Add files using upload-large-folder tool
Browse files- bottom/meta/episodes.jsonl +26 -0
- bottom/meta/episodes_stats.jsonl +0 -0
- bottom/meta/info.json +227 -0
- bottom/meta/modality.json +83 -0
- bottom/meta/tasks.jsonl +1 -0
- legbottom/meta/episodes.jsonl +28 -0
- legbottom/meta/episodes_stats.jsonl +0 -0
- legbottom/meta/info.json +229 -0
- legbottom/meta/modality.json +83 -0
- legbottom/meta/tasks.jsonl +1 -0
- legbottom/videos/chunk-000/observation.images.ego_view/episode_000000.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.ego_view/episode_000001.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.ego_view/episode_000002.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.ego_view/episode_000003.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.ego_view/episode_000004.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.ego_view/episode_000026.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4 +3 -0
- legbottom/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4 +3 -0
- squatedown/data/chunk-000/episode_000000.parquet +3 -0
- squatedown/data/chunk-000/episode_000002.parquet +3 -0
- squatedown/data/chunk-000/episode_000003.parquet +3 -0
- squatedown/data/chunk-000/episode_000004.parquet +3 -0
- squatedown/data/chunk-000/episode_000007.parquet +3 -0
- squatedown/data/chunk-000/episode_000013.parquet +3 -0
- squatedown/data/chunk-000/episode_000014.parquet +3 -0
- squatedown/meta/episodes.jsonl +17 -0
- squatedown/meta/episodes_stats.jsonl +17 -0
- squatedown/meta/info.json +227 -0
- squatedown/meta/modality.json +83 -0
- squatedown/meta/tasks.jsonl +1 -0
- walkforward/meta/episodes.jsonl +22 -0
- walkforward/meta/episodes_stats.jsonl +0 -0
- walkforward/meta/info.json +227 -0
- walkforward/meta/modality.json +83 -0
- walkforward/meta/tasks.jsonl +1 -0
- walkforward/videos/chunk-000/observation.images.ego_view/episode_000001.mp4 +3 -0
- walkforward/videos/chunk-000/observation.images.ego_view/episode_000002.mp4 +3 -0
- walkforward/videos/chunk-000/observation.images.ego_view/episode_000005.mp4 +3 -0
- walkforward/videos/chunk-000/observation.images.ego_view/episode_000008.mp4 +3 -0
- walkforward/videos/chunk-000/observation.images.ego_view/episode_000021.mp4 +3 -0
bottom/meta/episodes.jsonl
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{"episode_index": 0, "length": 261, "tasks": ["pick up cube."]}
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{"episode_index": 1, "length": 198, "tasks": ["pick up cube."]}
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{"episode_index": 2, "length": 202, "tasks": ["pick up cube."]}
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{"episode_index": 3, "length": 200, "tasks": ["pick up cube."]}
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{"episode_index": 4, "length": 204, "tasks": ["pick up cube."]}
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{"episode_index": 5, "length": 206, "tasks": ["pick up cube."]}
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{"episode_index": 6, "length": 206, "tasks": ["pick up cube."]}
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{"episode_index": 7, "length": 202, "tasks": ["pick up cube."]}
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{"episode_index": 8, "length": 199, "tasks": ["pick up cube."]}
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{"episode_index": 9, "length": 199, "tasks": ["pick up cube."]}
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{"episode_index": 10, "length": 200, "tasks": ["pick up cube."]}
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{"episode_index": 11, "length": 221, "tasks": ["pick up cube."]}
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| 13 |
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{"episode_index": 12, "length": 204, "tasks": ["pick up cube."]}
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| 14 |
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{"episode_index": 13, "length": 240, "tasks": ["pick up cube."]}
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| 15 |
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{"episode_index": 14, "length": 222, "tasks": ["pick up cube."]}
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| 16 |
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{"episode_index": 15, "length": 224, "tasks": ["pick up cube."]}
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| 17 |
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{"episode_index": 16, "length": 225, "tasks": ["pick up cube."]}
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| 18 |
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{"episode_index": 17, "length": 258, "tasks": ["pick up cube."]}
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| 19 |
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{"episode_index": 18, "length": 150, "tasks": ["pick up cube."]}
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| 20 |
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{"episode_index": 19, "length": 195, "tasks": ["pick up cube."]}
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| 21 |
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{"episode_index": 20, "length": 266, "tasks": ["pick up cube."]}
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| 22 |
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{"episode_index": 21, "length": 222, "tasks": ["pick up cube."]}
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| 23 |
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{"episode_index": 22, "length": 199, "tasks": ["pick up cube."]}
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| 24 |
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{"episode_index": 23, "length": 175, "tasks": ["pick up cube."]}
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| 25 |
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{"episode_index": 24, "length": 165, "tasks": ["pick up cube."]}
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| 26 |
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{"episode_index": 25, "length": 161, "tasks": ["pick up cube."]}
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bottom/meta/episodes_stats.jsonl
ADDED
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The diff for this file is too large to render.
