cooooolRobot commited on
Commit
e4f1677
·
verified ·
1 Parent(s): 9375936

Upload 16 files

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0bd7b39b63321eba5eb05c9c6dcd640a7ec02b16073394457667941d962d5e90
3
+ size 64195
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:52531afaed579aa64595512f0fc9511246db183d107d0a7987a4ea958398c260
3
+ size 109848
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:852f106d5859f6810efc0a56cf3c7b3eb97e03ab741aafe702f611186b1cee75
3
+ size 83680
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["anonymous task"], "length": 547}
2
+ {"episode_index": 1, "tasks": ["anonymous task"], "length": 898}
3
+ {"episode_index": 2, "tasks": ["anonymous task"], "length": 736}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"base_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5569496356064549]], [[0.5758257363786222]], [[0.5484092088900456]]], "std": [[[0.2542396783164695]], [[0.2595064229367637]], [[0.2564011657099715]]], "count": [113]}, "left_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5408015736161721]], [[0.5546223266961652]], [[0.5227145312771125]]], "std": [[[0.279020962146688]], [[0.2847445690072388]], [[0.28954103293109906]]], "count": [113]}, "right_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43066146104459485]], [[0.44570683310197234]], [[0.41565848227196484]]], "std": [[[0.2411181902097374]], [[0.2450184127434137]], [[0.24534635407062277]]], "count": [113]}, "state": {"min": [-0.2599755823612213, -1.9609750509262085, 0.01735713705420494, 0.9809643626213074, -1.1804760694503784, -1.4650568962097168, 0.0004392713599372655, -0.9214541912078857, -1.8770503997802734, 0.013160906732082367, -1.573395848274231, -0.00019073777366429567, 0.881017804145813, 0.0005426140269264579], "max": [0.8142595291137695, 0.1031891331076622, 1.638246774673462, 1.516937494277954, -0.03795681521296501, -1.4620050191879272, 0.049606431275606155, 0.28782328963279724, -0.00667582219466567, 1.5737773180007935, -0.9756237268447876, 1.2811856269836426, 1.6798275709152222, 0.04006822407245636], "mean": [0.13293373584747314, -0.5641087889671326, 0.4731603264808655, 1.3252042531967163, -0.4110702872276306, -1.4640909433364868, 0.00919643510133028, -0.43311789631843567, -0.8894631862640381, 0.762863278388977, -1.2437994480133057, 0.5746715664863586, 1.3945115804672241, 0.006078615318983793], "std": [0.440649151802063, 0.7719016671180725, 0.5713213682174683, 0.20873451232910156, 0.41461318731307983, 0.0004035863094031811, 0.015683667734265327, 0.3596554100513458, 0.7058054804801941, 0.5428336262702942, 0.15907946228981018, 0.451797753572464, 0.20841635763645172, 0.011497952975332737], "count": [547]}, "actions": {"min": [-0.28529059886932373, -1.975033164024353, 0.01675993762910366, 0.9859631657600403, -1.1816173791885376, -1.4641788005828857, -0.0041646831668913364, -0.923357367515564, -1.8782577514648438, 0.01269728597253561, -1.5770009756088257, -7.510114664910361e-05, 0.8756573796272278, -0.0005501984851434827], "max": [0.820341169834137, 0.11857791244983673, 1.6392083168029785, 1.5322849750518799, -0.03732207044959068, -1.463291883468628, 0.050857216119766235, 0.29755333065986633, -0.005950034596025944, 1.577447533607483, -0.9756177067756653, 1.282285213470459, 1.680763602256775, 0.04352029785513878], "mean": [0.12879428267478943, -0.5639660358428955, 0.47132372856140137, 1.328234314918518, -0.4077329933643341, -1.4638803005218506, 0.005330802872776985, -0.43214061856269836, -0.8890454173088074, 0.7614436149597168, -1.2404581308364868, 0.5728921294212341, 1.3912588357925415, 0.004532396327704191], "std": [0.442215234041214, 0.773609459400177, 0.5740610957145691, 0.20936043560504913, 0.417297899723053, 0.0003048889630008489, 0.017364999279379845, 0.36197638511657715, 0.7075715661048889, 0.5458903908729553, 0.16118718683719635, 0.45507287979125977, 0.2144937366247177, 0.011944102123379707], "count": [547]}, "timestamp": {"min": [0.0], "max": [27.3], "mean": [13.65], "std": [7.895251737595198], "count": [547]}, "frame_index": {"min": [0], "max": [546], "mean": [273.0], "std": [157.90503475190397], "count": [547]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [547]}, "index": {"min": [0], "max": [546], "mean": [273.0], "std": [157.90503475190397], "count": [547]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [547]}}}
