eddierex commited on
Commit
5a95279
·
verified ·
1 Parent(s): 75406a0

Add files using upload-large-folder tool

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:c8f0940d178d13e1cdc1ad74d36d60ff3aec139a39eaa516d0b1e595d3fde0e3
3
+ size 179684
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ff5630dff4a3de173edbf5041c75c3686a1b56a8882a61db0dbc8359d3263244
3
+ size 243129
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b61e0b5c85c61eb2ee3a6604e0d3e13228919717d74913743bab794390653817
3
+ size 136304
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Pick up the red cup on the table."], "length": 720}
2
+ {"episode_index": 1, "tasks": ["Pick up the red cup on the table."], "length": 968}
3
+ {"episode_index": 2, "tasks": ["Pick up the red cup on the table."], "length": 736}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"observation.state": {"min": [-0.7051193118095398, 0.14120277762413025, -0.25945109128952026, 0.705858588218689, -0.4837706983089447, -0.9555919170379639, -1.1444071531295776, -0.8161600828170776, -0.49323052167892456, -0.20261557400226593, 0.1970921754837036, -0.7481300830841064, -1.074349284172058, -0.7230043411254883, 0.19335590302944183, 0.2127775400876999, 0.38610658049583435, 0.4915302097797394, 0.5028530359268188, 0.0, 0.1330302506685257, 0.19629167020320892, 0.35795146226882935, 0.3763236999511719, 0.512982964515686, 0.0], "max": [-0.5057477951049805, 0.41482388973236084, 0.3978112041950226, 1.2825541496276855, 0.7389787435531616, -0.20385724306106567, 0.6885836124420166, 0.19708211719989777, -0.1823124885559082, 0.23138105869293213, 1.210886836051941, 0.017225032672286034, -0.4148748815059662, 0.23029182851314545, 0.8656327724456787, 0.8005505204200745, 0.868245542049408, 0.8772310018539429, 1.0, 0.7141284346580505, 1.0, 1.0, 0.9302949905395508, 0.9612758159637451, 1.0, 0.5151012539863586], "mean": [-0.6327070593833923, 0.19500090181827545, 0.0628734603524208, 1.2114121913909912, 0.09037788212299347, -0.6475483179092407, -0.19573423266410828, -0.33111467957496643, -0.31440863013267517, 0.061783261597156525, 0.7806892991065979, -0.3754065930843353, -0.6868592500686646, -0.13416564464569092, 0.5772647261619568, 0.655200719833374, 0.7409656047821045, 0.7789625525474548, 0.7258806824684143, 0.46666061878204346, 0.5692029595375061, 0.6441049575805664, 0.6935059428215027, 0.7085621356964111, 0.8173179626464844, 0.31066596508026123], "std": [0.043154165148735046, 0.05325701832771301, 0.14855577051639557, 0.12576238811016083, 0.29322803020477295, 0.21216362714767456, 0.48757195472717285, 0.307567298412323, 0.10753192752599716, 0.1352800577878952, 0.36352840065956116, 0.21644484996795654, 0.1411837786436081, 0.22156311571598053, 0.1734127551317215, 0.195455864071846, 0.16511501371860504, 0.1429731696844101, 0.15725252032279968, 0.272344708442688, 0.1591290831565857, 0.1536417007446289, 0.1315806806087494, 0.13717028498649597, 0.15736375749111176, 0.145127534866333], "count": [720]}, "action": {"min": [-0.739904522895813, -0.04806813225150108, -0.4055335819721222, 0.6811385750770569, -0.48253950476646423, -0.9882910251617432, -1.2767473459243774, -0.7903438806533813, -0.6771430373191833, -0.19352810084819794, 0.16226546466350555, -0.9745875000953674, -1.138718605041504, -0.7395030856132507, 0.19317220151424408, 0.21232333779335022, 0.3861788511276245, 0.4913759231567383, 0.5036962628364563, 0.0, 0.12527820467948914, 0.1791388988494873, 0.4433039128780365, 0.4876338243484497, 0.5084097981452942, 0.0], "max": [-0.41375449299812317, 0.7495142817497253, 0.42595380544662476, 1.3186700344085693, 0.900997519493103, -0.18926405906677246, 0.7935479879379272, 0.25525233149528503, -0.12336958944797516, 0.5633502006530762, 1.2628697156906128, 0.01804439350962639, -0.35628435015678406, 