Add files using upload-large-folder tool
Browse files- data/chunk-000/file-001.parquet +3 -0
- data/chunk-000/file-002.parquet +3 -0
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- meta/export_plan.json +436 -0
- meta/info.json +195 -0
- meta/stats.json +182 -0
- meta/tasks.jsonl +3 -0
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 339 |
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|
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|
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|
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|
| 343 |
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144,
|
| 344 |
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|
| 345 |
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|
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|
| 347 |
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|
| 348 |
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|
| 349 |
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|
| 350 |
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151,
|
| 351 |
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|
| 352 |
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|
| 353 |
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|
| 354 |
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|
| 355 |
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|
| 356 |
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157,
|
| 357 |
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|
| 358 |
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159,
|
| 359 |
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160,
|
| 360 |
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|
| 361 |
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|
| 362 |
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163,
|
| 363 |
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|
| 364 |
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|
| 365 |
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166,
|
| 366 |
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167,
|
| 367 |
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168,
|
| 368 |
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169,
|
| 369 |
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170,
|
| 370 |
+
171,
|
| 371 |
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172,
|
| 372 |
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173,
|
| 373 |
+
174,
|
| 374 |
+
175,
|
| 375 |
+
176,
|
| 376 |
+
177,
|
| 377 |
+
178,
|
| 378 |
+
179,
|
| 379 |
+
180,
|
| 380 |
+
181,
|
| 381 |
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182,
|
| 382 |
+
183,
|
| 383 |
+
184,
|
| 384 |
+
185,
|
| 385 |
+
186,
|
| 386 |
+
187,
|
| 387 |
+
188,
|
| 388 |
+
189,
|
| 389 |
+
190,
|
| 390 |
+
191,
|
| 391 |
+
192
|
| 392 |
+
],
|
| 393 |
+
"camera_map": {
|
| 394 |
+
"realsense": "wrist"
|
| 395 |
+
},
|
| 396 |
+
"native_resolution": true,
|
| 397 |
+
"offset_t": 0.0,
|
| 398 |
+
"offset_semantics": "positive offset trims the start of state/action and the end of video; negative offset trims the start of video and the end of state/action",
|
| 399 |
+
"action_filter": {
|
| 400 |
+
"type": "hampel_bidir_ema",
|
| 401 |
+
"window": 9,
|
| 402 |
+
"sigma": 0.1,
|
| 403 |
+
"alpha": 0.67,
|
| 404 |
+
"gripper_filtered": false
|
| 405 |
+
},
|
| 406 |
+
"state_filter": {
|
| 407 |
+
"type": "hampel_bidir_ema",
|
| 408 |
+
"window": 9,
|
| 409 |
+
"sigma": 0.1,
|
| 410 |
+
"alpha": 0.67,
|
| 411 |
+
"gripper_filtered": true
|
| 412 |
+
},
|
| 413 |
+
"initial_stillness_filter": {
|
| 414 |
+
"enabled": true,
|
| 415 |
+
"tcp_speed_m_per_s": 0.005,
|
| 416 |
+
"joint_speed_rad_per_s": 0.05,
|
| 417 |
+
"sustained_frames": 2,
|
| 418 |
+
"min_usable_frames": 20,
|
| 419 |
+
"skipped": []
|
| 420 |
+
},
|
| 421 |
+
"action_source": "next observation EE xyz/rot6d plus thresholded next observed gripper state; raw deltas ignored",
|
| 422 |
+
"ee_tcp_offset_m": 0.172,
|
| 423 |
+
"ee_tcp_offset_frame": "local +Z of the recorded EE/link6 orientation; exported xyz is TCP/tool point",
|
| 424 |
+
"action_gripper_source": "next_state_threshold",
|
| 425 |
+
"action_gripper_threshold": 0.425,
|
| 426 |
+
"action_gripper_smooth": {
|
| 427 |
+
"type": "hampel",
|
| 428 |
+
"window": 5,
|
| 429 |
+
"sigma": 0.5
|
| 430 |
+
},
|
| 431 |
+
"gripper_conversion": "converted = 0.85 if raw <= 0 else 0.85 - raw",
|
| 432 |
+
"fps_source": "observations/relative_timestamps",
|
| 433 |
+
"source_fps_mean": 20.00218368674577,
|
| 434 |
+
"output_fps": 30.0,
|
| 435 |
+
"fps": 30.0
|
| 436 |
+
}
|
meta/info.json
ADDED
|
@@ -0,0 +1,195 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "xarm6",
|
| 4 |
+
"ee_frame": "tcp",
|
| 5 |
+
"ee_tcp_offset_m": 0.172,
|
| 6 |
+
"ee_tcp_offset_frame": "local +Z of link6/toolhead frame",
|
| 7 |
+
"ee_tcp_offset_note": "observation.state/action xyz are defined at the TCP/tool point, 0.172 m (172 mm) from link6 along local +Z",
|
| 8 |
+
"total_episodes": 193,
|
| 9 |
+
"total_frames": 44230,
|
| 10 |
+
"total_tasks": 3,
|
| 11 |
+
"total_chunks": 1,
|
| 12 |
+
"chunks_size": 1000,
|
| 13 |
+
"fps": 30.0,
|
| 14 |
+
"splits": {
|
| 15 |
+
"train": "0:193"
|
| 16 |
+
},
|
| 17 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 18 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 19 |
+
"features": {
|
| 20 |
+
"action": {
|
| 21 |
+