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bottom/meta/info.json
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| 1 |
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{
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|
| 200 |
+
"video.codec": "mp4v",
|
| 201 |
+
"video.pix_fmt": "yuv420p",
|
| 202 |
+
"video.is_depth_map": false,
|
| 203 |
+
"has_audio": false
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"observation.images.wrist_right": {
|
| 207 |
+
"dtype": "video",
|
| 208 |
+
"shape": [
|
| 209 |
+
480,
|
| 210 |
+
640,
|
| 211 |
+
3
|
| 212 |
+
],
|
| 213 |
+
"names": [
|
| 214 |
+
"height",
|
| 215 |
+
"width",
|
| 216 |
+
"channel"
|
| 217 |
+
],
|
| 218 |
+
"video_info": {
|
| 219 |
+
"video.fps": 30.0,
|
| 220 |
+
"video.codec": "mp4v",
|
| 221 |
+
"video.pix_fmt": "yuv420p",
|
| 222 |
+
"video.is_depth_map": false,
|
| 223 |
+
"has_audio": false
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
bottom/meta/modality.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 7
|
| 6 |
+
},
|
| 7 |
+
"right_arm": {
|
| 8 |
+
"start": 7,
|
| 9 |
+
"end": 14
|
| 10 |
+
},
|
| 11 |
+
"left_hand": {
|
| 12 |
+
"start": 14,
|
| 13 |
+
"end": 21
|
| 14 |
+
},
|
| 15 |
+
"right_hand": {
|
| 16 |
+
"start": 21,
|
| 17 |
+
"end": 28
|
| 18 |
+
},
|
| 19 |
+
"left_leg": {
|
| 20 |
+
"start": 28,
|
| 21 |
+
"end": 34
|
| 22 |
+
},
|
| 23 |
+
"right_leg": {
|
| 24 |
+
"start": 34,
|
| 25 |
+
"end": 40
|
| 26 |
+
}
|
| 27 |
+
},
|
| 28 |
+
"action": {
|
| 29 |
+
"left_arm": {
|
| 30 |
+
"start": 0,
|
| 31 |
+
"end": 7
|
| 32 |
+
},
|
| 33 |
+
"right_arm": {
|
| 34 |
+
"start": 7,
|
| 35 |
+
"end": 14
|
| 36 |
+
},
|
| 37 |
+
"left_hand": {
|
| 38 |
+
"start": 14,
|
| 39 |
+
"end": 21
|
| 40 |
+
},
|
| 41 |
+
"right_hand": {
|
| 42 |
+
"start": 21,
|
| 43 |
+
"end": 28
|
| 44 |
+
},
|
| 45 |
+
"navigate_command": {
|
| 46 |
+
"start": 28,
|
| 47 |
+
"end": 31
|
| 48 |
+
},
|
| 49 |
+
"base_height_command": {
|
| 50 |
+
"start": 31,
|
| 51 |
+
"end": 32
|
| 52 |
+
},
|
| 53 |
+
"waist": {
|
| 54 |
+
"start": 32,
|
| 55 |
+
"end": 35
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"lable": {
|
| 59 |
+
"tasklable": {
|
| 60 |
+
"start": 0,
|
| 61 |
+
"end": 2
|
| 62 |
+
},
|
| 63 |
+
"stage_vector": {
|
| 64 |
+
"start": 2,
|
| 65 |
+
"end": 3
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"video": {
|
| 69 |
+
"ego_view": {
|
| 70 |
+
"original_key": "observation.images.ego_view"
|
| 71 |
+
},
|
| 72 |
+
"wrist_left": {
|
| 73 |
+
"original_key": "observation.images.wrist_left"
|
| 74 |
+
},
|
| 75 |
+
"wrist_right": {
|
| 76 |
+
"original_key": "observation.images.wrist_right"
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"annotation": {
|
| 80 |
+
"human.action.task_description": {},
|
| 81 |
+
"human.validity": {}
|
| 82 |
+
}
|
| 83 |
+
}
|
bottom/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pick up cube."}
|
legbottom/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "length": 561, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 2 |
+
{"episode_index": 1, "length": 654, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 3 |
+
{"episode_index": 2, "length": 486, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 4 |
+
{"episode_index": 3, "length": 541, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 5 |
+
{"episode_index": 4, "length": 615, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 6 |
+
{"episode_index": 5, "length": 585, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 7 |
+
{"episode_index": 6, "length": 562, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 8 |
+
{"episode_index": 7, "length": 566, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 9 |
+
{"episode_index": 8, "length": 554, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 10 |
+
{"episode_index": 9, "length": 589, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 11 |
+
{"episode_index": 10, "length": 497, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 12 |
+
