Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- data/chunk-000/file-001.parquet +3 -0
- data/chunk-000/file-002.parquet +3 -0
- data/chunk-000/file-003.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +22 -14
- meta/stats.json +258 -0
- meta/tasks.parquet +3 -0
data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c8aee94b1c8e4e76028ae2e1c81feb01c0218b9e8a2c3e322d551e91ba681491
|
| 3 |
+
size 106639962
|
data/chunk-000/file-001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6be0c8bba78fea752f8a56aaf6252c3e2f77d4f31f1039cbf3a4600ee3ceaa96
|
| 3 |
+
size 105817713
|
data/chunk-000/file-002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1873cb441bbcda3e18e51b2d450b0b1a5a0a23e87dc21d377b46f48bdbf19a06
|
| 3 |
+
size 105097459
|
data/chunk-000/file-003.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3cb6d8868ece52c05562dc73012a3b78e2062b0c1f2f2b92bee758ad89e1b028
|
| 3 |
+
size 62524793
|
meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1d19b0c4d7ec8859c9867bfeb7f9efd09dcc2400aada3675c36224389b284c3b
|
| 3 |
+
size 100730
|
meta/info.json
CHANGED
|
@@ -1,18 +1,16 @@
|
|
| 1 |
{
|
| 2 |
-
"codebase_version": "
|
| 3 |
"robot_type": "franka",
|
| 4 |
"total_episodes": 100,
|
| 5 |
"total_frames": 18545,
|
| 6 |
"total_tasks": 1,
|
| 7 |
-
"total_videos": 0,
|
| 8 |
-
"total_chunks": 1,
|
| 9 |
"chunks_size": 1000,
|
| 10 |
"fps": 30,
|
| 11 |
"splits": {
|
| 12 |
"train": "0:100"
|
| 13 |
},
|
| 14 |
-
"data_path": "data/chunk-{
|
| 15 |
-
"video_path": "videos/chunk-{
|
| 16 |
"features": {
|
| 17 |
"observation.image": {
|
| 18 |
"dtype": "image",
|
|
@@ -25,7 +23,8 @@
|
|
| 25 |
"height",
|
| 26 |
"width",
|
| 27 |
"channel"
|
| 28 |
-
]
|
|
|
|
| 29 |
},
|
| 30 |
"observation.state": {
|
| 31 |
"dtype": "float32",
|
|
@@ -34,7 +33,8 @@
|
|
| 34 |
],
|
| 35 |
"names": [
|
| 36 |
"state"
|
| 37 |
-
]
|
|
|
|
| 38 |
},
|
| 39 |
"action": {
|
| 40 |
"dtype": "float32",
|
|
@@ -43,42 +43,50 @@
|
|
| 43 |
],
|
| 44 |
"names": [
|
| 45 |
"action"
|
| 46 |
-
]
|
|
|
|
| 47 |
},
|
| 48 |
"timestamp": {
|
| 49 |
"dtype": "float32",
|
| 50 |
"shape": [
|
| 51 |
1
|
| 52 |
],
|
| 53 |
-
"names": null
|
|
|
|
| 54 |
},
|
| 55 |
"frame_index": {
|
| 56 |
"dtype": "int64",
|
| 57 |
"shape": [
|
| 58 |
1
|
| 59 |
],
|
| 60 |
-
"names": null
|
|
|
|
| 61 |
},
|
| 62 |
"episode_index": {
|
| 63 |
"dtype": "int64",
|
| 64 |
"shape": [
|
| 65 |
1
|
| 66 |
],
|
| 67 |
-
"names": null
|
|
|
|
| 68 |
},
|
| 69 |
"index": {
|
| 70 |
"dtype": "int64",
|
| 71 |
"shape": [
|
| 72 |
1
|
| 73 |
],
|
| 74 |
-
"names": null
|
|
|
|
| 75 |
},
|
| 76 |
"task_index": {
