bearlover365 commited on
Commit
eb4bf6d
·
verified ·
1 Parent(s): 35331a3

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 sha256:7a474ac3ab7ea762c96a014c30a55a7e7cca4b2c0a697d797beaf662093621f0
3
+ size 121915
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bf90a270626a45d3ab3711f4ee09aed7c4ca238d0eb0b1ad4fe7bf719a079f59
3
+ size 82271
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c5aa810f76157e2a53e3c819139f3eacfcfe6941d639afbccf0e90c1bf6563b0
3
+ size 40685
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab all socks and place into your box"], "length": 2224}
2
+ {"episode_index": 1, "tasks": ["Grab white sock and place into your box"], "length": 1438}
3
+ {"episode_index": 2, "tasks": ["Grab white sock and place into your box"], "length": 868}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-99.48651885986328, -100.0, -100.0, 21.212121963500977, -37.18619155883789, 0.0], "max": [91.35643768310547, 99.82869720458984, 56.93693542480469, 100.0, 17.15481185913086, 30.19966697692871], "mean": [10.239307403564453, 9.303869247436523, -39.89943313598633, 80.3864517211914, -8.092795372009277, 5.344275951385498], "std": [59.3430061340332, 60.23459243774414, 41.48495864868164, 22.190092086791992, 12.40591049194336, 9.07400894165039], "count": [2224]}, "observation.state": {"min": [-98.98397827148438, -99.82862091064453, -98.81979370117188, 22.91575813293457, -35.45359802246094, 0.13840830326080322], "max": [91.32473754882812, 99.914306640625, 57.966407775878906, 100.0, 17.101146697998047, 29.96539878845215], "mean": [10.259811401367188, 11.69158935546875, -37.88792419433594, 80.60405731201172, -8.023629188537598, 5.776494979858398], "std": [59.31441879272461, 61.84609603881836, 40.86417007446289, 22.1310977935791, 12.265631675720215, 8.781684875488281], "count": [2224]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5198709820615552]], [[0.5165996637173961]], [[0.5054309147291527]]], "std": [[[0.2359743494792503]], [[0.23257605052018446]], [[0.25370051113344233]]], "count": [323]}, "timestamp": {"min": [0.0], "max": [74.1], "mean": [37.050000000000004], "std": [21.400447814629175], "count": [2224]}, "frame_index": {"min": [0], "max": [2223], "mean": [1111.5], "std": [642.0134344388753], "count": [2224]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2224]}, "index": {"min": [0], "max": [2223], "mean": [1111.5], "std": [642.0134344388753], "count": [2224]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2224]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-100.0, -100.0, -100.0, -3.908651828765869, -12.5, 0.0], "max": [54.557125091552734, 99.7430419921875, 48.378379821777344, 100.0, 25.47071075439453, 40.51580810546875], "mean": [-3.7866876125335693, 16.09763526916504, -34.82170486450195, 72.88661193847656, 3.0472183227539062, 5.1854329109191895], "std": [44.38392639160156, 62.75178909301758, 44.78015899658203, 32.766082763671875, 7.977324485778809, 10.458566665649414], "count": [1438]}, "observation.state": {"min": [-99.92184448242188, -99.914306640625, -96.18701934814453, -2.4879965782165527, -12.6173095703125, 0.13840830326080322], "max": [54.66979217529297, 99.65724182128906, 49.43259048461914, 100.0, 25.18248176574707, 40.830448150634766], "mean": [-3.8067824840545654, 18.559404373168945, -32.27951431274414, 73.1323471069336, 3.0356228351593018, 5.827155113220215], "std": [44.32796096801758, 63.86105728149414, 44.02573013305664, 