{"episode_index": 11, "length": 510, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 13 |
+
{"episode_index": 12, "length": 523, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 14 |
+
{"episode_index": 13, "length": 517, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 15 |
+
{"episode_index": 14, "length": 529, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 16 |
+
{"episode_index": 15, "length": 564, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 17 |
+
{"episode_index": 16, "length": 479, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 18 |
+
{"episode_index": 17, "length": 538, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 19 |
+
{"episode_index": 18, "length": 496, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 20 |
+
{"episode_index": 19, "length": 454, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 21 |
+
{"episode_index": 20, "length": 456, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 22 |
+
{"episode_index": 21, "length": 474, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 23 |
+
{"episode_index": 22, "length": 472, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 24 |
+
{"episode_index": 23, "length": 465, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 25 |
+
{"episode_index": 24, "length": 462, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 26 |
+
{"episode_index": 25, "length": 463, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 27 |
+
{"episode_index": 26, "length": 397, "tasks": [" squat down , press the orange button , and stand up "]}
|
| 28 |
+
{"episode_index": 27, "length": 448, "tasks": [" squat down , press the orange button , and stand up "]}
|
legbottom/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
legbottom/meta/info.json
ADDED
|
@@ -0,0 +1,229 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "g1",
|
| 4 |
+
"total_episodes": 28,
|
| 5 |
+
"total_frames": 14457,
|
| 6 |
+
"total_videos": 3,
|
| 7 |
+
"total_chunks": 1,
|
| 8 |
+
"chunks_size": 1000,
|
| 9 |
+
"fps": 30.0,
|
| 10 |
+
"splits": {
|
| 11 |
+
"train": "0:28"
|
| 12 |
+
},
|
| 13 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 14 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 15 |
+
"features": {
|
| 16 |
+
"observation.state": {
|
| 17 |
+
"dtype": "float64",
|
| 18 |
+
"shape": [
|
| 19 |
+
40
|
| 20 |
+
],
|
| 21 |
+
"names": [
|
| 22 |
+
"motor_0",
|
| 23 |
+
"motor_1",
|
| 24 |
+
"motor_2",
|
| 25 |
+
"motor_3",
|
| 26 |
+
"motor_4",
|
| 27 |
+
"motor_5",
|
| 28 |
+
"motor_6",
|
| 29 |
+
"motor_7",
|
| 30 |
+
"motor_8",
|
| 31 |
+
"motor_9",
|
| 32 |
+
"motor_10",
|
| 33 |
+
"motor_11",
|
| 34 |
+
"motor_12",
|
| 35 |
+
"motor_13",
|
| 36 |
+
"motor_14",
|
| 37 |
+
"motor_15",
|
| 38 |
+
"motor_16",
|
| 39 |
+
"motor_17",
|
| 40 |
+
"motor_18",
|
| 41 |
+
"motor_19",
|
| 42 |
+
"motor_20",
|
| 43 |
+
"motor_21",
|
| 44 |
+
"motor_22",
|
| 45 |
+
"motor_23",
|
| 46 |
+
"motor_24",
|
| 47 |
+
"motor_25",
|
| 48 |
+
"motor_26",
|
| 49 |
+
"motor_27",
|
| 50 |
+
"motor_28",
|
| 51 |
+
"motor_29",
|
| 52 |
+
"motor_30",
|
| 53 |
+
"motor_31",
|
| 54 |
+
"motor_32",
|
| 55 |
+
"motor_33",
|
| 56 |
+
"motor_34",
|
| 57 |
+
"motor_35",
|
| 58 |
+
"motor_36",
|
| 59 |
+
"motor_37",
|
| 60 |
+
"motor_38",
|
| 61 |
+
"motor_39"
|
| 62 |
+
]
|
| 63 |
+
},
|
| 64 |
+
"action": {
|
| 65 |
+
"dtype": "float64",
|
| 66 |
+
"shape": [
|
| 67 |
+
35
|
| 68 |
+
],
|
| 69 |
+
"names": [
|
| 70 |
+
"motor_0",
|
| 71 |
+
"motor_1",
|
| 72 |
+
"motor_2",
|
| 73 |
+
"motor_3",
|
| 74 |
+
"motor_4",
|
| 75 |
+
"motor_5",
|
| 76 |
+
"motor_6",
|
| 77 |
+
"motor_7",
|
| 78 |
+
"motor_8",
|
| 79 |
+
"motor_9",
|
| 80 |
+
"motor_10",
|
| 81 |
+
"motor_11",
|
| 82 |
+
"motor_12",
|
| 83 |
+
"motor_13",
|
| 84 |
+
"motor_14",
|
| 85 |
+
"motor_15",
|
| 86 |
+
"motor_16",
|
| 87 |
+
"motor_17",
|
| 88 |
+
"motor_18",
|
| 89 |
+
"motor_19",
|
| 90 |
+
"motor_20",
|
| 91 |
+
"motor_21",
|
| 92 |
+
"motor_22",
|