|
| 77 |
"dtype": "int64",
|
| 78 |
"shape": [
|
| 79 |
1
|
| 80 |
],
|
| 81 |
-
"names": null
|
|
|
|
| 82 |
}
|
| 83 |
-
}
|
|
|
|
|
|
|
| 84 |
}
|
|
|
|
| 1 |
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
"robot_type": "franka",
|
| 4 |
"total_episodes": 100,
|
| 5 |
"total_frames": 18545,
|
| 6 |
"total_tasks": 1,
|
|
|
|
|
|
|
| 7 |
"chunks_size": 1000,
|
| 8 |
"fps": 30,
|
| 9 |
"splits": {
|
| 10 |
"train": "0:100"
|
| 11 |
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
"features": {
|
| 15 |
"observation.image": {
|
| 16 |
"dtype": "image",
|
|
|
|
| 23 |
"height",
|
| 24 |
"width",
|
| 25 |
"channel"
|
| 26 |
+
],
|
| 27 |
+
"fps": 30
|
| 28 |
},
|
| 29 |
"observation.state": {
|
| 30 |
"dtype": "float32",
|
|
|
|
| 33 |
],
|
| 34 |
"names": [
|
| 35 |
"state"
|
| 36 |
+
],
|
| 37 |
+
"fps": 30
|
| 38 |
},
|
| 39 |
"action": {
|
| 40 |
"dtype": "float32",
|
|
|
|
| 43 |
],
|
| 44 |
"names": [
|
| 45 |
"action"
|
| 46 |
+
],
|
| 47 |
+
"fps": 30
|
| 48 |
},
|
| 49 |
"timestamp": {
|
| 50 |
"dtype": "float32",
|
| 51 |
"shape": [
|
| 52 |
1
|
| 53 |
],
|
| 54 |
+
"names": null,
|
| 55 |
+
"fps": 30
|
| 56 |
},
|
| 57 |
"frame_index": {
|
| 58 |
"dtype": "int64",
|
| 59 |
"shape": [
|
| 60 |
1
|
| 61 |
],
|
| 62 |
+
"names": null,
|
| 63 |
+
"fps": 30
|
| 64 |
},
|
| 65 |
"episode_index": {
|
| 66 |
"dtype": "int64",
|
| 67 |
"shape": [
|
| 68 |
1
|
| 69 |
],
|
| 70 |
+
"names": null,
|
| 71 |
+
"fps": 30
|
| 72 |
},
|
| 73 |
"index": {
|
| 74 |
"dtype": "int64",
|
| 75 |
"shape": [
|
| 76 |
1
|
| 77 |
],
|
| 78 |
+
"names": null,
|
| 79 |
+
"fps": 30
|
| 80 |
},
|
| 81 |
"task_index": {
|
| 82 |
"dtype": "int64",
|
| 83 |
"shape": [
|
| 84 |
1
|
| 85 |
],
|
| 86 |
+
"names": null,
|
| 87 |
+
"fps": 30
|
| 88 |
}
|
| 89 |
+
},
|
| 90 |
+
"data_files_size_in_mb": 100,
|
| 91 |
+
"video_files_size_in_mb": 500
|
| 92 |
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,258 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.image": {
|
| 3 |
+
"min": [
|
| 4 |
+
[
|
| 5 |
+
[
|
| 6 |
+
0.0
|
| 7 |
+
]
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
[
|
| 11 |
+
0.0
|
| 12 |
+
]
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
[
|
| 16 |
+
0.0
|
| 17 |
+
]
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"max": [
|
| 21 |
+
[
|
| 22 |
+
[
|
| 23 |
+
1.0
|
| 24 |
+
]
|
| 25 |
+
],
|
| 26 |
+
[
|
| 27 |
+
[
|
| 28 |
+
1.0
|
| 29 |
+
]
|
| 30 |
+
],
|
| 31 |
+
[
|
| 32 |
+
[
|
| 33 |
+
1.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
],
|
| 37 |
+
"mean": [
|
| 38 |
+
[
|
| 39 |
+
[
|
| 40 |
+
0.3101779478424671
|