2
+ {"episode_index": 1, "stats": {"base_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.571881716533158]], [[0.5830115300693448]], [[0.5549724289614221]]], "std": [[[0.22535902103881358]], [[0.23031605584824327]], [[0.2342144665787254]]], "count": [164]}, "left_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5592626671349433]], [[0.5563363696596525]], [[0.4836213596465009]]], "std": [[[0.2697132912227508]], [[0.2858407736101018]], [[0.32222436520025594]]], "count": [164]}, "right_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4880461140502949]], [[0.502506362834768]], [[0.46881327091304004]]], "std": [[[0.25554701577247274]], [[0.2595526908007313]], [[0.26856035735988176]]], "count": [164]}, "state": {"min": [-0.2782863974571228, -1.9487677812576294, 0.016212711110711098, 1.3570992946624756, -1.28233003616333, -1.9537270069122314, 0.0002421960380161181, -0.6074998378753662, -1.9163423776626587, 0.013160906732082367, -2.0494773387908936, 0.0020981156267225742, 1.495956301689148, 0.0005564659368246794], "max": [0.6776912808418274, 0.06237125024199486, 1.5348668098449707, 2.0197222232818604, -0.0394827201962471, -1.4814603328704834, 0.069073885679245, 0.30308231711387634, 0.01201647985726595, 1.7870222330093384, -1.4612420797348022, 1.495956301689148, 1.9602121114730835, 0.0676100105047226], "mean": [0.10353601723909378, -0.7784426808357239, 0.66917884349823, 1.6691421270370483, -0.5077908039093018, -1.7004115581512451, 0.032780181616544724, -0.37058764696121216, -1.3164712190628052, 1.246642827987671, -1.6934709548950195, 1.0626353025436401, 1.6574981212615967, 0.0461387038230896], "std": [0.35172393918037415, 0.7390297651290894, 0.5682712197303772, 0.13995987176895142, 0.4156245291233063, 0.1549195796251297, 0.031198974698781967, 0.24789296090602875, 0.44763147830963135, 0.4033393859863281, 0.1519511491060257, 0.30734071135520935, 0.1687914878129959, 0.01888473890721798], "count": [898]}, "actions": {"min": [-0.28633031249046326, -1.955469012260437, 0.0150402020663023, 1.355823278427124, -1.2966872453689575, -1.9528236389160156, -0.004418260883539915, -0.6086968779563904, -1.916780948638916, 0.012694289907813072, -2.049074649810791, 0.002121207769960165, 1.4973869323730469, -0.0005792906740680337], "max": [0.6788644194602966, 0.06849883496761322, 1.5348436832427979, 2.104468822479248, -0.03909840062260628, -1.4811511039733887, 0.07219050824642181, 0.3187773823738098, 0.012002200819551945, 1.7966539859771729, -1.4612812995910645, 1.5172687768936157, 1.9597532749176025, 0.06946486234664917], "mean": [0.10384031385183334, -0.7781280279159546, 0.6692590713500977, 1.6708893775939941, -0.5076207518577576, -1.7017853260040283, 0.01814940944314003, -0.3702954053878784, -1.3164209127426147, 1.246830701828003, -1.6912450790405273, 1.0627752542495728, 1.6556321382522583, 0.04198387265205383], "std": [0.35276421904563904, 0.740252673625946, 0.5691459774971008, 0.14188751578330994, 0.41668763756752014, 0.15507687628269196, 0.032348401844501495, 0.2487426996231079, 0.44919463992118835, 0.40576305985450745, 0.15079662203788757, 0.31130701303482056, 0.16802936792373657, 0.023650316521525383], "count": [898]}, "timestamp": {"min": [0.0], "max": [44.85], "mean": [22.425], "std": [12.961505506691728], "count": [898]}, "frame_index": {"min": [0], "max": [897], "mean": [448.5], "std": [259.23011013383456], "count": [898]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [898]}, "index": {"min": [547], "max": [1444], "mean": [995.5], "std": [259.23011013383456], "count": [898]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [898]}}}
3