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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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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
legbottom/meta/modality.json
ADDED
|
@@ -0,0 +1,83 @@
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|
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|
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|
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|
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| 24 |
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|
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|
| 26 |
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|
| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
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|
| 32 |
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| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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| 38 |
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|
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|
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| 41 |
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| 42 |
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|
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
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| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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| 68 |
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| 69 |
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| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
legbottom/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
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|
|
|
|
|
|
| 1 |
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{"task_index": 0, "task": " squat down , press the orange button , and stand up "}
|
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ADDED
|
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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|
| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 14 |
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| 15 |
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "g1",
|
| 4 |
+
"total_episodes": 17,
|
| 5 |
+
"total_frames": 2412,
|
| 6 |
+
"total_videos": 3,
|
| 7 |
+
"total_chunks": 1,
|
| 8 |
+
"chunks_size": 1000,
|
| 9 |
+
"fps": 30.0,
|
| 10 |
+
"splits": {
|
| 11 |
+
"train": "0:17"
|
| 12 |
+
},
|
| 13 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 14 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 15 |
+
"features": {
|
| 16 |
+
"observation.state": {
|
| 17 |
+
"dtype": "float64",
|
| 18 |
+
"shape": [
|
| 19 |
+
40
|
| 20 |
+
],
|
| 21 |
+
"names": [
|
| 22 |
+
"motor_0",
|
| 23 |
+
"motor_1",
|
| 24 |
+
"motor_2",
|
| 25 |
+
"motor_3",
|
| 26 |
+
"motor_4",
|
| 27 |
+
"motor_5",
|
| 28 |
+
"motor_6",
|
| 29 |
+
"motor_7",
|
| 30 |
+
"motor_8",
|
| 31 |
+
"motor_9",
|
| 32 |
+
"motor_10",
|
| 33 |
+
"motor_11",
|
| 34 |
+
"motor_12",
|
| 35 |
+
"motor_13",
|
| 36 |
+
"motor_14",
|
| 37 |
+
"motor_15",
|
| 38 |
+
"motor_16",
|
| 39 |
+
"motor_17",
|
| 40 |
+
"motor_18",
|
| 41 |
+
"motor_19",
|
| 42 |
+
"motor_20",
|
| 43 |
+
"motor_21",
|
| 44 |
+
"motor_22",
|
| 45 |
+
"motor_23",
|
| 46 |
+
"motor_24",
|
| 47 |
+
"motor_25",
|
| 48 |
+
"motor_26",
|
| 49 |
+
"motor_27",
|
| 50 |
+
"motor_28",
|
| 51 |
+
"motor_29",
|
| 52 |
+
"motor_30",
|
| 53 |
+
"motor_31",
|
| 54 |
+
"motor_32",
|
| 55 |
+
"motor_33",
|
| 56 |
+
"motor_34",
|
| 57 |
+
"motor_35",
|
| 58 |
+
"motor_36",
|
| 59 |
+
"motor_37",
|
| 60 |
+
"motor_38",
|
| 61 |
+
"motor_39"
|
| 62 |
+
]
|
| 63 |
+
},
|
| 64 |
+
"action": {
|
| 65 |
+
"dtype": "float64",
|
| 66 |
+
"shape": [
|
| 67 |
+
35
|
| 68 |
+
],
|
| 69 |
+
"names": [
|
| 70 |
+
"motor_0",
|
| 71 |
+
"motor_1",
|
| 72 |
+
"motor_2",
|
| 73 |
+
"motor_3",
|
| 74 |
+
"motor_4",
|
| 75 |
+
"motor_5",
|
| 76 |
+
"motor_6",
|
| 77 |
+
"motor_7",
|
| 78 |
+
"motor_8",
