bonnieliu2002 commited on
Commit
c1219dd
·
verified ·
1 Parent(s): 2352447

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 sha256:5c566b778981bc9cd3d390b8d5498230d43eaa95d31b4a5fa320a6ad9cd61c93
3
+ size 66401
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["Navigate from start to table, avoiding obstacles (chairs) along the way"], "length": 1758}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [2.3952088356018066, -99.74404907226562, 99.54582977294922, 54.338294982910156, 7.178539276123047, 0.0, -0.07782768458127975, -0.011299294419586658, 0.0], "max": [2.3952109813690186, -99.74402618408203, 99.54586029052734, 54.33831024169922, 7.1785454750061035, 0.0, 0.0001631602644920349, -0.002875354140996933, 0.0], "mean": [2.395242929458618, -99.74452209472656, 99.54660034179688, 54.33798599243164, 7.178647518157959, 0.0, -0.014410651288926601, -0.009585680440068245, 0.0], "std": [3.32055424223654e-05, 0.0004841815971303731, 0.000758713111281395, 0.0003137269814033061, 0.00010628018208080903, 0.0, 0.020713618025183678, 0.0021557179279625416, 0.0], "count": [1758]}, "observation.state": {"min": [2.448071241378784, -99.66315460205078, 99.01168060302734, 42.80830383300781, 6.910866737365723, 1.0891762971878052, -0.0929926410317421, -0.023009711876511574, -5.859375], "max": [2.744807004928589, -99.66315460205078, 99.01168060302734, 42.80830383300781, 6.910866737365723, 1.1572498083114624, 0.006642331834882498, 0.01022653840482235, 7.6171875], "mean": [2.523175001144409, -99.66200256347656, 99.0112075805664, 42.808048248291016, 6.910884380340576, 1.0893948078155518, -0.01271408423781395, -0.0076894997619092464, -0.20297834277153015], "std": [0.013207179494202137, 0.0011520239058881998, 0.0004730224609375, 0.000255584716796875, 1.7642974853515625e-05, 0.0036254064179956913, 0.02098659984767437, 0.0030897522810846567, 1.0409084558486938], "count": [1758]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3534876327991221]], [[0.34940043005209465]], [[0.35681841491209026]]], "std": [[[0.2950057366910078]], [[0.2954102702449266]], [[0.28710355932913056]]], "count": [271]}, "observation.images.realsense_depth": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4096703717772472]], [[0.4096703717772472]], [[0.4096703717772472]]], "std": [[[0.19989875215353323]], [[0.19989875215353323]], [[0.19989875215353323]]], "count": [271]}, "observation.images.realsense_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9647058823529412]], [[1.0]]], "mean": [[[0.4334354175710875]], [[0.43655933980295686]], [[0.4327911828015339]]], "std": [[[0.2718152667423779]], [[0.2600118792536859]], [[0.2600668032727577]]], "count": [271]}, "timestamp": {"min": [0.0], "max": [58.56666666666667], "mean": [29.28333333333333], "std": [16.916360150479793], "count": [1758]}, "frame_index": {"min": [0], "max": [1757], "mean": [878.5], "std": [507.4908045143938], "count": [1758]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1758]}, "index": {"min": [0], "max": [1757], "mean": [878.5], "std": [507.4908045143938], "count": [1758]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1758]}}}
meta/info.json ADDED
@@ -0,0 +1,156 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "lekiwi_client",
4