+ {"episode_index": 2, "stats": {"base_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5965700789180921]], [[0.5823903504959903]], [[0.4850604951791591]]], "std": [[[0.24690078482625713]], [[0.246613962494046]], [[0.26464005236099736]]], "count": [141]}, "left_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5277997656213785]], [[0.5273067506257821]], [[0.46789002456774675]]], "std": [[[0.3156626799777122]], [[0.32369154927402466]], [[0.3445999322488198]]], "count": [141]}, "right_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.449176638622352]], [[0.4578309794071293]], [[0.425226792460483]]], "std": [[[0.26461231754577713]], [[0.26842337965135615]], [[0.27212336223535605]]], "count": [141]}, "state": {"min": [-0.26684215664863586, -1.6531243324279785, 0.016975661739706993, 1.1537728309631348, -1.1846723556518555, -1.5295262336730957, -3.6929803172824904e-05, -0.7322422862052917, -2.165827512741089, 0.011635004542768002, -1.8312733173370361, -0.00476844422519207, 1.2407492399215698, 0.0005564659368246794], "max": [0.778782308101654, 0.1653696447610855, 0.8207446336746216, 1.6748683452606201, 1.0690852403640747, -1.190394401550293, 0.06894080340862274, 0.3583962619304657, -0.0036240178160369396, 1.9251163005828857, -1.124399185180664, 1.1900129318237305, 1.8247883319854736, 0.06861311197280884], "mean": [-0.02379121445119381, -0.2820034623146057, 0.16504105925559998, 1.4950201511383057, -0.11067989468574524, -1.4556297063827515, 0.01782846264541149, -0.20531833171844482, -1.248655080795288, 1.050073504447937, -1.75075101852417, 0.6612417697906494, 1.57710599899292, 0.015169578604400158], "std": [0.36892440915107727, 0.5640158653259277, 0.25884997844696045, 0.13584962487220764, 0.49388396739959717, 0.09492108970880508, 0.029351040720939636, 0.31618744134902954, 0.7666239142417908, 0.6321024894714355, 0.11142731457948685, 0.43295466899871826, 0.18560442328453064, 0.018303873017430305], "count": [736]}, "actions": {"min": [-0.27333298325538635, -1.6663345098495483, 0.016451343894004822, 1.089294195175171, -1.2695459127426147, -1.5293819904327393, -0.004665288608521223, -0.7376258373260498, -2.175436496734619, 0.012646352872252464, -1.8310067653656006, -0.004335093777626753, 1.2411012649536133, -0.0007220292463898659], "max": [0.7879298329353333, 0.17673136293888092, 0.8221657872200012, 1.6910101175308228, 1.0692325830459595, -1.1907914876937866, 0.07212074100971222, 0.36225613951683044, 0.014228271320462227, 1.9434038400650024, -1.4722141027450562, 1.1970053911209106, 1.8284602165222168, 0.07701461017131805], "mean": [-0.02362474426627159, -0.2814936339855194, 0.16474401950836182, 1.4949930906295776, -0.11042327433824539, -1.4552242755889893, 0.008013121783733368, -0.20496416091918945, -1.2485647201538086, 1.0503528118133545, -1.7594300508499146, 0.6602045297622681, 1.5771766901016235, 0.0076024532318115234], "std": [0.369983434677124, 0.5657703280448914, 0.2610548436641693, 0.13769562542438507, 0.5020954012870789, 0.0957656055688858, 0.026939639821648598, 0.31830742955207825, 0.7676272392272949, 0.6333816051483154, 0.08729653805494308, 0.4331476390361786, 0.18607886135578156, 0.021099189296364784], "count": [736]}, "timestamp": {"min": [0.0], "max": [36.75], "mean": [18.374999999999996], "std": [10.623235147543332], "count": [736]}, "frame_index": {"min": [0], "max": [735], "mean": [367.5], "std": [212.46470295086664], "count": [736]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [736]}, "index": {"min": [1445], "max": [2180], "mean": [1812.5], "std": [212.46470295086664], "count": [736]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [736]}}}
meta/info.json ADDED
@@ -0,0 +1,172 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "ptk",
4
+ "total_episodes": 3,
5
+ "total_frames": 2181,
6
+ "total_tasks": 1,
7
+ "total_videos": 9,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:3"
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
+ "base_0_rgb": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 480,
21
+ 640,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "info": {
30
+ "video.height": 480,
31
+ "video.width": 640,
32
+ "video.codec": "av1",
33
+ "video.pix_fmt": "yuv420p",
34