0.24319082498550415, 0.7131201028823853, 0.7971932888031006, 0.8442213535308838, 0.877862811088562, 1.0, 0.7146782875061035, 0.7096769213676453, 0.841303825378418, 0.906078577041626, 0.9639538526535034, 1.0, 0.5151095986366272], "mean": [-0.6206851601600647, 0.25174784660339355, 0.05184948816895485, 1.2306551933288574, 0.1063576191663742, -0.6404060125350952, -0.21806029975414276, -0.3432955741882324, -0.24417801201343536, 0.14069631695747375, 0.8426118493080139, -0.40496325492858887, -0.6865823864936829, -0.11664967238903046, 0.5656401515007019, 0.6491726040840149, 0.7349251508712769, 0.7787830829620361, 0.7304767966270447, 0.4611586332321167, 0.5364242196083069, 0.6339135766029358, 0.7088426947593689, 0.7312694191932678, 0.8169870376586914, 0.3096024692058563], "std": [0.0446629524230957, 0.13874280452728271, 0.19631977379322052, 0.13394758105278015, 0.3216322958469391, 0.24117030203342438, 0.5191805362701416, 0.2828374207019806, 0.10879006236791611, 0.18362116813659668, 0.3304525911808014, 0.2527938187122345, 0.1712755709886551, 0.2338075190782547, 0.17171189188957214, 0.19992005825042725, 0.16991320252418518, 0.14572060108184814, 0.16502217948436737, 0.27466586232185364, 0.1360168159008026, 0.14496006071567535, 0.12705297768115997, 0.13952378928661346, 0.17852383852005005, 0.14599746465682983], "count": [720]}, "observation.images.cam_left_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.579921875]], [[0.5789668022402198]], [[0.5643016896372075]]], "std": [[[0.16678630122980934]], [[0.1674477667750198]], [[0.1722680400285304]]], "count": [138]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5736196288599981]], [[0.586649748093682]], [[0.5238461728592403]]], "std": [[[0.16735315848093413]], [[0.15363832613918757]], [[0.1899489414773888]]], "count": [138]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9764705882352941]]], "mean": [[[0.53666864550772]], [[0.5597927929928009]], [[0.4927805070095671]]], "std": [[[0.19943384842413356]], [[0.17948810561923467]], [[0.21328368279601886]]], "count": [138]}, "timestamp": {"min": [0.0], "max": [23.966666666666665], "mean": [11.983333333333333], "std": [6.928196547977504], "count": [720]}, "frame_index": {"min": [0], "max": [719], "mean": [359.5], "std": [207.84589643932512], "count": [720]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [720]}, "index": {"min": [0], "max": [719], "mean": [359.5], "std": [207.84589643932512], "count": [720]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [720]}}}
2
+ {"episode_index": 1, "stats": {"observation.state": {"min": [-0.675493597984314, 0.13184745609760284, 0.05996138975024223, 1.1016833782196045, -0.17503662407398224, -0.8536121249198914, -0.49385711550712585, -0.6319224238395691, -0.45375555753707886, -0.3925248384475708, -0.16585798561573029, -1.0604065656661987, -0.7725253701210022, -0.4712798595428467, 0.44298306107521057, 0.37634629011154175, 0.5227640867233276, 0.6763036251068115, 0.4357621669769287, 0.27319034934043884, 0.01630590856075287, 0.14334136247634888, 0.4160507023334503, 0.49532952904701233, 0.5229005217552185, 0.0], "max": [-0.5165475010871887, 0.2799939513206482, 0.3222252428531647, 1.2687122821807861, 0.2520931363105774, -0.5711073279380798, 0.03730243816971779, 0.38580331206321716, -0.004689254332333803, 0.36835384368896484, 1.1609158515930176, 0.36637282371520996, -0.23154868185520172, 0.3461308479309082, 0.7113153338432312, 0.8050655722618103, 0.9007999300956726, 0.8937658071517944, 1.0, 0.7272644639015198, 0.7953438758850098, 0.8754774928092957, 0.9567975401878357, 0.993425726890564, 1.0, 0.6894581913948059], "mean": [-0.6223982572555542, 0.1878562569618225, 0.2158222794532776, 1.216222882270813, -0.02186720445752144, -0.6448308229446411, -0.19139420986175537, -0.15775737166404724, -0.22966310381889343, 