cHemingway commited on
Commit
8ba04f7
·
verified ·
1 Parent(s): 6d1d6ee

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:cf428cb111af902b997dc29beca573d28e2a0682a0ea699ed09fefb59a2dde5f
3
+ size 71731
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:58f553e6d67cdcdfef813d128666ef3364085045e1ad0415e3d5dc5b3e027655
3
+ size 79586
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc557fbb0df5a72de7bddf0a0336205948095fa79db3f8ca72f3c81863dafeb9
3
+ size 79171
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f9046c07b34fcc080b05374522c4f0903f0e6e9462e196854d19795c85075e9
3
+ size 76608
meta/episodes.jsonl ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Put the pink tape on the white coaster"], "length": 1051}
2
+ {"episode_index": 1, "tasks": ["Put the pink tape on the white coaster"], "length": 1201}
3
+ {"episode_index": 2, "tasks": ["Put the pink tape on the white coaster"], "length": 1201}
4
+ {"episode_index": 3, "tasks": ["Put the pink tape on the white coaster"], "length": 1136}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-23.67675018310547, -92.83168029785156, -41.2574462890625, 69.25869750976562, 0.548100471496582, 0.848454475402832], "max": [-0.2896385192871094, 20.329303741455078, 91.05528259277344, 100.3593521118164, 7.796053409576416, 9.014678955078125], "mean": [-7.234319686889648, -10.480178833007812, -17.115888595581055, 88.0843276977539, 4.079906463623047, 3.877565622329712], "std": [3.985654592514038, 12.451188087463379, 17.025814056396484, 7.117591857910156, 1.3447608947753906, 1.3647199869155884], "count": [1051]}, "observation.state": {"min": [-22.756052017211914, -100.0, -37.93730163574219, 71.22929382324219, 0.9637926816940308, 0.7879185676574707], "max": [-0.7821229100227356, 20.899795532226562, 99.45479583740234, 97.99476623535156, 7.319614410400391, 7.879185676574707], "mean": [-7.271852970123291, -9.515871047973633, -15.10537338256836, 87.88117218017578, 4.069726467132568, 3.8627355098724365], "std": [3.88529896736145, 14.042267799377441, 18.514272689819336, 6.846292018890381, 1.315153956413269, 1.346521258354187], "count": [1051]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7647058823529411]], [[0.796078431372549]], [[0.8313725490196079]]], "mean": [[[0.5023585358056266]], [[0.50046898754973]], [[0.4888334443378801]]], "std": [[[0.13833216271911195]], [[0.14825610940303724]], [[0.14981953944027965]]], "count": [184]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9764705882352941]]], "mean": [[[0.4532553918608506]], [[0.4393484595529033]], [[0.41203564578005114]]], "std": [[[0.1901000276855668]], [[0.1965401846477564]], [[0.19938590615836913]]], "count": [184]}, "timestamp": {"min": [0.0], "max": [35.0], "mean": [17.5], "std": [10.11324763751871], "count": [1051]}, "frame_index": {"min": [0], "max": [1050], "mean": [525.0], "std": [303.3974291255613], "count": [1051]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1051]}, "index": {"min": [0], "max": [1050], "mean": [525.0], "std": [303.3974291255613], "count": [1051]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1051]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [1.382504940032959, -87.13050079345703, -20.840255737304688, 61.779884338378906, -5.1237640380859375, 7.822459697723389], "max": [13.715078353881836, 23.45600128173828, 91.20314025878906, 78.0986099243164, 1.7171602249145508, 18.974308013916016], "mean": [5.76978874206543, -16.021087646484375, 14.361468315124512, 68.40392303466797, -1.7951239347457886, 14.522879600524902], "std": [2.8950867652893066, 16.67273712158203, 15.536046981811523, 3.4520273208618164, 1.2647796869277954, 2.4641036987304688], "count": [1201]}, "observation.state": {"min": [1.8994413614273071, -89.52965545654297, -17.855520248413086, 60.941585540771484, -4.71476936340332, 7.682206153869629], "max": [13.519553184509277, 23.926380157470703, 99.18218994140625, 77.50653839111328, 1.3284709453582764, 17.925148010253906], "mean": [5.71451473236084, -14.930660247802734, 16.263031005859375, 68.4919662475586, -1.8270618915557861, 14.528488159179688], "std": [2.852463722229004, 17.546924591064453, 16.338895797729492, 3.391649007797241, 1.2628737688064575, 2.4984307289123535], "count": [1201]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.8745098039215686]], [[0.8862745098039215]]], "mean": [[[0.5105106229174677]], [[0.49809826448961936]], [[0.4822817726355248]]], "std": [[[0.14704232573086648]], [[0.1578889800520465]], [[0.16024662404794526]]], "count": [204]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5367244809688582]], [[0.5220072408048186]], [[0.5018510295185612]]], "std": [[[0.21547886120798188]], [[0.2273599430313072]], [[0.23758885643123379]]], "count": [204]}, "timestamp": {"min": [0.0], "max": [40.0], "mean": [20.0], "std": [11.556623882239812], "count": [1201]}, "frame_index": {"min": [0], "max": [1200], "mean": [600.0], "std": [346.69871646719434], "count": [1201]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1201]}, "index": {"min": [1051], "max": [2251], "mean": [1651.0], "std": [346.69871646719434], "count": [1201]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1201]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-10.744953155517578, -88.49302673339844, -44.81719207763672, 58.83610534667969, -4.256411552429199, 9.383516311645508], "max": [7.858147144317627, -1.3338031768798828, 90.9625244140625, 100.2747573852539, 2.3206043243408203, 18.819114685058594], "mean": [-2.99033260345459, -17.570234298706055, -17.717735290527344, 88.45832061767578, -1.3892946243286133, 