|
| 79 |
+
"motor_9",
|
| 80 |
+
"motor_10",
|
| 81 |
+
"motor_11",
|
| 82 |
+
"motor_12",
|
| 83 |
+
"motor_13",
|
| 84 |
+
"motor_14",
|
| 85 |
+
"motor_15",
|
| 86 |
+
"motor_16",
|
| 87 |
+
"motor_17",
|
| 88 |
+
"motor_18",
|
| 89 |
+
"motor_19",
|
| 90 |
+
"motor_20",
|
| 91 |
+
"motor_21",
|
| 92 |
+
"motor_22",
|
| 93 |
+
"motor_23",
|
| 94 |
+
"motor_24",
|
| 95 |
+
"motor_25",
|
| 96 |
+
"motor_26",
|
| 97 |
+
"motor_27",
|
| 98 |
+
"motor_28",
|
| 99 |
+
"motor_29",
|
| 100 |
+
"motor_30",
|
| 101 |
+
"motor_31",
|
| 102 |
+
"motor_32",
|
| 103 |
+
"motor_33",
|
| 104 |
+
"motor_34"
|
| 105 |
+
]
|
| 106 |
+
},
|
| 107 |
+
"lable": {
|
| 108 |
+
"dtype": "float64",
|
| 109 |
+
"shape": [
|
| 110 |
+
3
|
| 111 |
+
],
|
| 112 |
+
"names": [
|
| 113 |
+
"lable_0",
|
| 114 |
+
"lable_1",
|
| 115 |
+
"lable_2"
|
| 116 |
+
]
|
| 117 |
+
},
|
| 118 |
+
"timestamp": {
|
| 119 |
+
"dtype": "float64",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
]
|
| 123 |
+
},
|
| 124 |
+
"annotation.human.action.task_description": {
|
| 125 |
+
"dtype": "int64",
|
| 126 |
+
"shape": [
|
| 127 |
+
1
|
| 128 |
+
]
|
| 129 |
+
},
|
| 130 |
+
"task_index": {
|
| 131 |
+
"dtype": "int64",
|
| 132 |
+
"shape": [
|
| 133 |
+
1
|
| 134 |
+
]
|
| 135 |
+
},
|
| 136 |
+
"annotation.human.validity": {
|
| 137 |
+
"dtype": "int64",
|
| 138 |
+
"shape": [
|
| 139 |
+
1
|
| 140 |
+
]
|
| 141 |
+
},
|
| 142 |
+
"episode_index": {
|
| 143 |
+
"dtype": "int64",
|
| 144 |
+
"shape": [
|
| 145 |
+
1
|
| 146 |
+
]
|
| 147 |
+
},
|
| 148 |
+
"index": {
|
| 149 |
+
"dtype": "int64",
|
| 150 |
+
"shape": [
|
| 151 |
+
1
|
| 152 |
+
]
|
| 153 |
+
},
|
| 154 |
+
"next.reward": {
|
| 155 |
+
"dtype": "float64",
|
| 156 |
+
"shape": [
|
| 157 |
+
1
|
| 158 |
+
]
|
| 159 |
+
},
|
| 160 |
+
"next.done": {
|
| 161 |
+
"dtype": "bool",
|
| 162 |
+
"shape": [
|
| 163 |
+
1
|
| 164 |
+
]
|
| 165 |
+
},
|
| 166 |
+
"observation.images.ego_view": {
|
| 167 |
+
"dtype": "video",
|
| 168 |
+
"shape": [
|
| 169 |
+
480,
|
| 170 |
+
640,
|
| 171 |
+
3
|
| 172 |
+
],
|
| 173 |
+
"names": [
|
| 174 |
+
"height",
|
| 175 |
+
"width",
|
| 176 |
+
"channel"
|
| 177 |
+
],
|
| 178 |
+
"video_info": {
|
| 179 |
+
"video.fps": 30.0,
|
| 180 |
+
"video.codec": "mp4v",
|
| 181 |
+
"video.pix_fmt": "yuv420p",
|
| 182 |
+
"video.is_depth_map": false,
|
| 183 |
+
"has_audio": false
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"observation.images.wrist_left": {
|
| 187 |
+
"dtype": "video",
|
| 188 |
+
"shape": [
|
| 189 |
+
480,
|
| 190 |
+
640,
|
| 191 |
+
3
|
| 192 |
+
],
|
| 193 |
+
"names": [
|
| 194 |
+
"height",
|
| 195 |
+
"width",
|
| 196 |
+
"channel"
|
| 197 |
+
],
|
| 198 |
+
"video_info": {
|
| 199 |
+
"video.fps": 30.0,
|
| 200 |
+
"video.codec": "mp4v",
|
| 201 |
+
"video.pix_fmt": "yuv420p",
|
| 202 |
+
"video.is_depth_map": false,
|
| 203 |
+
"has_audio": false
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"observation.images.wrist_right": {
|
| 207 |
+
"dtype": "video",
|
| 208 |
+
"shape": [
|
| 209 |
+
480,
|
| 210 |
+
640,
|
| 211 |
+
3
|
| 212 |
+
],
|
| 213 |
+
"names": [
|
| 214 |
+
"height",
|
| 215 |
+
"width",
|
| 216 |
+
"channel"
|
| 217 |
+
],
|
| 218 |
+
"video_info": {
|
| 219 |
+
"video.fps": 30.0,
|
| 220 |
+
"video.codec": "mp4v",
|
| 221 |
+
"video.pix_fmt": "yuv420p",
|
| 222 |
+
"video.is_depth_map": false,
|
| 223 |
+
"has_audio": false
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
squatedown/meta/modality.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 7
|
| 6 |
+
},
|
| 7 |
+
"right_arm": {
|
| 8 |
+
"start": 7,
|
| 9 |
+
"end": 14
|
| 10 |
+
},
|
| 11 |
+
"left_hand": {
|
| 12 |
+
"start": 14,
|
| 13 |
+
"end": 21
|
| 14 |
+
},
|
| 15 |
+
"right_hand": {
|
| 16 |
+
"start": 21,
|
| 17 |
+
"end": 28
|
| 18 |
+
},
|
| 19 |
+
"left_leg": {
|
| 20 |
+
"start": 28,
|
| 21 |
+
"end": 34
|
| 22 |
+
},
|
| 23 |
+
"right_leg": {
|
| 24 |
+
"start": 34,
|
| 25 |
+
"end": 40
|
| 26 |
+
}
|
| 27 |
+
},
|
| 28 |
+
"action": {
|
