c299m commited on
Commit
740849b
·
verified ·
1 Parent(s): 33c737c

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000000.parquet CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:9a265c1a279ae8c7fa39f83d92f9a8a327bfb2a2018127168819ced9dcfe597f
3
- size 571791622
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7783c4dbaa2146f58d09a5cf84901c687902ff102a363c950c97055ab9a304b5
3
+ size 25005
data/chunk-000/episode_000001.parquet CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:e865ce9e38609ac015db2ddf990a3d5dde6acce9210cbd2dbfc31318d0b006b5
3
- size 581150622
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2d3d1848e562be8c904069d40a28b02195106f73dfd07f087e618193dce848cf
3
+ size 5814
meta/episodes.jsonl CHANGED
@@ -1,3 +1,2 @@
1
  {"episode_index": 0, "tasks": ["Grasp the tomato and place it in the container"], "length": 902}
2
- {"episode_index": 1, "tasks": ["Grasp the tomato and place it in the container"], "length": 902}
3
- {"episode_index": 2, "tasks": ["Grasp the tomato and place it in the container"], "length": 29}
 
1
  {"episode_index": 0, "tasks": ["Grasp the tomato and place it in the container"], "length": 902}
2
+ {"episode_index": 1, "tasks": ["Grasp the tomato and place it in the container"], "length": 89}
 
