Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52acb38a047c95d7503f5fe1ef045f2768542b8f49ba3f03b4228f4ead8d558c
+size 33513

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26481fc564b234c44cb966d3d4a48fb22bdac684680e1adb557d93ab81cb8cb8
+size 31206

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a19e9450bbb53477102aa490425cde50f0d96912f173e5e54bf2e63a0cbb8f3e
+size 4421

meta/episodes.jsonl

@@ -0,0 +1,3 @@
+{"episode_index": 0, "tasks": ["towel fold"], "length": 497}
+{"episode_index": 1, "tasks": ["towel fold"], "length": 443}
+{"episode_index": 2, "tasks": ["towel fold"], "length": 39}

meta/episodes_stats.jsonl

@@ -0,0 +1,3 @@
+{"episode_index": 0, "stats": {"action": {"min": [-11.402549743652344, -99.59133911132812, 21.32486343383789, 59.762813568115234, -4.664224624633789, 1.0141987800598145, -11.8421049118042, -98.93833923339844, -34.47037887573242, 72.39933013916016, 4.029304027557373, 0.49715909361839294], "max": [2.805100202560425, 10.99305248260498, 36.02540969848633, 99.23760986328125, -2.222222328186035, 26.43678092956543, -2.1929824352264404, 36.13719940185547, 26.211849212646484, 100.0, 5.006104946136475, 22.727272033691406], "mean": [-6.912384033203125, -39.0893669128418, 26.205881118774414, 81.62933349609375, -3.5337209701538086, 11.721989631652832, -3.997964859008789, -27.936918258666992, 13.817221641540527, 86.68360137939453, 4.526941776275635, 12.97960090637207], "std": [4.068576812744141, 40.26716232299805, 5.033714294433594, 12.37890911102295, 0.9106041193008423, 10.147148132324219, 2.2944393157958984, 41.21504211425781, 15.409032821655273, 9.91391372680664, 0.3056289255619049, 9.917935371398926], "count": [497]}, "observation.state": {"min": [-11.634866714477539, -99.33829498291016, 22.496631622314453, 59.98307800292969, -4.517704486846924, 1.967435598373413, -11.858145713806152, -98.90618133544922, -32.266666412353516, 72.49163818359375, 4.224664211273193, 1.2187299728393555], "max": [2.731013774871826, 11.083539962768555, 36.05747604370117, 98.9001693725586, -2.3199024200439453, 25.98371696472168, -2.179534435272217, 36.642826080322266, 26.399999618530273, 98.82942962646484, 4.810744762420654, 22.386144638061523], "mean": [-6.843687057495117, -38.774131774902344, 27.09954071044922, 81.68434143066406, -3.494722843170166, 12.04619026184082, -4.0573601722717285, -27.547256469726562, 14.700798034667969, 86.43505096435547, 4.561341762542725, 13.148524284362793], "std": [4.125702857971191, 40.67529296875, 4.903974533081055, 12.349138259887695, 0.8935115337371826, 9.64500904083252, 2.306417226791382, 41.6358528137207, 15.064785957336426, 9.495251655578613, 0.20659977197647095, 9.553119659423828], "count": [497]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[0.9921568627450981]], [[0.9921568627450981]]], "mean": [[[0.49717269491129784]], [[0.49717269491129784]], [[0.49717269491129784]]], "std": [[[0.18691307803902435]], [[0.18691307803902435]], [[0.18691307803902435]]], "count": [105]}, "observation.images.rightWrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.984313725490196]], [[0.984313725490196]]], "mean": [[[0.5766180594460005]], [[0.5766180594460005]], [[0.5766180594460005]]], "std": [[[0.1721879122342463]], [[0.1721879122342463]], [[0.1721879122342463]]], "count": [105]}, "observation.images.leftWrist": {"min": [[[0.0]], [[0.023529411764705882]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.49256570183629006]], [[0.47247073412698415]], [[0.4597588565981949]]], "std": [[[0.15970487819744397]], [[0.18556412559970661]], [[0.19796147901040897]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.533333333333335], "mean": [8.266666666666666], "std": [4.782375049189588], "count": [497]}, "frame_index": {"min": [0], "max": [496], "mean": [248.0], "std": [143.47125147568764], "count": [497]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [497]}, "index": {"min": [0], "max": [496], "mean": [248.0], "std": [143.47125147568764], "count": [497]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [497]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-12.276866912841797, -99.42787170410156, 17.604354858398438, 41.29606246948242, -9.938949584960938, 1.0141987800598145, -11.11111068725586, -98.53001403808594, 0.9874326586723328, 54.94966506958008, 1.88034188747406, 0.28409090638160706], "max": [-2.7322404384613037, 14.18062973022461, 24.77313995361328, 99.40702819824219, 0.9035409092903137, 33.80662536621094, -2.777777671813965, 12.209064483642578, 23.42908477783203, 100.0, 4.566544532775879, 22.65625], "mean": [-8.161849021911621, -32.73044967651367, 22.0371150970459, 83.88484191894531, -7.137970924377441, 15.806266784667969, -5.452917575836182, -28.315540313720703, 16.091745376586914, 85.1063232421875, 3.7345027923583984, 13.691488265991211], "std": [3.244877338409424, 39.35259246826172, 2.099712610244751, 17.51775550842285, 2.7159745693206787, 13.37813949584961, 2.9489529132843018, 37.25606155395508, 7.285294532775879, 14.91553020477295, 0.9194628596305847, 10.234879493713379], "count": [443]}, "observation.state": {"min": [-12.308267593383789, -99.33829498291016, 18.81454849243164, 41.96277618408203, -9.841269493103027, 1.967435598373413, -11.267085075378418, -98.65376281738281, 2.6666667461395264, 55.434783935546875, 2.124542236328125, 1.0262988805770874], "max": [-2.8806583881378174, 14.392059326171875, 25.101032257080078, 99.40778350830078, 0.5616605877876282, 