0.14022929966449738, 0.43483811616897583, -0.362210750579834, -0.5351418852806091, -0.0392424538731575, 0.5571705102920532, 0.7200828790664673, 0.7998402714729309, 0.8258256316184998, 0.7174025774002075, 0.5178812742233276, 0.4363243877887726, 0.6319175958633423, 0.7070207595825195, 0.7285155653953552, 0.7750063538551331, 0.2693142592906952], "std": [0.02890320122241974, 0.03860198333859444, 0.053632572293281555, 0.02669432945549488, 0.08341165632009506, 0.05289080739021301, 0.06643284112215042, 0.2977885603904724, 0.12153616547584534, 0.22522588074207306, 0.39340826869010925, 0.3791474401950836, 0.12453969568014145, 0.18770362436771393, 0.049086738377809525, 0.044151823967695236, 0.039722662419080734, 0.0433153472840786, 0.13070356845855713, 0.08946076035499573, 0.20046299695968628, 0.17422300577163696, 0.1291256695985794, 0.1395820677280426, 0.16272123157978058, 0.23185385763645172], "count": [968]}, "action": {"min": [-0.6561824083328247, 0.13379056751728058, -0.11240693926811218, 0.8355709910392761, -0.20684055984020233, -0.9542271494865417, -0.599280059337616, -0.783686637878418, -0.519266664981842, -0.3456079959869385, -0.2119465470314026, -1.1545274257659912, -0.8172765374183655, -0.5167707204818726, 0.3126545250415802, 0.3130359351634979, 0.49099379777908325, 0.6663036346435547, 0.4363626539707184, 0.2728595435619354, 0.04303906112909317, 0.10069812089204788, 0.4033062160015106, 0.48406609892845154, 0.5111256241798401, 0.0], "max": [-0.41393595933914185, 0.5275478363037109, 0.3504973351955414, 1.3209202289581299, 0.4362034201622009, -0.4281519651412964, 0.2092764675617218, 0.46073082089424133, 0.18416109681129456, 0.5429408550262451, 1.2063111066818237, 0.3468763828277588, -0.24953435361385345, 0.3929174244403839, 0.6865386366844177, 0.8120624423027039, 0.9106879234313965, 0.9028952121734619, 1.0, 0.773080050945282, 0.7216665744781494, 0.8778335452079773, 0.9583395719528198, 0.9723528027534485, 1.0, 0.6921014189720154], "mean": [-0.6064226627349854, 0.22543443739414215, 0.18938343226909637, 1.2579922676086426, 0.011030071415007114, -0.600273072719574, -0.1817404180765152, -0.2287178635597229, -0.20605601370334625, 0.15470552444458008, 0.431160032749176, -0.37577691674232483, -0.5522140264511108, -0.03612513467669487, 0.6230777502059937, 0.720038652420044, 0.7987622618675232, 0.8262451887130737, 0.7201667428016663, 0.5174563527107239, 0.41807428002357483, 0.5262136459350586, 0.6495608687400818, 0.6906126141548157, 0.7343499064445496, 0.2697908878326416], "std": [0.03204096853733063, 0.058093685656785965, 0.07766792923212051, 0.0415414534509182, 0.10685981065034866, 0.07522276788949966, 0.0826457142829895, 0.36675751209259033, 0.16029609739780426, 0.24084164202213287, 0.4231005012989044, 0.3854653537273407, 0.13499996066093445, 0.20182880759239197, 0.038988444954156876, 0.0534224733710289, 0.04431700333952904, 0.04353680834174156, 0.1335468888282776, 0.09333069622516632, 0.1967376470565796, 0.2183661311864853, 0.1656639575958252, 0.1494615077972412, 0.19013983011245728, 0.23484650254249573], "count": [968]}, "observation.images.cam_left_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5779681230873852]], [[0.5779434550795269]], [[0.5636369137009333]]], "std": [[[0.16591718548231651]], [[0.16612876600805482]], [[0.1714001934386042]]], "count": [173]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9607843137254902]]], "mean": [[[0.6046430730288261]], [[0.6160652721107711]], [[0.5481216670916922]]], "std": [[[0.16482852685040042]], [[0.15178686516805742]], [[0.1882677178091299]]], "count": [173]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9803921568627451]]], "mean": [[[0.560193704191696]], [[0.5488844095923533]], [[