+ "video.is_depth_map": false,
35
+ "video.fps": 20,
36
+ "video.channels": 3,
37
+ "has_audio": false
38
+ }
39
+ },
40
+ "left_wrist_0_rgb": {
41
+ "dtype": "video",
42
+ "shape": [
43
+ 480,
44
+ 640,
45
+ 3
46
+ ],
47
+ "names": [
48
+ "height",
49
+ "width",
50
+ "channel"
51
+ ],
52
+ "info": {
53
+ "video.height": 480,
54
+ "video.width": 640,
55
+ "video.codec": "av1",
56
+ "video.pix_fmt": "yuv420p",
57
+ "video.is_depth_map": false,
58
+ "video.fps": 20,
59
+ "video.channels": 3,
60
+ "has_audio": false
61
+ }
62
+ },
63
+ "right_wrist_0_rgb": {
64
+ "dtype": "video",
65
+ "shape": [
66
+ 480,
67
+ 640,
68
+ 3
69
+ ],
70
+ "names": [
71
+ "height",
72
+ "width",
73
+ "channel"
74
+ ],
75
+ "info": {
76
+ "video.height": 480,
77
+ "video.width": 640,
78
+ "video.codec": "av1",
79
+ "video.pix_fmt": "yuv420p",
80
+ "video.is_depth_map": false,
81
+ "video.fps": 20,
82
+ "video.channels": 3,
83
+ "has_audio": false
84
+ }
85
+ },
86
+ "state": {
87
+ "dtype": "float32",
88
+ "shape": [
89
+ 14
90
+ ],
91
+ "names": {
92
+ "motors": [
93
+ "left_waist",
94
+ "left_shoulder",
95
+ "left_elbow",
96
+ "left_forearm_roll",
97
+ "left_wrist_angle",
98
+ "left_wrist_rotate",
99
+ "left_gripper",
100
+ "right_waist",
101
+ "right_shoulder",
102
+ "right_elbow",
103
+ "right_forearm_roll",
104
+ "right_wrist_angle",
105
+ "right_wrist_rotate",
106
+ "right_gripper"
107
+ ]
108
+ },
109
+ "fps": 50.0
110
+ },
111
+ "actions": {
112
+ "dtype": "float32",
113
+ "shape": [
114
+ 14
115
+ ],
116
+ "names": {
117
+ "motors": [
118
+ "left_waist",
119
+ "left_shoulder",
120
+ "left_elbow",
121
+ "left_forearm_roll",
122
+ "left_wrist_angle",
123
+ "left_wrist_rotate",
124
+ "left_gripper",
125
+ "right_waist",
126
+ "right_shoulder",
127
+ "right_elbow",
128
+ "right_forearm_roll",
129
+ "right_wrist_angle",
130
+ "right_wrist_rotate",
131
+ "right_gripper"
132
+ ]
133
+ },
134
+ "fps": 50.0
135
+ },
136
+ "timestamp": {
137
+ "dtype": "float32",
138
+ "shape": [
139
+ 1
140
+ ],
141
+ "names": null
142
+ },
143
+ "frame_index": {
144
+ "dtype": "int64",
145
+ "shape": [
146
+ 1
147
+ ],
148
+ "names": null
149
+ },
150
+ "episode_index": {
151
+ "dtype": "int64",
152
+ "shape": [
153
+ 1
154
+ ],
155
+ "names": null
156
+ },
157
+ "index": {
158
+ "dtype": "int64",
159
+ "shape": [
160
+ 1
161
+ ],
162
+ "names": null
163
+ },
164
+ "task_index": {
165
+ "dtype": "int64",
166
+ "shape": [
167
+ 1
168
+ ],
169
+ "names": null
170
+ }
171
+ }
172
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "anonymous task"}
videos/chunk-000/base_0_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:14aaf5c7de11f026e524674a13bbd11e300b309ea094d63bd3ad29e79834809a
3
+ size 2151047
videos/chunk-000/base_0_rgb/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d3424be2cb2a7112a0fd28c0adb3750a6a1f4ae9d1b1bbb6e9aa394bf823d9b2
3
+ size 5451489
videos/chunk-000/base_0_rgb/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f93a8e11656850fa110b75737adc3135c78e06749d092223b7e51166838838dc
3
+ size 3499387
videos/chunk-000/left_wrist_0_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:393b259d18371edc002166d11e663c6bfbee740886f23c955f653e0cc41dd158
3
+ size 2950825
videos/chunk-000/left_wrist_0_rgb/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:db5fd2ef3c74cdb2b512e8b5efac3b634c93e080430c56239a0e6f64d882e20f
3
+ size 6171394
videos/chunk-000/left_wrist_0_rgb/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e6daac876e01be429513271e52ef8b65665fe59af11aad16161a07d9658df439
3
+ size 4101088
videos/chunk-000/right_wrist_0_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aef471524c29c117d25a32c257b4527d44fdc9eb5eaf481c1e834d23159b71ad
3
+ size 2478622
videos/chunk-000/right_wrist_0_rgb/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ede4d6439492c5a9f39887fc552cfc286753fdefb58eaee154a1e1c0e6bd6f34
3
+ size 4920338
videos/chunk-000/right_wrist_0_rgb/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e31cd19dc86227ec523add94328475a9b2ff51be28996be504a5daf7ac6acf23
3
+ size 3228012