32.47039794921875, 7.944509029388428, 9.970602035522461], "count": [1438]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6431372549019608]], [[0.8313725490196079]], [[1.0]]], "mean": [[[0.08642467881286992]], [[0.07751338221268479]], [[0.06597738102751831]]], "std": [[[0.08653832808072033]], [[0.08917381149992977]], [[0.10002856549521476]]], "count": [233]}, "timestamp": {"min": [0.0], "max": [47.9], "mean": [23.950000000000003], "std": [13.837158105783299], "count": [1438]}, "frame_index": {"min": [0], "max": [1437], "mean": [718.5], "std": [415.11474317349894], "count": [1438]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [1438]}, "index": {"min": [125163], "max": [126600], "mean": [125881.5], "std": [415.11474317349894], "count": [1438]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1438]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-100.0, -100.0, -14.234233856201172, 37.81291198730469, -13.127614974975586, 0.0], "max": [10.825844764709473, 59.400428771972656, 39.819820404052734, 100.0, -2.824267864227295, 30.19966697692871], "mean": [-27.039152145385742, -42.009010314941406, 8.124299049377441, 80.04655456542969, -7.428752422332764, 8.85123348236084], "std": [33.2668342590332, 54.35695266723633, 16.85869026184082, 18.74493980407715, 3.153049945831299, 11.397889137268066], "count": [868]}, "observation.state": {"min": [-98.67135620117188, -99.82862091064453, -9.850204467773438, 38.192928314208984, -13.190823554992676, 0.27681660652160645], "max": [10.59007453918457, 61.5252799987793, 41.1711311340332, 100.0, -2.9718456268310547, 29.61937713623047], "mean": [-26.903118133544922, -40.99216842651367, 10.09769344329834, 80.38385009765625, -7.466076850891113, 9.043718338012695], "std": [32.87823486328125, 55.705108642578125, 16.366533279418945, 18.72873306274414, 3.143089532852173, 11.014859199523926], "count": [868]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8549019607843137]], [[0.8313725490196079]], [[0.8705882352941177]]], "mean": [[[0.3771810180046862]], [[0.3704597964709993]], [[0.35951047447280804]]], "std": [[[0.20373174261879068]], [[0.19525138130040287]], [[0.22444891468777678]]], "count": [159]}, "timestamp": {"min": [0.0], "max": [28.9], "mean": [14.450000000000003], "std": [8.352328351357416], "count": [868]}, "frame_index": {"min": [0], "max": [867], "mean": [433.5], "std": [250.56985054072248], "count": [868]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [868]}, "index": {"min": [0], "max": [867], "mean": [433.5], "std": [250.56985054072248], "count": [868]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [868]}}}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 3,
5
+ "total_frames": 4530,
6
+ "total_tasks": 2,
7
+ "total_videos": 76,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:3"
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.wrist": {
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/stats.json ADDED
@@ -0,0 +1,234 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 86.86666666666666
8
+ ],
9
+ "mean": [
10
+ 26.092851335388957
11
+ ],
12
+ "std": [
13
+ 17.80807687165482
14
+ ],
15
+ "count": [
16
+ 173832
17
+ ]
18
+ },
19
+ "action": {
20
+ "min": [
21
+ -100.0,
22
+ -100.0,
23
+ -100.0,
24
+ -8.563899993896484,
25
+ -38.912132263183594,
26
+ 0.0
27
+ ],
28
+ "max": [
29
+ 100.0,
30
+ 100.0,
31
+ 72.88288116455078,
32
+ 100.0,
33
+ 55.28242492675781,
34
+ 58.985023498535156