0.5017106438191847]]], "std": [[[0.17651135213700925]], [[0.18837154590978902]], [[0.2073693056830805]]], "count": [173]}, "timestamp": {"min": [0.0], "max": [32.233333333333334], "mean": [16.116666666666667], "std": [9.314579372622733], "count": [968]}, "frame_index": {"min": [0], "max": [967], "mean": [483.5], "std": [279.43738117868196], "count": [968]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [968]}, "index": {"min": [720], "max": [1687], "mean": [1203.5], "std": [279.43738117868196], "count": [968]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [968]}}}
3
+ {"episode_index": 2, "stats": {"observation.state": {"min": [-0.6614255905151367, 0.1998087465763092, 0.18802081048488617, 1.226872444152832, -0.008508443832397461, -0.6851596236228943, -0.1796954870223999, -0.569503664970398, -0.3978978991508484, -0.40172913670539856, 0.6439156532287598, -0.677966833114624, -0.7783482670783997, -0.34668275713920593, 0.59016352891922, 0.726548969745636, 0.7947183847427368, 0.8071027398109436, 0.6405537128448486, 0.22041933238506317, 0.4763018786907196, 0.6550381183624268, 0.7277060151100159, 0.7734696865081787, 0.6181323528289795, 0.38383516669273376], "max": [-0.6237468123435974, 0.22053709626197815, 0.25193458795547485, 1.2592494487762451, 0.0845097228884697, -0.5660607814788818, -0.1010463535785675, -0.3638075590133667, -0.10748203098773956, 0.44132906198501587, 1.180350661277771, 0.16495482623577118, -0.6421306729316711, 0.12494988739490509, 0.6494911909103394, 0.7661653757095337, 0.8223413825035095, 0.8440617918968201, 1.0, 0.3971411883831024, 0.7834919691085815, 0.815629780292511, 0.840996503829956, 0.89378821849823, 0.9988619089126587, 0.5849888920783997], "mean": [-0.651282548904419, 0.20691007375717163, 0.23418384790420532, 1.2444658279418945, 0.016891883686184883, -0.5907624959945679, -0.15801593661308289, -0.41243839263916016, -0.16037720441818237, 0.3008759319782257, 0.7829989790916443, -0.5339962244033813, -0.6823689937591553, -0.18997211754322052, 0.6166977286338806, 0.734992504119873, 0.8060760498046875, 0.8205375075340271, 0.8225135803222656, 0.3320619463920593, 0.537065327167511, 0.6904725432395935, 0.8183040618896484, 0.879212498664856, 0.8953416347503662, 0.4850236773490906], "std": [0.01221720315515995, 0.004176494665443897, 0.02408326230943203, 0.006696132943034172, 0.03100319392979145, 0.036270871758461, 0.026432251557707787, 0.06685397028923035, 0.08983919769525528, 0.21327506005764008, 0.18755774199962616, 0.17977404594421387, 0.04335995018482208, 0.09953830391168594, 0.011694952845573425, 0.009296360425651073, 0.004601426888257265, 0.009083121083676815, 0.07219802588224411, 0.036215271800756454, 0.06756603717803955, 0.03903822600841522, 0.012037726119160652, 0.029897727072238922, 0.06748566776514053, 0.04297809302806854], "count": [736]}, "action": {"min": [-0.6349000334739685, 0.22881636023521423, 0.14381437003612518, 1.2912204265594482, 0.02980409376323223, -0.6295773386955261, -0.17192144691944122, -0.6121619939804077, -0.2774224579334259, -0.3625144064426422, 0.6785421967506409, -0.728935718536377, -0.8293553590774536, -0.3278861939907074, 0.6279323697090149, 0.729198157787323, 0.803737998008728, 0.8153730034828186, 0.6141026616096497, 0.2199578881263733, 0.4951396584510803, 0.6593753695487976, 0.7869924306869507, 0.7684605717658997, 0.6185598969459534, 0.37545299530029297], "max": [-0.603889524936676, 0.2649175822734833, 0.20576578378677368, 1.3063805103302002, 0.12736594676971436, -0.5029120445251465, -0.09463715553283691, -0.2698460817337036, 0.10469821840524673, 0.5447497367858887, 1.2159229516983032, 0.1474822461605072, -0.6436963081359863, 0.12757983803749084, 0.6752690076828003, 0.7577491998672485, 0.8252185583114624, 0.8451266884803772, 1.0, 