| 29 |
+
"left_arm": {
|
| 30 |
+
"start": 0,
|
| 31 |
+
"end": 7
|
| 32 |
+
},
|
| 33 |
+
"right_arm": {
|
| 34 |
+
"start": 7,
|
| 35 |
+
"end": 14
|
| 36 |
+
},
|
| 37 |
+
"left_hand": {
|
| 38 |
+
"start": 14,
|
| 39 |
+
"end": 21
|
| 40 |
+
},
|
| 41 |
+
"right_hand": {
|
| 42 |
+
"start": 21,
|
| 43 |
+
"end": 28
|
| 44 |
+
},
|
| 45 |
+
"navigate_command": {
|
| 46 |
+
"start": 28,
|
| 47 |
+
"end": 31
|
| 48 |
+
},
|
| 49 |
+
"base_height_command": {
|
| 50 |
+
"start": 31,
|
| 51 |
+
"end": 32
|
| 52 |
+
},
|
| 53 |
+
"waist": {
|
| 54 |
+
"start": 32,
|
| 55 |
+
"end": 35
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"lable": {
|
| 59 |
+
"tasklable": {
|
| 60 |
+
"start": 0,
|
| 61 |
+
"end": 2
|
| 62 |
+
},
|
| 63 |
+
"stage_vector": {
|
| 64 |
+
"start": 2,
|
| 65 |
+
"end": 3
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"video": {
|
| 69 |
+
"ego_view": {
|
| 70 |
+
"original_key": "observation.images.ego_view"
|
| 71 |
+
},
|
| 72 |
+
"wrist_left": {
|
| 73 |
+
"original_key": "observation.images.wrist_left"
|
| 74 |
+
},
|
| 75 |
+
"wrist_right": {
|
| 76 |
+
"original_key": "observation.images.wrist_right"
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"annotation": {
|
| 80 |
+
"human.action.task_description": {},
|
| 81 |
+
"human.validity": {}
|
| 82 |
+
}
|
| 83 |
+
}
|
squatedown/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": " squat down "}
|
walkforward/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "length": 199, "tasks": [" walk forward "]}
|
| 2 |
+
{"episode_index": 1, "length": 154, "tasks": [" walk forward "]}
|
| 3 |
+
{"episode_index": 2, "length": 138, "tasks": [" walk forward "]}
|
| 4 |
+
{"episode_index": 3, "length": 215, "tasks": [" walk forward "]}
|
| 5 |
+
{"episode_index": 4, "length": 188, "tasks": [" walk forward "]}
|
| 6 |
+
{"episode_index": 5, "length": 176, "tasks": [" walk forward "]}
|
| 7 |
+
{"episode_index": 6, "length": 206, "tasks": [" walk forward "]}
|
| 8 |
+
{"episode_index": 7, "length": 189, "tasks": [" walk forward "]}
|
| 9 |
+
{"episode_index": 8, "length": 178, "tasks": [" walk forward "]}
|
| 10 |
+
{"episode_index": 9, "length": 170, "tasks": [" walk forward "]}
|
| 11 |
+
{"episode_index": 10, "length": 190, "tasks": [" walk forward "]}
|
| 12 |
+
{"episode_index": 11, "length": 191, "tasks": [" walk forward "]}
|
| 13 |
+
{"episode_index": 12, "length": 229, "tasks": [" walk forward "]}
|
| 14 |
+
{"episode_index": 13, "length": 155, "tasks": [" walk forward "]}
|
| 15 |
+
{"episode_index": 14, "length": 171, "tasks": [" walk forward "]}
|
| 16 |
+
{"episode_index": 15, "length": 161, "tasks": [" walk forward "]}
|
| 17 |
+
{"episode_index": 16, "length": 168, "tasks": [" walk forward "]}
|
| 18 |
+
{"episode_index": 17, "length": 161, "tasks": [" walk forward "]}
|
| 19 |
+
{"episode_index": 18, "length": 180, "tasks": [" walk forward "]}
|
| 20 |
+
{"episode_index": 19, "length": 122, "tasks": [" walk forward "]}
|
| 21 |
+
{"episode_index": 20, "length": 159, "tasks": [" walk forward "]}
|
| 22 |
+
{"episode_index": 21, "length": 156, "tasks": [" walk forward "]}
|
walkforward/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
walkforward/meta/info.json
ADDED
|
@@ -0,0 +1,227 @@
|
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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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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "g1",
|
| 4 |
+
"total_episodes": 22,
|
| 5 |
+
"total_frames": 3856,
|
| 6 |
+
"total_videos": 3,
|
| 7 |
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"total_chunks": 1,
|
| 8 |
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"chunks_size": 1000,
|
| 9 |
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"fps": 30.0,
|
| 10 |
+
"splits": {
|
| 11 |
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"train": "0:22"
|
| 12 |
+
},
|
| 13 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 14 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 15 |