+ "total_episodes": 1,
5
+ "total_frames": 1758,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
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
+ 9
21
+ ],
22
+ "names": [
23
+ "arm_shoulder_pan.pos",
24
+ "arm_shoulder_lift.pos",
25
+ "arm_elbow_flex.pos",
26
+ "arm_wrist_flex.pos",
27
+ "arm_wrist_roll.pos",
28
+ "arm_gripper.pos",
29
+ "x.vel",
30
+ "y.vel",
31
+ "theta.vel"
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "dtype": "float32",
36
+ "shape": [
37
+ 9
38
+ ],
39
+ "names": [
40
+ "arm_shoulder_pan.pos",
41
+ "arm_shoulder_lift.pos",
42
+ "arm_elbow_flex.pos",
43
+ "arm_wrist_flex.pos",
44
+ "arm_wrist_roll.pos",
45
+ "arm_gripper.pos",
46
+ "x.vel",
47
+ "y.vel",
48
+ "theta.vel"
49
+ ]
50
+ },
51
+ "observation.images.wrist": {
52
+ "dtype": "video",
53
+ "shape": [
54
+ 480,
55
+ 640,
56
+ 3
57
+ ],
58
+ "names": [
59
+ "height",
60
+ "width",
61
+ "channels"
62
+ ],
63
+ "info": {
64
+ "video.height": 480,
65
+ "video.width": 640,
66
+ "video.codec": "av1",
67
+ "video.pix_fmt": "yuv420p",
68
+ "video.is_depth_map": false,
69
+ "video.fps": 30,
70
+ "video.channels": 3,
71
+ "has_audio": false
72
+ }
73
+ },
74
+ "observation.images.realsense_depth": {
75
+ "dtype": "video",
76
+ "shape": [
77
+ 480,
78
+ 640,
79
+ 3
80
+ ],
81
+ "names": [
82
+ "height",
83
+ "width",
84
+ "channels"
85
+ ],
86
+ "info": {
87
+ "video.height": 480,
88
+ "video.width": 640,
89
+ "video.codec": "av1",
90
+ "video.pix_fmt": "yuv420p",
91
+ "video.is_depth_map": false,
92
+ "video.fps": 30,
93
+ "video.channels": 3,
94
+ "has_audio": false
95
+ }
96
+ },
97
+ "observation.images.realsense_rgb": {
98
+ "dtype": "video",
99
+ "shape": [
100
+ 480,
101
+ 640,
102
+ 3
103
+ ],
104
+ "names": [
105
+ "height",
106
+ "width",
107
+ "channels"
108
+ ],
109
+ "info": {
110
+ "video.height": 480,
111
+ "video.width": 640,
112
+ "video.codec": "av1",
113
+ "video.pix_fmt": "yuv420p",
114
+ "video.is_depth_map": false,
115
+ "video.fps": 30,
116
+ "video.channels": 3,
117
+ "has_audio": false
118
+ }
119
+ },
120
+ "timestamp": {
121
+ "dtype": "float32",
122
+ "shape": [
123
+ 1
124
+ ],
125
+ "names": null
126
+ },
127
+ "frame_index": {
128
+ "dtype": "int64",
129
+ "shape": [
130
+ 1
131
+ ],
132
+ "names": null
133
+ },
134
+ "episode_index": {
135
+ "dtype": "int64",
136
+ "shape": [
137
+ 1
138
+ ],
139
+ "names": null
140
+ },
141
+ "index": {
142
+ "dtype": "int64",
143
+ "shape": [
144
+ 1
145
+ ],
146
+ "names": null
147
+ },
148
+ "task_index": {
149
+ "dtype": "int64",
150
+ "shape": [
151
+ 1
152
+ ],
153
+ "names": null
154
+ }
155
+ }
156
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Navigate from start to table, avoiding obstacles (chairs) along the way"}
videos/chunk-000/observation.images.realsense_depth/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:681fdab3857b2c64d367aeff5a3be910b456abd1d6aaf514227bc32e695f58de
3
+ size 19562897
videos/chunk-000/observation.images.realsense_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7cae847c1d9c10478cafebc1c6b5489681813ad2547a3f1acc7299ca08830f47
3
+ size 8976849
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 sha256:8def8d2426a37c83383a7a308cc3788ffecf8a811e7b4d1bb2f858751dafd4a0
3
+ size 38084523