e54f55d47130b4ed74ae8eb21e11ad86cf4b752e02844bc308057f0
3
+ size 54228
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Recoding a dataset with SO101 Follower and Leader robots."], "length": 1796}
2
+ {"episode_index": 1, "tasks": ["Recoding a dataset with SO101 Follower and Leader robots."], "length": 1796}
3
+ {"episode_index": 2, "tasks": ["Recoding a dataset with SO101 Follower and Leader robots."], "length": 1796}
4
+ {"episode_index": 3, "tasks": ["Recoding a dataset with SO101 Follower and Leader robots."], "length": 1796}
5
+ {"episode_index": 4, "tasks": ["Recoding a dataset with SO101 Follower and Leader robots."], "length": 1784}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-99.48619079589844, -100.0, -53.992740631103516, 10.867659568786621, -57.01179504394531, 0.3361344635486603], "max": [0.7064868211746216, 36.22818374633789, 100.0, 100.0, -42.59502029418945, 63.52941131591797], "mean": [-13.683734893798828, -70.9916763305664, 73.35235595703125, 73.7446060180664, -47.71983337402344, 9.105721473693848], "std": [30.314380645751953, 48.02099609375, 45.01978302001953, 11.197589874267578, 5.426275730133057, 14.241512298583984], "count": [1796]}, "observation.state": {"min": [-98.8997573852539, -99.40119934082031, -51.11111068725586, 12.872154235839844, -57.11286163330078, 0.7633587718009949], "max": [0.6112469434738159, 36.526947021484375, 99.63719177246094, 99.82486724853516, -42.83464431762695, 63.15058898925781], "mean": [-13.401193618774414, -70.33784484863281, 73.57238006591797, 73.5666275024414, -47.756622314453125, 10.544382095336914], "std": [30.555795669555664, 48.47291564941406, 44.175235748291016, 10.994093894958496, 5.406388282775879, 15.857745170593262], "count": [1796]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24570552584670233]], [[0.22585126114081996]], [[0.21647821895424837]]], "std": [[[0.22875208159343302]], [[0.2345564910127334]], [[0.24485734835691228]]], "count": [275]}, "timestamp": {"min": [0.0], "max": [59.833333333333336], "mean": [29.916666666666668], "std": [17.28201537887163], "count": [1796]}, "frame_index": {"min": [0], "max": [1795], "mean": [897.5], "std": [518.4604613661489], "count": [1796]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1796]}, "index": {"min": [0], "max": [1795], "mean": [897.5], "std": [518.4604613661489], "count": [1796]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1796]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-100.0, -100.0, -73.68421173095703, 15.863277435302734, -58.68938446044922, 0.5042017102241516], "max": [14.322415351867676, 42.18816375732422, 100.0, 100.0, -43.38138961791992, 51.17647171020508], "mean": [-11.652264595031738, -64.95736694335938, 66.13806915283203, 74.05648803710938, -47.02426528930664, 8.33080768585205], "std": [30.776235580444336, 50.77157211303711, 51.065650939941406, 14.164144515991211, 4.590394496917725, 13.70014476776123], "count": [1796]}, "observation.state": {"min": [-99.02200317382812, -99.40119934082031, -70.88435363769531, 17.162872314453125, -58.477691650390625, 0.8327550292015076], "max": [13.202934265136719, 42.686058044433594, 99.63719177246094, 99.82486724853516, -43.41207504272461, 50.93684768676758], "mean": [-11.29637622833252, -64.41180419921875, 66.47015380859375, 73.94883728027344, -47.072296142578125, 10.047727584838867], "std": [30.825376510620117, 51.28783416748047, 50.248748779296875, 13.989338874816895, 4.56691837310791, 15.751114845275879], "count": [1796]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24739547905525847]], [[0.22902391191325017]], [[0.21893800207961972]]], "std": [[[0.23269346710302746]], [[0.23643577979734742]], [[0.24462000625485844]]], "count": [275]}, "timestamp": {"min": [0.0], "max": [59.833333333333336], "mean": [29.916666666666668], "std": [17.28201537887163], "count": [1796]}, "frame_index": {"min": [0], "max": [1795], "mean": [897.5], "std": [518.4604613661489], "count": [1796]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1796]}, "index": {"min": [1796], "max": [3591], "mean": [2693.5], "std": [518.4604613661489], "count": [1796]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1796]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-97.04560089111328, -100.0, -36.75136184692383, 43.38299560546875, -56.225425720214844, 0.6722689270973206], "max": [5.844573020935059, 37.931034088134766, 99.81851196289062, 99.21121978759766, -44.37745666503906, 68.57142639160156], "mean": [-7.1717848777771, -69.33396911621094, 71.09429931640625, 72.05150604248047, -47.357906341552734, 13.813414573669434], "std": [27.47062873840332, 47.46257019042969, 44.47377014160156, 9.850746154785156, 3.5327553749084473, 19.35066032409668], "count": [1796]}, "observation.state": {"min": [-96.82151794433594, -99.57228088378906, -33.696144104003906, 44.39579772949219, -55.85301971435547, 0.8327550292015076], "max": [5.256723880767822, 38.408897399902344, 99.5464859008789, 98.86164855957031, -44.40945053100586, 68.07772064208984], "mean": [-6.918639659881592, -68.76495361328125, 71.46488952636719, 71.96517181396484, -47.427730560302734, 14.317537307739258], "std": [27.671567916870117, 48.28117752075195, 43.58309555053711, 9.636185646057129, 3.506930112838745, 