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"features": {
|
| 16 |
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"observation.state": {
|
| 17 |
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"dtype": "float64",
|
| 18 |
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"shape": [
|
| 19 |
+
40
|
| 20 |
+
],
|
| 21 |
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"names": [
|
| 22 |
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"motor_0",
|
| 23 |
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"motor_1",
|
| 24 |
+
"motor_2",
|
| 25 |
+
"motor_3",
|
| 26 |
+
"motor_4",
|
| 27 |
+
"motor_5",
|
| 28 |
+
"motor_6",
|
| 29 |
+
"motor_7",
|
| 30 |
+
"motor_8",
|
| 31 |
+
"motor_9",
|
| 32 |
+
"motor_10",
|
| 33 |
+
"motor_11",
|
| 34 |
+
"motor_12",
|
| 35 |
+
"motor_13",
|
| 36 |
+
"motor_14",
|
| 37 |
+
"motor_15",
|
| 38 |
+
"motor_16",
|
| 39 |
+
"motor_17",
|
| 40 |
+
"motor_18",
|
| 41 |
+
"motor_19",
|
| 42 |
+
"motor_20",
|
| 43 |
+
"motor_21",
|
| 44 |
+
"motor_22",
|
| 45 |
+
"motor_23",
|
| 46 |
+
"motor_24",
|
| 47 |
+
"motor_25",
|
| 48 |
+
"motor_26",
|
| 49 |
+
"motor_27",
|
| 50 |
+
"motor_28",
|
| 51 |
+
"motor_29",
|
| 52 |
+
"motor_30",
|
| 53 |
+
"motor_31",
|
| 54 |
+
"motor_32",
|
| 55 |
+
"motor_33",
|
| 56 |
+
"motor_34",
|
| 57 |
+
"motor_35",
|
| 58 |
+
"motor_36",
|
| 59 |
+
"motor_37",
|
| 60 |
+
"motor_38",
|
| 61 |
+
"motor_39"
|
| 62 |
+
]
|
| 63 |
+
},
|
| 64 |
+
"action": {
|
| 65 |
+
"dtype": "float64",
|
| 66 |
+
"shape": [
|
| 67 |
+
35
|
| 68 |
+
],
|
| 69 |
+
"names": [
|
| 70 |
+
"motor_0",
|
| 71 |
+
"motor_1",
|
| 72 |
+
"motor_2",
|
| 73 |
+
"motor_3",
|
| 74 |
+
"motor_4",
|
| 75 |
+
"motor_5",
|
| 76 |
+
"motor_6",
|
| 77 |
+
"motor_7",
|
| 78 |
+
"motor_8",
|
| 79 |
+
"motor_9",
|
| 80 |
+
"motor_10",
|
| 81 |
+
"motor_11",
|
| 82 |
+
"motor_12",
|
| 83 |
+
"motor_13",
|
| 84 |
+
"motor_14",
|
| 85 |
+
"motor_15",
|
| 86 |
+
"motor_16",
|
| 87 |
+
"motor_17",
|
| 88 |
+
"motor_18",
|
| 89 |
+
"motor_19",
|
| 90 |
+
"motor_20",
|
| 91 |
+
"motor_21",
|
| 92 |
+
"motor_22",
|
| 93 |
+
"motor_23",
|
| 94 |
+
"motor_24",
|
| 95 |
+
"motor_25",
|
| 96 |
+
"motor_26",
|
| 97 |
+
"motor_27",
|
| 98 |
+
"motor_28",
|
| 99 |
+
"motor_29",
|
| 100 |
+
"motor_30",
|
| 101 |
+
"motor_31",
|
| 102 |
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"motor_32",
|
| 103 |
+
"motor_33",
|
| 104 |
+
"motor_34"
|
| 105 |
+
]
|
| 106 |
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},
|
| 107 |
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"lable": {
|
| 108 |
+
"dtype": "float64",
|
| 109 |
+
"shape": [
|
| 110 |
+
3
|
| 111 |
+
],
|
| 112 |
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"names": [
|
| 113 |
+
"lable_0",
|
| 114 |
+
"lable_1",
|
| 115 |
+
"lable_2"
|
| 116 |
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]
|
| 117 |
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},
|
| 118 |
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"timestamp": {
|
| 119 |
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"dtype": "float64",
|
| 120 |
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"shape": [
|
| 121 |
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|
| 122 |
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|
| 123 |
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},
|
| 124 |
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"annotation.human.action.task_description": {
|
| 125 |
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"dtype": "int64",
|
| 126 |
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"shape": [
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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"task_index": {
|
| 131 |
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"dtype": "int64",
|
| 132 |
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"shape": [
|
| 133 |
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|
| 134 |