33.582088470458984, -2.9183597564697266, 12.494741439819336, 23.288888931274414, 98.82942962646484, 4.615384578704834, 22.386144638061523], "mean": [-8.015364646911621, -32.42816925048828, 22.77602767944336, 83.922607421875, -7.183398723602295, 16.113386154174805, -5.516427040100098, -28.0054931640625, 16.804054260253906, 84.83139038085938, 3.7451937198638916, 13.921245574951172], "std": [3.2426812648773193, 39.68164825439453, 1.8915756940841675, 17.410640716552734, 2.691586971282959, 12.917116165161133, 2.928062677383423, 37.6030158996582, 7.04995059967041, 14.547114372253418, 0.8681445717811584, 9.87311840057373], "count": [443]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.497735847630719]], [[0.497735847630719]], [[0.497735847630719]]], "std": [[[0.18268882488846658]], [[0.18268882488846658]], [[0.18268882488846658]]], "count": [100]}, "observation.images.rightWrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.9568627450980393]], [[0.9568627450980393]]], "mean": [[[0.5699993035130719]], [[0.5699993035130719]], [[0.5699993035130719]]], "std": [[[0.14182781298961425]], [[0.14182781298961425]], [[0.14182781298961425]]], "count": [100]}, "observation.images.leftWrist": {"min": [[[0.00784313725490196]], [[0.023529411764705882]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.49339003880718957]], [[0.47125956699346405]], [[0.4605310498366013]]], "std": [[[0.16446474968554345]], [[0.18458077200086997]], [[0.1969217436900651]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.733333333333333], "mean": [7.366666666666667], "std": [4.262758626888357], "count": [443]}, "frame_index": {"min": [0], "max": [442], "mean": [221.0], "std": [127.88275880665071], "count": [443]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [443]}, "index": {"min": [497], "max": [939], "mean": [718.0], "std": [127.88275880665071], "count": [443]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [443]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-11.83970832824707, -99.264404296875, 24.77313995361328, 98.89877319335938, -3.1501832008361816, 33.1981086730957, -10.380117416381836, -98.1216812133789, 23.42908477783203, 99.49664306640625, 4.3223443031311035, 19.886363983154297], "max": [-11.83970832824707, -99.264404296875, 24.77313995361328, 98.89877319335938, -3.1501832008361816, 33.1981086730957, -10.380117416381836, -98.1216812133789, 23.42908477783203, 99.49664306640625, 4.3223443031311035, 19.886363983154297], "mean": [-11.839714050292969, -99.264404296875, 24.773134231567383, 98.89873504638672, -3.150184154510498, 33.198116302490234, -10.380120277404785, -98.12164306640625, 23.429079055786133, 99.49659729003906, 4.322342872619629, 19.886356353759766], "std": [5.7220458984375e-06, 0.0, 5.7220458984375e-06, 3.814697265625e-05, 9.5367431640625e-07, 7.62939453125e-06, 2.86102294921875e-06, 3.814697265625e-05, 5.7220458984375e-06, 4.57763671875e-05, 1.430511474609375e-06, 7.62939453125e-06], "count": [39]}, "observation.state": {"min": [-11.859333992004395, -99.17286682128906, 24.741806030273438, 98.9001693725586, -3.0525031089782715, 33.378562927246094, -10.676025390625, -98.4013442993164, 23.91111183166504, 98.74581909179688, 4.468864440917969, 20.141115188598633], "max": [-11.859333992004395, -99.17286682128906, 24.741806030273438, 98.9001693725586, -3.0525031089782715, 33.51424789428711, -10.676025390625, -98.4013442993164, 23.91111183166504, 98.74581909179688, 4.468864440917969, 20.141115188598633], "mean": [-11.85933780670166, -99.17285919189453, 24.741817474365234, 98.90015411376953, -3.052503824234009, 33.38898849487305, -10.676025390625, -98.40135955810547, 23.91111946105957, 98.74584197998047, 4.46886682510376, 20.141115188598633], "std": [3.814697265625e-06, 7.62939453125e-06, 1.1444091796875e-05, 1.52587890625e-05, 7.152557373046875e-07, 0.03615589067339897, 0.0, 1.52587890625e-05, 7.62939453125e-06, 2.288818359375e-05, 2.384185791015625e-06, 0.0], "count": [39]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6588235294117647]], [[0.6588235294117647]], [[0.6588235294117647]]], "mean": [[[0.48414223018267133]], [[0.48414223018267133]], [[0.48414223018267133]]], "std": [[[0.13897522454689154]], [[0.13897522454689154]], [[0.13897522454689154]]], "count": [39]}, "observation.images.rightWrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8313725490196079]], [[0.8313725490196079]], [[0.8313725490196079]]], "mean": [[[0.5703493118401206]], [[0.5703493118401206]], [[0.5703493118401206]]], "std": [[[0.1801164119087345]], [[0.1801164119087345]], [[0.1801164119087345]]], "count": [39]}, "observation.images.leftWrist": {"min": [[[0.06274509803921569]], [[0.06666666666666667]], [[0.0392156862745098]]], "max": [[[0.8549019607843137]], [[0.9058823529411765]], [[0.9254901960784314]]], "mean": [[[0.45948530982905983]], [[0.4690832338277191]], [[0.45949965958605665]]], "std": [[[0.2098418300637097]], [[0.2129844881649928]], [[0.21851536553767648]]], "count": [39]}, "timestamp": {"min": [0.0], "max": [1.2666666666666666], "mean": [0.6333333333333334], "std": [0.37515428924742517], "count": [39]}, "frame_index": {"min": [0], "max": [38], "mean": [19.0], "std": [11.254628677422755], "count": [39]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [39]}, "index": {"min": [940], "max": [978], "mean": [959.0], "std": [11.254628677422755], "count": [39]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [39]}}}