| 41 |
+
]
|
| 42 |
+
],
|
| 43 |
+
[
|
| 44 |
+
[
|
| 45 |
+
0.31276749849207264
|
| 46 |
+
]
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
[
|
| 50 |
+
0.30896972945269424
|
| 51 |
+
]
|
| 52 |
+
]
|
| 53 |
+
],
|
| 54 |
+
"std": [
|
| 55 |
+
[
|
| 56 |
+
[
|
| 57 |
+
0.3125413911658103
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
[
|
| 62 |
+
0.31541990456885716
|
| 63 |
+
]
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
[
|
| 67 |
+
0.31141362075924306
|
| 68 |
+
]
|
| 69 |
+
]
|
| 70 |
+
],
|
| 71 |
+
"count": [
|
| 72 |
+
10000
|
| 73 |
+
]
|
| 74 |
+
},
|
| 75 |
+
"observation.state": {
|
| 76 |
+
"min": [
|
| 77 |
+
-0.0018214007141068578,
|
| 78 |
+
-0.011070461943745613,
|
| 79 |
+
-2.144590377807617,
|
| 80 |
+
-1.7629292011260986,
|
| 81 |
+
-1.9933308362960815,
|
| 82 |
+
-2.749474048614502,
|
| 83 |
+
-1.0923911333084106,
|
| 84 |
+
1.0513739585876465,
|
| 85 |
+
-2.897594451904297
|
| 86 |
+
],
|
| 87 |
+
"max": [
|
| 88 |
+
0.048352450132369995,
|
| 89 |
+
0.042903486639261246,
|
| 90 |
+
2.8631064891815186,
|
| 91 |
+
1.4780949354171753,
|
| 92 |
+
2.378913402557373,
|
| 93 |
+
-0.6255117654800415,
|
| 94 |
+
0.8407713174819946,
|
| 95 |
+
2.443773031234741,
|
| 96 |
+
0.7854176759719849
|
| 97 |
+
],
|
| 98 |
+
"mean": [
|
| 99 |
+
0.028244917299000843,
|
| 100 |
+
0.033324158684536115,
|
| 101 |
+
0.38693075678875005,
|
| 102 |
+
-0.16194390724650384,
|
| 103 |
+
-0.39924763493957016,
|
| 104 |
+
-1.815691881997465,
|
| 105 |
+
-0.02051240270409957,
|
| 106 |
+
1.7158513390558303,
|
| 107 |
+
-1.7365161004044611
|
| 108 |
+
],
|
| 109 |
+
"std": [
|
| 110 |
+
0.017314283341114036,
|
| 111 |
+
0.01083710907017101,
|
| 112 |
+
0.9696944656329266,
|
| 113 |
+
0.6256796367930827,
|
| 114 |
+
0.9864298892271173,
|
| 115 |
+
0.4640356264549943,
|
| 116 |
+
0.3973248434500829,
|
| 117 |
+
0.34259804116535186,
|
| 118 |
+
0.7643392704842039
|
| 119 |
+
],
|
| 120 |
+
"count": [
|
| 121 |
+
18545
|
| 122 |
+
]
|
| 123 |
+
},
|
| 124 |
+
"episode_index": {
|
| 125 |
+
"min": [
|
| 126 |
+
0
|
| 127 |
+
],
|
| 128 |
+
"max": [
|
| 129 |
+
99
|
| 130 |
+
],
|
| 131 |
+
"mean": [
|
| 132 |
+
49.69711512537072
|
| 133 |
+
],
|
| 134 |
+
"std": [
|
| 135 |
+
29.036377641015854
|
| 136 |
+
],
|
| 137 |
+
"count": [
|
| 138 |
+
18545
|
| 139 |
+
]
|
| 140 |
+
},
|
| 141 |
+
"timestamp": {
|
| 142 |
+
"min": [
|
| 143 |
+
0.0
|
| 144 |
+
],
|
| 145 |
+
"max": [
|
| 146 |
+
7.266666666666667
|
| 147 |
+
],
|
| 148 |
+
"mean": [
|
| 149 |
+
3.0967556394356066
|
| 150 |
+
],
|
| 151 |
+
"std": [
|
| 152 |
+
1.8230568346254798
|
| 153 |
+
],