0.39778417348861694, 0.6516188979148865, 0.7414032220840454, 0.8450493216514587, 0.904245913028717, 1.0, 0.6347653865814209], "mean": [-0.6271570324897766, 0.23568014800548553, 0.19085879623889923, 1.2974551916122437, 0.058494795113801956, -0.5235316753387451, -0.15443626046180725, -0.34718573093414307, 0.022120673209428787, 0.4274137616157532, 0.799963653087616, -0.539216935634613, -0.6965001821517944, -0.17857661843299866, 0.6397985219955444, 0.7342221736907959, 0.8063496351242065, 0.821861743927002, 0.8213475346565247, 0.3328571021556854, 0.5288451313972473, 0.6778359413146973, 0.823265552520752, 0.8840338587760925, 0.9053274393081665, 0.48486825823783875], "std": [0.007690945640206337, 0.008089066483080387, 0.02140546403825283, 0.0028439892921596766, 0.02900518663227558, 0.033439066261053085, 0.02807462401688099, 0.1260593980550766, 0.09416906535625458, 0.2049621045589447, 0.180185928940773, 0.1649167388677597, 0.03892374411225319, 0.09705602377653122, 0.01137398462742567, 0.008517750538885593, 0.00432842131704092, 0.008598346263170242, 0.07048428058624268, 0.03572234883904457, 0.052619580179452896, 0.028797119855880737, 0.01101631484925747, 0.029968690127134323, 0.07160838693380356, 0.044247500598430634], "count": [736]}, "observation.images.cam_left_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5802323694548741]], [[0.5811022255829045]], [[0.5672707855305242]]], "std": [[[0.16506307736490122]], [[0.16537742663271635]], [[0.171143036519872]]], "count": [141]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9450980392156862]]], "mean": [[[0.5902655156329671]], [[0.5969528331131507]], [[0.5333036506860427]]], "std": [[[0.17862644536215333]], [[0.17718804348665174]], [[0.2020709515111908]]], "count": [141]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9803921568627451]]], "mean": [[[0.5393666953483521]], [[0.5336426479279655]], [[0.477146412761322]]], "std": [[[0.18557250148493246]], [[0.19128801844388305]], [[0.21320882750371184]]], "count": [141]}, "timestamp": {"min": [0.0], "max": [24.5], "mean": [12.25], "std": [7.082156765028888], "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": [1688], "max": [2423], "mean": [2055.5], "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 +1,194 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "Unitree_G1_Inspire",
4
+ "total_episodes": 3,
5
+ "total_frames": 2424,
6
+ "total_tasks": 1,
7
+ "total_videos": 9,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
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
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 26
21
+ ],
22
+ "names": [
23
+ [
24
+ "kLeftShoulderPitch",
25
+ "kLeftShoulderRoll",
26
+ "kLeftShoulderYaw",
27
+ "kLeftElbow",
28
+ "kLeftWristRoll",
29
+ "kLeftWristPitch",
30
+ "kLeftWristYaw",
31
+ "kRightShoulderPitch",
32
+ "kRightShoulderRoll",
33
+ "kRightShoulderYaw",
34
+ "kRightElbow",
35
+ "kRightWristRoll",
36
+ "kRightWristPitch",
37
+ "kRightWristYaw",
38
+ "kLeftHandPinky",
39
+ "kLeftHandRing",
40
+ "kLeftHandMiddle",
41
+ "kLeftHandIndex",
42
+ "kLeftHandThumbBend",
43
+ "kLeftHandThumbRotation",
44
+ "kRightHandPinky",
45
+ "kRightHandRing",
46
+ "kRightHandMiddle",
47
+ "kRightHandIndex",
48
+ "kRightHandThumbBend",
49
+ "kRightHandThumbRotation"
50
+ ]
51
+ ]
52
+ },
53
+ "action": {
54
+ "dtype": "float32",
55
+ "shape": [
56
+ 26
57
+ ],
58
+ "names": [
59
+ [
60
+ "kLeftShoulderPitch",
61
+ "kLeftShoulderRoll",
62
+ "kLeftShoulderYaw",
63
+ "kLeftElbow",
64
+ "kLeftWristRoll",
65
+ "kLeftWristPitch",
66
+ "kLeftWristYaw",
67
+ "kRightShoulderPitch",
68
+ "kRightShoulderRoll",
69
+ "kRightShoulderYaw",
70
+ "kRightElbow",
71
+ "kRightWristRoll",
72
+ "kRightWristPitch",
73
+ "kRightWristYaw",
74
+ "kLeftHandPinky",
75
+ "kLeftHandRing",
76