35
+ ],
36
+ "mean": [
37
+ -6.9038042858880075,
38
+ 0.5374439148512287,
39
+ -29.50592345466256,
40
+ 78.88993920978825,
41
+ -5.2600140148278145,
42
+ 5.464608638295039
43
+ ],
44
+ "std": [
45
+ 50.37530652119285,
46
+ 61.12946551641806,
47
+ 41.61321946476044,
48
+ 27.659780056970988,
49
+ 9.41234116698161,
50
+ 10.73203619283539
51
+ ],
52
+ "count": [
53
+ 173832
54
+ ]
55
+ },
56
+ "task_index": {
57
+ "min": [
58
+ 0
59
+ ],
60
+ "max": [
61
+ 1
62
+ ],
63
+ "mean": [
64
+ 0.23496249252151502
65
+ ],
66
+ "std": [
67
+ 0.4239753762066755
68
+ ],
69
+ "count": [
70
+ 173832
71
+ ]
72
+ },
73
+ "frame_index": {
74
+ "min": [
75
+ 0
76
+ ],
77
+ "max": [
78
+ 2606
79
+ ],
80
+ "mean": [
81
+ 782.7855400616687
82
+ ],
83
+ "std": [
84
+ 534.2423061496445
85
+ ],
86
+ "count": [
87
+ 173832
88
+ ]
89
+ },
90
+ "index": {
91
+ "min": [
92
+ 0
93
+ ],
94
+ "max": [
95
+ 131227
96
+ ],
97
+ "mean": [
98
+ 54753.1955221133
99
+ ],
100
+ "std": [
101
+ 38519.04103931425
102
+ ],
103
+ "count": [
104
+ 173832
105
+ ]
106
+ },
107
+ "episode_index": {
108
+ "min": [
109
+ 0
110
+ ],
111
+ "max": [
112
+ 75
113
+ ],
114
+ "mean": [
115
+ 32.89567513461273
116
+ ],
117
+ "std": [
118
+ 21.282584537616657
119
+ ],
120
+ "count": [
121
+ 173832
122
+ ]
123
+ },
124
+ "observation.state": {
125
+ "min": [
126
+ -99.92184448242188,
127
+ -100.0,
128
+ -99.90921783447266,
129
+ -7.900480270385742,
130
+ -38.68613052368164,
131
+ 0.13840830326080322
132
+ ],
133
+ "max": [
134
+ 100.0,
135
+ 100.0,
136
+ 74.3077621459961,
137
+ 100.0,
138
+ 54.90093994140625,
139
+ 58.20069122314453
140
+ ],
141
+ "mean": [
142
+ -6.931730031469463,
143
+ 2.617951533464754,
144
+ -27.30961259079131,
145
+ 79.09159995044851,
146
+ -5.252186663650385,
147
+ 6.006210120346736
148
+ ],
149
+ "std": [
150
+ 50.27555252352155,
151
+ 62.65657840147555,
152
+ 40.86208843621928,
153
+ 27.534891112925777,
154
+ 9.373795821564597,
155
+ 10.337534621858854
156
+ ],
157
+ "count": [
158
+ 173832
159
+ ]
160
+ },
161
+ "observation.images.wrist": {
162
+ "min": [
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ],
173
+ [
174
+ [
175
+ 0.0
176
+ ]
177
+ ]
178
+ ],
179
+ "max": [
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ],
190
+ [
191
+ [
192
+ 1.0
193
+ ]
194
+ ]
195
+ ],
196
+ "mean": [
197
+ [
198
+ [
199
+ 0.30461241202816225
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.29180465182847487
205
+ ]
206
+ ],
207
+ [
208
+ [
209
+ 0.2845694754435738
210
+ ]
211
+ ]
212
+ ],
213
+ "std": [
214
+ [
215
+ [
216
+ 0.24831288194658774
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.24914325275942442
222
+ ]
223
+ ],
224
+ [
225
+ [
226
+ 0.2644394134093552
227
+ ]
228
+ ]
229
+ ],
230
+ "count": [
231
+ 28108
232
+ ]
233
+ }
234
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"task_index": 0, "task": "Grab all socks and place into your box"}
2
+ {"task_index": 1, "task": "Grab white sock and place into your box"}
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 sha256:92b430c0eab90ec9525ccd423524e525e2124bec570f159a2d6ca440abe21f71
3
+ size 14304420
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 sha256:8be16e23635fdce303ba031e88332868a84005da3f5f337e89215186ad130d61
3
+ size 2281334
videos/chunk-000/observation.images.wrist/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1cb100682715bbcd041555ca3af4023d51a6f3cc90c3dd8bd512ee6ce4bf49e
3
+ size 3285801