|
| 154 |
+
"count": [
|
| 155 |
+
18545
|
| 156 |
+
]
|
| 157 |
+
},
|
| 158 |
+
"action": {
|
| 159 |
+
"min": [
|
| 160 |
+
8.183717727661133e-05,
|
| 161 |
+
0.009722888469696045,
|
| 162 |
+
-2.14385724067688,
|
| 163 |
+
-1.7634172439575195,
|
| 164 |
+
-1.9933974742889404,
|
| 165 |
+
-2.7514100074768066,
|
| 166 |
+
-1.0923911333084106,
|
| 167 |
+
1.0513739585876465,
|
| 168 |
+
-2.8972578048706055
|
| 169 |
+
],
|
| 170 |
+
"max": [
|
| 171 |
+
0.0399702787399292,
|
| 172 |
+
0.04028135538101196,
|
| 173 |
+
2.8643572330474854,
|
| 174 |
+
1.4790623188018799,
|
| 175 |
+
2.3788046836853027,
|
| 176 |
+
-0.6255117654800415,
|
| 177 |
+
0.8424161672592163,
|
| 178 |
+
2.444187641143799,
|
| 179 |
+
0.26864302158355713
|
| 180 |
+
],
|
| 181 |
+
"mean": [
|
| 182 |
+
0.027509986010502373,
|
| 183 |
+
0.030440913309812963,
|
| 184 |
+
0.3921584217462877,
|
| 185 |
+
-0.16152241107856818,
|
| 186 |
+
-0.401246195536606,
|
| 187 |
+
-1.8300480821441851,
|
| 188 |
+
-0.02295566059240925,
|
| 189 |
+
1.7199915851856313,
|
| 190 |
+
-1.7691342523780014
|
| 191 |
+
],
|
| 192 |
+
"std": [
|
| 193 |
+
0.018372047594551463,
|
| 194 |
+
0.013860209375519851,
|
| 195 |
+
0.9742194981075244,
|
| 196 |
+
0.625726769197449,
|
| 197 |
+
0.9901739162689462,
|
| 198 |
+
0.4517943627697123,
|
| 199 |
+
0.3995832601831688,
|
| 200 |
+
0.3399183424671562,
|
| 201 |
+
0.6989572708565912
|
| 202 |
+
],
|
| 203 |
+
"count": [
|
| 204 |
+
18545
|
| 205 |
+
]
|
| 206 |
+
},
|
| 207 |
+
"index": {
|
| 208 |
+
"min": [
|
| 209 |
+
0
|
| 210 |
+
],
|
| 211 |
+
"max": [
|
| 212 |
+
18544
|
| 213 |
+
],
|
| 214 |
+
"mean": [
|
| 215 |
+
9272.0
|
| 216 |
+
],
|
| 217 |
+
"std": [
|
| 218 |
+
5353.480363277706
|
| 219 |
+
],
|
| 220 |
+
"count": [
|
| 221 |
+
18545
|
| 222 |
+
]
|
| 223 |
+
},
|
| 224 |
+
"frame_index": {
|
| 225 |
+
"min": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"max": [
|
| 229 |
+
218
|
| 230 |
+
],
|
| 231 |
+
"mean": [
|
| 232 |
+
92.90266918306821
|
| 233 |
+
],
|
| 234 |
+
"std": [
|
| 235 |
+
54.69170503876439
|
| 236 |
+
],
|
| 237 |
+
"count": [
|
| 238 |
+
18545
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"task_index": {
|
| 242 |
+
"min": [
|
| 243 |
+
0
|
| 244 |
+
],
|
| 245 |
+
"max": [
|
| 246 |
+
0
|
| 247 |
+
],
|
| 248 |
+
"mean": [
|
| 249 |
+
0.0
|
| 250 |
+
],
|
| 251 |
+
"std": [
|
| 252 |
+
0.0
|
| 253 |
+
],
|
| 254 |
+
"count": [
|
| 255 |
+
18545
|
| 256 |
+
]
|
| 257 |
+
}
|
| 258 |
+
}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4f7fcbec3a2bc4d3941921997b28041838f181f85066bb816ff5dead8455fc6c
|
| 3 |
+
size 2094
|