meta/info.json

@@ -0,0 +1,162 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "bi_so100_follower",
+    "total_episodes": 3,
+    "total_frames": 979,
+    "total_tasks": 1,
+    "total_videos": 9,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:3"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_shoulder_pan.pos",
+                "left_shoulder_lift.pos",
+                "left_elbow_flex.pos",
+                "left_wrist_flex.pos",
+                "left_wrist_roll.pos",
+                "left_gripper.pos",
+                "right_shoulder_pan.pos",
+                "right_shoulder_lift.pos",
+                "right_elbow_flex.pos",
+                "right_wrist_flex.pos",
+                "right_wrist_roll.pos",
+                "right_gripper.pos"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_shoulder_pan.pos",
+                "left_shoulder_lift.pos",
+                "left_elbow_flex.pos",
+                "left_wrist_flex.pos",
+                "left_wrist_roll.pos",
+                "left_gripper.pos",
+                "right_shoulder_pan.pos",
+                "right_shoulder_lift.pos",
+                "right_elbow_flex.pos",
+                "right_wrist_flex.pos",
+                "right_wrist_roll.pos",
+                "right_gripper.pos"
+            ]
+        },
+        "observation.images.overhead": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.rightWrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.leftWrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "towel fold"}

videos/chunk-000/observation.images.leftWrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3caf69a3fceda3e8414531e5157f549da20992a24a9f7cb1ada3afcd0f2c605
+size 1641532

videos/chunk-000/observation.images.leftWrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe14f6d3496a4582d6dc0faa1a635ddd842beb913d2eb2882db9af6963e76b22
+size 1443290

videos/chunk-000/observation.images.leftWrist/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9228a51fb757436f4f3de7e57a9e4436893260e4d8d09e93be54fb2db7e19a49
+size 146155

videos/chunk-000/observation.images.overhead/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9318be8b58bfad2ae4033c40b3a5037260d497c3de63629de080cc7ab1f1b253
+size 6112174

videos/chunk-000/observation.images.overhead/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4727c9eb1e2cf172c122f123638161b4d53667dbf38765fc86a05f98007e0109
+size 5708750

videos/chunk-000/observation.images.overhead/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a34e2816e491a1cac65cddd9cc1f1cc72cd2302375abc6c6607317505ad1efa9
+size 339217

videos/chunk-000/observation.images.rightWrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:884b4d10a0e56c76e43f1c677a6bab2ff5c93aaf6cf11da94a1db2373b8909e9
+size 3531329

videos/chunk-000/observation.images.rightWrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d9270f31b318e10fa9f22ddf72abee5ae8b52a47c83a701e33536c66b2d0274
+size 1782197

videos/chunk-000/observation.images.rightWrist/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c050357f40b6784af938cb04a465e68d3c7a7beafe32fdfa4d8aafcdab8d9ecd
+size 116442