20.099590301513672], "count": [1796]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2277989535056447]], [[0.2080441050207962]], [[0.20048954768270943]]], "std": [[[0.21228343067348115]], [[0.22266209290885433]], [[0.23116342360555112]]], "count": [275]}, "timestamp": {"min": [0.0], "max": [59.833333333333336], "mean": [29.916666666666668], "std": [17.28201537887163], "count": [1796]}, "frame_index": {"min": [0], "max": [1795], "mean": [897.5], "std": [518.4604613661489], "count": [1796]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1796]}, "index": {"min": [3592], "max": [5387], "mean": [4489.5], "std": [518.4604613661489], "count": [1796]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1796]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-97.30250549316406, -100.0, -38.74773025512695, 29.886064529418945, -62.09698486328125, 0.6722689270973206], "max": [5.587668418884277, 31.71562385559082, 99.81851196289062, 91.06047058105469, -45.05897903442383, 57.7310905456543], "mean": [-7.17231559753418, -72.13343811035156, 73.38200378417969, 72.58313751220703, -47.8408088684082, 10.695780754089355], "std": [26.48080062866211, 46.48251724243164, 44.501468658447266, 10.779960632324219, 4.5268778800964355, 16.93842124938965], "count": [1796]}, "observation.state": {"min": [-97.18826293945312, -99.48674011230469, -35.873016357421875, 30.910682678222656, -61.8372688293457, 0.9021512866020203], "max": [5.378973007202148, 32.07870101928711, 99.5464859008789, 90.6304702758789, -45.14435577392578, 57.32130432128906], "mean": [-6.782545566558838, -71.31251525878906, 73.69995880126953, 72.46963500976562, -47.93323516845703, 11.788395881652832], "std": [26.611936569213867, 47.16532897949219, 43.657989501953125, 10.531218528747559, 4.446366310119629, 18.067882537841797], "count": [1796]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21434616681521093]], [[0.19404550579322638]], [[0.18546243241235888]]], "std": [[[0.20759262423454408]], [[0.2147713051388622]], [[0.22382226874661684]]], "count": [275]}, "timestamp": {"min": [0.0], "max": [59.833333333333336], "mean": [29.916666666666668], "std": [17.28201537887163], "count": [1796]}, "frame_index": {"min": [0], "max": [1795], "mean": [897.5], "std": [518.4604613661489], "count": [1796]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1796]}, "index": {"min": [5388], "max": [7183], "mean": [6285.5], "std": [518.4604613661489], "count": [1796]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1796]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-96.91714477539062, -100.0, -31.578947067260742, 33.82997512817383, -60.6815185546875, 0.5882353186607361], "max": [4.174695014953613, 32.311622619628906, 99.81851196289062, 96.40666198730469, -44.901702880859375, 57.39495849609375], "mean": [-9.321479797363281, -74.22859191894531, 77.02369689941406, 71.58395385742188, -47.830135345458984, 9.33380126953125], "std": [26.07009506225586, 44.064144134521484, 39.7588996887207, 11.994325637817383, 4.550073146820068, 16.55532455444336], "count": [1784]}, "observation.state": {"min": [-96.69926452636719, -99.40119934082031, -28.34467124938965, 35.28896713256836, -60.31496047973633, 0.4857737720012665], "max": [4.034229755401611, 32.93413162231445, 99.5464859008789, 95.79684448242188, -45.039371490478516, 57.11311721801758], "mean": [-9.052553176879883, -73.47340393066406, 77.2354507446289, 71.53754425048828, -47.940006256103516, 10.765145301818848], "std": [26.211326599121094, 44.616397857666016, 39.0697021484375, 11.755471229553223, 4.485732078552246, 17.990957260131836], "count": [1784]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2060173029674157]], [[0.18724473203210723]], [[0.1794940879788655]]], "std": [[[0.20393699511844413]], [[0.21156994548752486]], [[0.22137222873556409]]], "count": [274]}, "timestamp": {"min": [0.0], "max": [59.43333333333333], "mean": [29.716666666666665], "std": [17.16654530701439], "count": [1784]}, "frame_index": {"min": [0], "max": [1783], "mean": [891.5], "std": [514.9963592104317], "count": [1784]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1784]}, "index": {"min": [7184], "max": [8967], "mean": [8075.5], "std": [514.9963592104317], "count": [1784]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1784]}}}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 8968,
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
+ "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.front": {
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": "Recoding a dataset with SO101 Follower and Leader robots."}
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 sha256:7bb9f78b68951adb3f12de6c751c18999b862c3cf5e2e2d8869ce7cd9adf5736
3
+ size 26706226
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:f38bbf002d0cc097d243b3f2a77345d73ba1b00a51ae56f2a5db7bd110dc1985
3
+ size 23579784
videos/chunk-000/observation.images.front/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:18b33ff39b36f321bac9e2d60b38f4a8c37c5bc060a08d614c637692c6dad24a
3
+ size 21744828
videos/chunk-000/observation.images.front/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9a9de3b42b3d6f209f126c3f9d19dbaf73fb74ef8f13ced5b9823e108a0e12bf
3
+ size 22879881
videos/chunk-000/observation.images.front/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3375bff4ad702fa426a49d6c8400e5c7aca94035019e6393dfa911c216446a9b
3
+ size 22952853