15.095462799072266], "std": [4.51676082611084, 8.840495109558105, 22.878860473632812, 9.549290657043457, 1.4493666887283325, 1.1059919595718384], "count": [1201]}, "observation.state": {"min": [-9.6461820602417, -94.11042785644531, -41.57201385498047, 60.68003463745117, -3.7770252227783203, 8.141825675964355], "max": [7.411545753479004, -3.8854806423187256, 99.09132385253906, 97.82040405273438, 1.6410523653030396, 16.546289443969727], "mean": [-3.037785291671753, -16.751571655273438, -15.636710166931152, 88.27763366699219, -1.5175120830535889, 15.086913108825684], "std": [4.54175329208374, 9.93194580078125, 24.001680374145508, 9.540318489074707, 1.3784946203231812, 1.1620683670043945], "count": [1201]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7686274509803922]], [[0.8666666666666667]], [[0.8823529411764706]]], "mean": [[[0.5176275681228374]], [[0.5187920961889658]], [[0.5083628031686531]]], "std": [[[0.140904928011779]], [[0.14473352848679893]], [[0.14239797593550058]]], "count": [204]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9882352941176471]]], "mean": [[[0.4377812606796531]], [[0.43391220791148705]], [[0.4178913478790209]]], "std": [[[0.19122281028451796]], [[0.20285173201096887]], [[0.20683437202893082]]], "count": [204]}, "timestamp": {"min": [0.0], "max": [40.0], "mean": [20.0], "std": [11.556623882239812], "count": [1201]}, "frame_index": {"min": [0], "max": [1200], "mean": [600.0], "std": [346.69871646719434], "count": [1201]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1201]}, "index": {"min": [2252], "max": [3452], "mean": [2852.0], "std": [346.69871646719434], "count": [1201]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1201]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-41.973297119140625, -72.9324951171875, -46.8349609375, 59.12130355834961, -1.5716972351074219, 0.7665061950683594], "max": [-2.1282663345336914, 24.804420471191406, 74.62391662597656, 101.02565002441406, 17.609180450439453, 23.453041076660156], "mean": [-8.696734428405762, -13.076043128967285, -23.046512603759766, 90.10208129882812, 2.0444605350494385, 11.59182071685791], "std": [8.65259075164795, 10.297142028808594, 20.328947067260742, 10.417715072631836, 3.712904453277588, 3.752307891845703], "count": [1136]}, "observation.state": {"min": [-41.080074310302734, -99.75460052490234, -43.571102142333984, 61.20314025878906, -0.755405068397522, 1.4445173740386963], "max": [-2.718808174133301, 25.071575164794922, 99.00045776367188, 98.4306869506836, 17.0096378326416, 22.521339416503906], "mean": [-8.902023315429688, -12.304648399353027, -20.916025161743164, 89.8057632446289, 2.0828795433044434, 11.539006233215332], "std": [8.828330993652344, 12.214595794677734, 22.077781677246094, 10.340301513671875, 3.8256614208221436, 3.6892454624176025], "count": [1136]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8705882352941177]], [[0.9529411764705882]], [[0.996078431372549]]], "mean": [[[0.5132185373722138]], [[0.5145618139349758]], [[0.505925875649405]]], "std": [[[0.14488447401302634]], [[0.14744538934158924]], [[0.14456226612365733]]], "count": [195]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.448525814200324]], [[0.4359271465281269]], [[0.4294737319144182]]], "std": [[[0.19762145153317828]], [[0.20588126166430756]], [[0.21219294837334388]]], "count": [195]}, "timestamp": {"min": [0.0], "max": [37.833333333333336], "mean": [18.916666666666668], "std": [10.931160861398839], "count": [1136]}, "frame_index": {"min": [0], "max": [1135], "mean": [567.5], "std": [327.9348258419651], "count": [1136]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1136]}, "index": {"min": [3453], "max": [4588], "mean": [4020.5], "std": [327.9348258419651], "count": [1136]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1136]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 4,
5
+ "total_frames": 4589,
6
+ "total_tasks": 1,
7
+ "total_videos": 8,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:4"
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.base": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 720,
72
+ 1280,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 720,
82
+ "video.width": 1280,
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": "Put the pink tape on the white coaster"}
videos/chunk-000/observation.images.base/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9234413971d60f205aae8312a2fe66bb28048e4e3e35352cd417d3b71e40fc1a
3
+ size 29777186
videos/chunk-000/observation.images.base/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:52f191108794343023d57a6e00f447c9d302008d523401ea5c82febe81f797a4
3
+ size 36495187
videos/chunk-000/observation.images.base/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e586c028bb11017097771a71168d9f5d444824bf001facaf3e98b1b67fb6b22f
3
+ size 35983417
videos/chunk-000/observation.images.base/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c96cf310feacf88beada768c149dd00a78f8979e4bc81397fe7305a02e3db0e5
3
+ size 32798280
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 sha256:679a9d6bb90c65f86eb45b57f6ee5f247666bb6da0111c4555ea547dac71e0f7
3
+ size 3534660
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:d9fbcad9b034d7ee39d90ae7b94a06ca173238c4b1e7ac99f86f5327f4439110
3
+ size 5019400
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 sha256:489d1b81fbccacef1946b5a83904c11b8fbdb9ee14b36fb6e526aaf80a6a3946
3
+ size 4808788
videos/chunk-000/observation.images.wrist/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c84e4edb50bf9a81b60ae68c0ed13e86bdab2c33ee8bad1939b2ea3a0d00b89b
3
+ size 4119384