meta/episodes_stats.jsonl CHANGED
@@ -1,3 +1,2 @@
1
- {"episode_index": 0, "stats": {"action": {"min": [-36.617645263671875, -99.07987976074219, -98.55464935302734, 53.50802993774414, -1.0438413619995117, 0.6901840567588806], "max": [-0.07352941483259201, 27.05980682373047, 47.696475982666016, 98.98562622070312, 42.64091873168945, 24.92331314086914], "mean": [-20.74379539489746, -14.12021255493164, -34.3922233581543, 76.74117279052734, 36.87039566040039, 12.527090072631836], "std": [7.802238941192627, 30.31808090209961, 37.96706008911133, 16.873029708862305, 10.121053695678711, 8.522013664245605], "count": [902]}, "observation.state": {"min": [-36.6789665222168, -98.98562622070312, -97.43702697753906, 53.820411682128906, -0.46398046612739563, 1.7509727478027344], "max": [0.14760147035121918, 27.557058334350586, 48.2103385925293, 98.77300262451172, 42.515262603759766, 24.708171844482422], "mean": [-21.17049789428711, -13.908541679382324, -32.76651382446289, 77.22600555419922, 36.686370849609375, 12.828003883361816], "std": [8.027359962463379, 30.83203887939453, 38.08684539794922, 16.404251098632812, 10.287182807922363, 8.04032039642334], "count": [902]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4192378671488921]], [[0.4212551510441575]], [[0.41827013465447155]]], "std": [[[0.2827942844216]], [[0.26040819926657954]], [[0.2489933853867625]]], "count": [164]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3975106047246134]], [[0.3854330937151283]], [[0.36626962403355656]]], "std": [[[0.2978602681115658]], [[0.2643649467990513]], [[0.23921748910573606]]], "count": [164]}, "timestamp": {"min": [0.0], "max": [30.033333333333335], "mean": [15.016666666666667], "std": [8.679493712833203], "count": [902]}, "frame_index": {"min": [0], "max": [901], "mean": [450.5], "std": [260.3848113849961], "count": [902]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [902]}, "index": {"min": [0], "max": [901], "mean": [450.5], "std": [260.3848113849961], "count": [902]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [902]}}}
2
- {"episode_index": 1, "stats": {"action": {"min": [-33.014705657958984, -99.33082580566406, -11.924118995666504, 18.765850067138672, -0.20876826345920563, 0.30674847960472107], "max": [2.279411792755127, -17.8586368560791, 47.24480438232422, 98.98562622070312, 52.557411193847656, 36.349693298339844], "mean": [-19.07003402709961, -41.81707000732422, 14.938411712646484, 27.56966209411621, 38.79945755004883, 16.188640594482422], "std": [8.11426830291748, 22.050373077392578, 14.95396614074707, 23.139541625976562, 12.603456497192383, 10.362241744995117], "count": [902]}, "observation.state": {"min": [-32.84132766723633, -99.15469360351562, -9.058771133422852, 18.237590789794922, -0.12210012227296829, 1.5564202070236206], "max": [2.066420555114746, -17.836009979248047, 47.68006896972656, 98.77300262451172, 52.18559265136719, 35.603111267089844], "mean": [-19.329011917114258, -41.41786575317383, 16.87526512145996, 28.534826278686523, 38.552730560302734, 16.357242584228516], "std": [8.254716873168945, 22.641080856323242, 14.359057426452637, 23.253862380981445, 12.837687492370605, 9.756329536437988], "count": [902]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4633884343117328]], [[0.41734666053921565]], [[0.40834348223537387]]], "std": [[[0.31037577684994994]], [[0.287285999513833]], [[0.2730102084864482]]], "count": [164]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36049467459748125]], [[0.38197778051769493]], [[0.4081195201657899]]], "std": [[[0.2862110846949107]], [[0.2658454808491733]], [[0.2564681013466708]]], "count": [164]}, "timestamp": {"min": [0.0], "max": [30.033333333333335], "mean": [15.016666666666667], "std": [8.679493712833203], "count": [902]}, "frame_index": {"min": [0], "max": [901], "mean": [450.5], "std": [260.3848113849961], "count": [902]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [902]}, "index": {"min": [902], "max": [1803], "mean": [1352.5], "std": [260.3848113849961], "count": [902]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [902]}}}
3
- {"episode_index": 2, "stats": {"action": {"min": [0.9558823704719543, -99.16352844238281, 25.2032527923584, 98.9011001586914, 4.123173236846924, 1.4570552110671997], "max": [0.9558823704719543, -99.16352844238281, 25.2032527923584, 98.9011001586914, 4.123173236846924, 1.4570552110671997], "mean": [0.9558825492858887, -99.1635513305664, 25.203248977661133, 98.90111541748047, 4.123174667358398, 1.4570552110671997], "std": [1.7881393432617188e-07, 2.288818359375e-05, 3.814697265625e-06, 1.52587890625e-05, 1.430511474609375e-06, 0.0], "count": [29]}, "observation.state": {"min": [1.1808117628097534, -98.9011001586914, 25.408748626708984, 98.32682800292969, 3.7851037979125977, 1.8806744813919067], "max": [1.1808117628097534, -98.9011001586914, 25.408748626708984, 98.32682800292969, 3.7851037979125977, 1.8806744813919067], "mean": [1.1808114051818848, -98.90111541748047, 25.408750534057617, 98.32683563232422, 3.7851030826568604, 1.880675196647644], "std": [3.5762786865234375e-07, 1.52587890625e-05, 1.9073486328125e-06, 7.62939453125e-06, 7.152557373046875e-07, 7.152557373046875e-07], "count": [29]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8352941176470589]], [[0.9568627450980393]], [[1.0]]], "mean": [[[0.3618667807640298]], [[0.42021975011268875]], [[0.4295611195627676]]], "std": [[[0.20385973682563363]], [[0.2070909707039247]], [[0.21813205585946593]]], "count": [29]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[0.9686274509803922]], [[0.9921568627450981]]], "mean": [[[0.3921701741041244]], [[0.37452060795582603]], [[0.3549784764480505]]], "std": [[[0.29542303393029706]], [[0.2591089229015631]], [[0.2346911372693132]]], "count": [29]}, "timestamp": {"min": [0.0], "max": [0.9333333333333333], "mean": [0.46666666666666673], "std": [0.27888667551135854], "count": [29]}, "frame_index": {"min": [0], "max": [28], "mean": [14.0], "std": [8.366600265340756], "count": [29]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [29]}, "index": {"min": [1804], "max": [1832], "mean": [1818.0], "std": [8.366600265340756], "count": [29]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [29]}}}
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-36.02941131591797, -99.74906158447266, 1.3550136089324951, 63.22908020019531, -1.513569951057434, 0.2300613522529602], "max": [-3.308823585510254, 10.163111686706543, 38.03071212768555, 98.73204040527344, 9.237996101379395, 25.15337371826172], "mean": [-6.535793781280518, -87.10453033447266, 11.173948287963867, 95.09510040283203, 0.1279282122850418, 2.8872222900390625], "std": [7.765676975250244, 30.991168975830078, 6.391582012176514, 9.771488189697266, 2.6177730560302734, 6.1153106689453125], "count": [902]}, "observation.state": {"min": [-35.571956634521484, -99.15469360351562, 4.021210670471191, 63.74790954589844, -1.6361416578292847, 1.4915693998336792], "max": [-3.54243540763855, 10.059171676635742, 38.311973571777344, 98.54991912841797, 8.913309097290039, 24.708171844482422], "mean": [-6.486238479614258, -86.87781524658203, 10.965532302856445, 94.62814331054688, 0.2357998937368393, 3.2751078605651855], "std": [7.725312232971191, 31.23033905029297, 6.802052021026611, 9.476099967956543, 2.58442759513855, 6.019759178161621], "count": [902]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4465417264466763]], [[0.43286562076558266]], [[0.40338822508169936]]], "std": [[[0.26441716503897833]], [[0.23691572978053388]], [[0.22919829853621343]]], "count": [164]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39980785584050693]], [[0.3867615898493544]], [[0.36556432702654235]]], "std": [[[0.2939533183605871]], [[0.25640716298052546]], [[0.23382054860747845]]], "count": [164]}, "timestamp": {"min": [0.0], "max": [30.033333333333335], "mean": [15.016666666666667], "std": [8.679493712833203], "count": [902]}, "frame_index": {"min": [0], "max": [901], "mean": [450.5], "std": [260.3848113849961], "count": [902]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [902]}, "index": {"min": [0], "max": [901], "mean": [450.5], "std": [260.3848113849961], "count": [902]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [902]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-3.6029412746429443, -98.9962387084961, 9.03342342376709, 98.73204040527344, -0.8350730538368225, 1.0736196041107178], "max": [-3.6029412746429443, -98.9962387084961, 9.03342342376709, 98.73204040527344, -0.8350730538368225, 1.0736196041107178], "mean": [-3.602938175201416, -98.99618530273438, 9.033429145812988, 98.73199462890625, -0.8350728750228882, 1.0736185312271118], "std": [3.0994415283203125e-06, 5.340576171875e-05, 5.7220458984375e-06, 4.57763671875e-05, 1.7881393432617188e-07, 1.0728836059570312e-06], "count": [89]}, "observation.state": {"min": [-3.54243540763855, -98.81656646728516, 8.528502464294434, 98.1037368774414, -0.7081807255744934, 1.4915693998336792], "max": [-3.54243540763855, -98.81656646728516, 8.528502464294434, 98.1037368774414, -0.7081807255744934, 1.4915693998336792], "mean": [-3.5424375534057617, -98.8165054321289, 8.528502464294434, 98.10362243652344, -0.7081802487373352, 1.4915690422058105], "std": [2.1457672119140625e-06, 6.103515625e-05, 0.0, 0.00011444091796875, 4.76837158203125e-07, 3.5762786865234375e-07], "count": [89]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4509045471653081]], [[0.430165383803334]], [[0.39492844881398254]]], "std": [[[0.2807465490498803]], [[0.24984878404109487]], [[0.2405252511386804]]], "count": [89]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[0.984313725490196]], [[0.996078431372549]]], "mean": [[[0.3977948772673864]], [[0.38357602858559153]], [[0.3636613630939267]]], "std": [[[0.2959848518697894]], [[0.2563954400806864]], [[0.23355345495944824]]], "count": [89]}, "timestamp": {"min": [0.0], "max": [2.933333333333333], "mean": [1.4666666666666666], "std": [0.8563488385776752], "count": [89]}, "frame_index": {"min": [0], "max": [88], "mean": [44.0], "std": [25.69046515733026], "count": [89]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [89]}, "index": {"min": [902], "max": [990], "mean": [946.0], "std": [25.69046515733026], "count": [89]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [89]}}}
 