"dtype": "float32",
|
| 22 |
+
"shape": [
|
| 23 |
+
10
|
| 24 |
+
],
|
| 25 |
+
"names": [
|
| 26 |
+
"x",
|
| 27 |
+
"y",
|
| 28 |
+
"z",
|
| 29 |
+
"rot_6d_0",
|
| 30 |
+
"rot_6d_1",
|
| 31 |
+
"rot_6d_2",
|
| 32 |
+
"rot_6d_3",
|
| 33 |
+
"rot_6d_4",
|
| 34 |
+
"rot_6d_5",
|
| 35 |
+
"gripper"
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"observation.state": {
|
| 39 |
+
"dtype": "float32",
|
| 40 |
+
"shape": [
|
| 41 |
+
16
|
| 42 |
+
],
|
| 43 |
+
"names": [
|
| 44 |
+
"x",
|
| 45 |
+
"y",
|
| 46 |
+
"z",
|
| 47 |
+
"rot_6d_0",
|
| 48 |
+
"rot_6d_1",
|
| 49 |
+
"rot_6d_2",
|
| 50 |
+
"rot_6d_3",
|
| 51 |
+
"rot_6d_4",
|
| 52 |
+
"rot_6d_5",
|
| 53 |
+
"gripper",
|
| 54 |
+
"joint_1",
|
| 55 |
+
"joint_2",
|
| 56 |
+
"joint_3",
|
| 57 |
+
"joint_4",
|
| 58 |
+
"joint_5",
|
| 59 |
+
"joint_6"
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"timestamp": {
|
| 63 |
+
"dtype": "float64",
|
| 64 |
+
"shape": [
|
| 65 |
+
1
|
| 66 |
+
]
|
| 67 |
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},
|
| 68 |
+
"frame_index": {
|
| 69 |
+
"dtype": "int64",
|
| 70 |
+
"shape": [
|
| 71 |
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1
|
| 72 |
+
]
|
| 73 |
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},
|
| 74 |
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"task_index": {
|
| 75 |
+
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|
| 76 |
+
"shape": [
|
| 77 |
+
1
|
| 78 |
+
]
|
| 79 |
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},
|
| 80 |
+
"episode_index": {
|
| 81 |
+
"dtype": "int64",
|
| 82 |
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|
| 83 |
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1
|
| 84 |
+
]
|
| 85 |
+
},
|
| 86 |
+
"index": {
|
| 87 |
+
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|
| 88 |
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"shape": [
|
| 89 |
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1
|
| 90 |
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]
|
| 91 |
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},
|
| 92 |
+
"next.reward": {
|
| 93 |
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"dtype": "float64",
|
| 94 |
+
"shape": [
|
| 95 |
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1
|
| 96 |
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]
|
| 97 |
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},
|
| 98 |
+
"next.done": {
|
| 99 |
+
"dtype": "bool",
|
| 100 |
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"shape": [
|
| 101 |
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1
|
| 102 |
+
]
|
| 103 |
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},
|
| 104 |
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"observation.images.wrist": {
|
| 105 |
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"dtype": "video",
|
| 106 |
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"shape": [
|
| 107 |
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480,
|
| 108 |
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640,
|
| 109 |
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3
|
| 110 |
+
],
|
| 111 |
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"names": [
|
| 112 |
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"height",
|
| 113 |
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"width",
|
| 114 |
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"channels"
|
| 115 |
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],
|
| 116 |
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"video_info": {
|
| 117 |
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"video.fps": 30.0,
|
| 118 |
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"video.height": 480,
|
| 119 |
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"video.width": 640,
|
| 120 |
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"video.codec": "avc1",
|
| 121 |
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"has_audio": false
|
| 122 |
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},
|
| 123 |
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"camera_metadata": {
|
| 124 |
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"source_camera": "realsense",
|
| 125 |
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"camera_model": null,
|
| 126 |
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"view": "mono",
|
| 127 |
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"output_width": 640,
|
| 128 |
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"output_height": 480,
|
| 129 |
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"intrinsics": {
|
| 130 |
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"K": [
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| 131 |
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[
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"D": [
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meta/tasks.jsonl
ADDED
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@@ -0,0 +1,3 @@
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|
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|
| 1 |
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{"task_index": 0, "task": "place 50ml test tube on vortexer"}
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| 2 |
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| 3 |
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