brcg3 commited on
Commit
4d7affe
·
verified ·
1 Parent(s): 7dd2684

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:f2b147ee5d31e7c2da39555e9c6a29f4008d10fd1f5b53d4bc3a31be3b62b220
3
+ size 28478
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb15d10854bf3808e93c76c08f1b388f2596cd0e42872bc09e8e56438a84fc08
3
+ size 26338
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the tan cube"], "length": 635}
2
+ {"episode_index": 1, "tasks": ["Grab the tan cube"], "length": 534}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-5.709023952484131, -100.0, 3.4482758045196533, 49.8925666809082, -9.923664093017578, 0.2450980395078659], "max": [57.86371994018555, 19.949495315551758, 99.72776794433594, 80.66179656982422, 4.4485392570495605, 26.062091827392578], "mean": [7.330106735229492, -55.162879943847656, 59.86921310424805, 65.86394500732422, -1.7844338417053223, 5.725112438201904], "std": [19.33319664001465, 44.448299407958984, 38.1278076171875, 7.321462154388428, 4.25620174407959, 8.601441383361816], "count": [635]}, "observation.state": {"min": [-5.3531599044799805, -99.06739807128906, 6.11690092086792, 50.84672164916992, -9.67072868347168, 0.3448275923728943], "max": [57.397769927978516, 20.22043228149414, 99.36565399169922, 80.46026611328125, 4.381643772125244, 25.724138259887695], "mean": [7.273592948913574, -54.67689514160156, 60.87342071533203, 65.75515747070312, -1.7816967964172363, 7.254621505737305], "std": [19.226808547973633, 44.69541931152344, 37.36886215209961, 7.134867191314697, 4.225281715393066, 8.44902229309082], "count": [635]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4513036151960784]], [[0.4793019876932254]], [[0.4746018405047204]]], "std": [[[0.27019269785073496]], [[0.23859265319890324]], [[0.24054321657288516]]], "count": [126]}, "observation.images.top": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.996078431372549]], [[1.0]]], "mean": [[[0.4609576054959021]], [[0.45004482927430234]], [[0.4669025492141301]]], "std": [[[0.28833541316866085]], [[0.2590301609434287]], [[0.23631260285731706]]], "count": [126]}, "timestamp": {"min": [0.0], "max": [21.133333333333333], "mean": [10.566666666666666], "std": [6.1102827721436554], "count": [635]}, "frame_index": {"min": [0], "max": [634], "mean": [317.0], "std": [183.30848316430968], "count": [635]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [635]}, "index": {"min": [0], "max": [634], "mean": [317.0], "std": [183.30848316430968], "count": [635]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [635]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-6.519337177276611, -100.0, -27.85843849182129, 53.93210220336914, -2.9218215942382812, 0.4084967374801636], "max": [62.7255973815918, 29.20875358581543, 99.54627990722656, 89.34249877929688, 21.558305740356445, 27.6143798828125], "mean": [13.001523971557617, -40.38433074951172, 45.288509368896484, 71.29232025146484, 4.827523231506348, 6.2545881271362305], "std": [21.76137351989746, 52.06406021118164, 46.39994812011719, 6.08142614364624, 8.595399856567383, 9.350958824157715], "count": [534]}, "observation.state": {"min": [-6.4684014320373535, -99.15218353271484, -24.603534698486328, 55.275726318359375, -2.4630541801452637, 0.3448275923728943], "max": [62.379180908203125, 29.715980529785156, 99.36565399169922, 89.23143768310547, 20.871143341064453, 27.44827651977539], "mean": [12.974706649780273, -39.984561920166016, 46.39778518676758, 71.20037078857422, 4.832780361175537, 8.662798881530762], "std": [21.725210189819336, 52.32632064819336, 45.679473876953125, 5.884308815002441, 8.548720359802246, 8.891593933105469], "count": [534]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4562891660042395]], [[0.4765680275864099]], [[0.4781947774980863]]], "std": [[[0.2615585457090192]], [[0.22974174797407784]], [[0.23393654496730476]]], "count": [111]}, "observation.images.top": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4617686491638698]], [[0.4473695533769063]], [[0.45697072256079607]]], "std": [[[0.2925413932882617]], [[0.2612704273532823]], [[0.23473875477694148]]], "count": [111]}, "timestamp": {"min": [0.0], "max": [17.766666666666666], "mean": [8.883333333333335], "std": [5.138408385944109], "count": [534]}, "frame_index": {"min": [0], "max": [533], "mean": [266.5], "std": [154.15225157832327], "count": [534]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [534]}, "index": {"min": [635], "max": [1168], "mean": [901.5], "std": [154.15225157832327], "count": [534]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [534]}}}
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": 1169,
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.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
+ "observation.images.top": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
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 tan cube"}
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:b5c49aed2f63e82534b065f561fa511aa48bc56d71e6fc034323db6c7fdc61f9
3
+ size 24253820
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 sha256:0a4172451913fa1a7b9e7eefc4f8d977572ada55bf6d1be35613ffc42580f97b
3
+ size 20543130
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 sha256:23bebe1801dc71f1869647f3ab0b8bb4dacea24c3260d3237ab0f835cae72e27
3
+ size 16379033
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 sha256:24654679695a22b4a2714212156cf363cb1e2156df6090abf72d84d1eaf8baab
3
+ size 13328825