meta/info.json CHANGED
@@ -1,18 +1,18 @@
1
  {
2
  "codebase_version": "v2.1",
3
  "robot_type": "so101_follower",
4
- "total_episodes": 3,
5
- "total_frames": 1833,
6
  "total_tasks": 1,
7
- "total_videos": 0,
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": null,
16
  "features": {
17
  "action": {
18
  "dtype": "float32",
@@ -43,7 +43,7 @@
43
  ]
44
  },
45
  "observation.images.wrist": {
46
- "dtype": "image",
47
  "shape": [
48
  480,
49
  640,
@@ -53,10 +53,19 @@
53
  "height",
54
  "width",
55
  "channels"
56
- ]
 
 
 
 
 
 
 
 
 
57
  },
58
  "observation.images.side": {
59
- "dtype": "image",
60
  "shape": [
61
  480,
62
  640,
@@ -66,7 +75,16 @@
66
  "height",
67
  "width",
68
  "channels"
69
- ]
 
 
 
 
 
 
 
 
 
70
  },
71
  "timestamp": {
72
  "dtype": "float32",
 
1
  {
2
  "codebase_version": "v2.1",
3
  "robot_type": "so101_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 991,
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",
 
43
  ]
44
  },
45
  "observation.images.wrist": {
46
+ "dtype": "video",
47
  "shape": [
48
  480,
49
  640,
 
53
  "height",
54
  "width",
55
  "channels"
56
+ ],
57
+ "info": {
58
+ "video.codec": "h264",
59
+ "video.width": 640,
60
+ "video.height": 480,
61
+ "video.fps": 30.0,
62
+ "video.nb_frames": 902,
63
+ "video.duration_s": 30.066667,
64
+ "video.pix_fmt": "yuv420p"
65
+ }
66
  },
67
  "observation.images.side": {
68
+ "dtype": "video",
69
  "shape": [
70
  480,
71
  640,
 
75
  "height",
76
  "width",
77
  "channels"
78
+ ],
79
+ "info": {
80
+ "video.codec": "h264",
81
+ "video.width": 640,
82
+ "video.height": 480,
83
+ "video.fps": 30.0,
84
+ "video.nb_frames": 902,
85
+ "video.duration_s": 30.066667,
86
+ "video.pix_fmt": "yuv420p"
87
+ }
88
  },
89
  "timestamp": {
90
  "dtype": "float32",
videos/chunk-000/observation.images.side/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3ef5c2594c9f61f0b9912f535e55b1492479b4398b18618de274910014be062a
3
+ size 4125900
videos/chunk-000/observation.images.side/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:baaedb7ab42ec1450f96b50498196d9a0a286269ca2c2f24fab9af0aa7503402
3
+ size 396186
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:fa7199abaa463deb99043103db659d01b0f6be5f9a1f802285d984afc6f942a0
3
+ size 4872100
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 sha256:8375f901ce8bdecfd02f571d9cdf2e92acea8f43e65196f45e96ab2f3b15a0f3
3
+ size 491113