+ "kLeftHandMiddle",
77
+ "kLeftHandIndex",
78
+ "kLeftHandThumbBend",
79
+ "kLeftHandThumbRotation",
80
+ "kRightHandPinky",
81
+ "kRightHandRing",
82
+ "kRightHandMiddle",
83
+ "kRightHandIndex",
84
+ "kRightHandThumbBend",
85
+ "kRightHandThumbRotation"
86
+ ]
87
+ ]
88
+ },
89
+ "observation.images.cam_left_high": {
90
+ "dtype": "video",
91
+ "shape": [
92
+ 480,
93
+ 640,
94
+ 3
95
+ ],
96
+ "names": [
97
+ "height",
98
+ "width",
99
+ "channel"
100
+ ],
101
+ "info": {
102
+ "video.height": 480,
103
+ "video.width": 640,
104
+ "video.codec": "av1",
105
+ "video.pix_fmt": "yuv420p",
106
+ "video.is_depth_map": false,
107
+ "video.fps": 30,
108
+ "video.channels": 3,
109
+ "has_audio": false
110
+ }
111
+ },
112
+ "observation.images.cam_left_wrist": {
113
+ "dtype": "video",
114
+ "shape": [
115
+ 480,
116
+ 640,
117
+ 3
118
+ ],
119
+ "names": [
120
+ "height",
121
+ "width",
122
+ "channel"
123
+ ],
124
+ "info": {
125
+ "video.height": 480,
126
+ "video.width": 640,
127
+ "video.codec": "av1",
128
+ "video.pix_fmt": "yuv420p",
129
+ "video.is_depth_map": false,
130
+ "video.fps": 30,
131
+ "video.channels": 3,
132
+ "has_audio": false
133
+ }
134
+ },
135
+ "observation.images.cam_right_wrist": {
136
+ "dtype": "video",
137
+ "shape": [
138
+ 480,
139
+ 640,
140
+ 3
141
+ ],
142
+ "names": [
143
+ "height",
144
+ "width",
145
+ "channel"
146
+ ],
147
+ "info": {
148
+ "video.height": 480,
149
+ "video.width": 640,
150
+ "video.codec": "av1",
151
+ "video.pix_fmt": "yuv420p",
152
+ "video.is_depth_map": false,
153
+ "video.fps": 30,
154
+ "video.channels": 3,
155
+ "has_audio": false
156
+ }
157
+ },
158
+ "timestamp": {
159
+ "dtype": "float32",
160
+ "shape": [
161
+ 1
162
+ ],
163
+ "names": null
164
+ },
165
+ "frame_index": {
166
+ "dtype": "int64",
167
+ "shape": [
168
+ 1
169
+ ],
170
+ "names": null
171
+ },
172
+ "episode_index": {
173
+ "dtype": "int64",
174
+ "shape": [
175
+ 1
176
+ ],
177
+ "names": null
178
+ },
179
+ "index": {
180
+ "dtype": "int64",
181
+ "shape": [
182
+ 1
183
+ ],
184
+ "names": null
185
+ },
186
+ "task_index": {
187
+ "dtype": "int64",
188
+ "shape": [
189
+ 1
190
+ ],
191
+ "names": null
192
+ }
193
+ }
194
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Pick up the red cup on the table."}
videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bfc5ea0a18643f416c8496f3ec3ca7d4b0e09e8b0e5e93d9388011a4534ea0ea
3
+ size 4639813
videos/chunk-000/observation.images.cam_left_high/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e4b483a33f2e37285fefe0e257267a34f0f74f10243944d06724ccb9101e35b7
3
+ size 6035179
videos/chunk-000/observation.images.cam_left_high/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:afa663433699a1f414ef7a746e7c48e8745c79aa1ebcfa282512b6bf74495f77
3
+ size 4807534
videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b9c79d1e82ef0edc263b1a4650a59810b459f0ec846b40754dd9ecf9c996f207
3
+ size 4244919
videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b88b022ff82d068120d0d9705c95cbfd611cf2683b25999859af77d6f93c9f12
3
+ size 4811206
videos/chunk-000/observation.images.cam_left_wrist/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e96ee9a178e0f17d9fb3b3414f4a3fdd0bdcaad07ecd74f6c5c4a6b672c9916
3
+ size 4292623
videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aaa667b9953a3987ac82ca53f35d71fb318540b7a787f3b39b6e75fb70e42a80
3
+ size 5079213
videos/chunk-000/observation.images.cam_right_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:05f008e2886f9504653d6cfe7042f142662a61289e2c79c7da78a373acbce73b
3
+ size 6917468
videos/chunk-000/observation.images.cam_right_wrist/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a35f97ea6d13a6dabc9e0c0c1d1787c462fc1bf4f7153dced43c387df2ec47b5
3
+ size 6357007