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]
|
| 135 |
+
},
|
| 136 |
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"annotation.human.validity": {
|
| 137 |
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"dtype": "int64",
|
| 138 |
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"shape": [
|
| 139 |
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|
| 140 |
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]
|
| 141 |
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},
|
| 142 |
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"episode_index": {
|
| 143 |
+
"dtype": "int64",
|
| 144 |
+
"shape": [
|
| 145 |
+
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|
| 146 |
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]
|
| 147 |
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},
|
| 148 |
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|
| 149 |
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"dtype": "int64",
|
| 150 |
+
"shape": [
|
| 151 |
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|
| 152 |
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]
|
| 153 |
+
},
|
| 154 |
+
"next.reward": {
|
| 155 |
+
"dtype": "float64",
|
| 156 |
+
"shape": [
|
| 157 |
+
1
|
| 158 |
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]
|
| 159 |
+
},
|
| 160 |
+
"next.done": {
|
| 161 |
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"dtype": "bool",
|
| 162 |
+
"shape": [
|
| 163 |
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1
|
| 164 |
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]
|
| 165 |
+
},
|
| 166 |
+
"observation.images.ego_view": {
|
| 167 |
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"dtype": "video",
|
| 168 |
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"shape": [
|
| 169 |
+
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|
| 170 |
+
640,
|
| 171 |
+
3
|
| 172 |
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],
|
| 173 |
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"names": [
|
| 174 |
+
"height",
|
| 175 |
+
"width",
|
| 176 |
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|
| 177 |
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],
|
| 178 |
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"video_info": {
|
| 179 |
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"video.fps": 30.0,
|
| 180 |
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"video.codec": "mp4v",
|
| 181 |
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"video.pix_fmt": "yuv420p",
|
| 182 |
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"video.is_depth_map": false,
|
| 183 |
+
"has_audio": false
|
| 184 |
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}
|
| 185 |
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},
|
| 186 |
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"observation.images.wrist_left": {
|
| 187 |
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"dtype": "video",
|
| 188 |
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"shape": [
|
| 189 |
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|
| 190 |
+
640,
|
| 191 |
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|
| 192 |
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],
|
| 193 |
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"names": [
|
| 194 |
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"height",
|
| 195 |
+
"width",
|
| 196 |
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"channel"
|
| 197 |
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],
|
| 198 |
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"video_info": {
|
| 199 |
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"video.fps": 30.0,
|
| 200 |
+
"video.codec": "mp4v",
|
| 201 |
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"video.pix_fmt": "yuv420p",
|
| 202 |
+
"video.is_depth_map": false,
|
| 203 |
+
"has_audio": false
|
| 204 |
+
}
|
| 205 |
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},
|
| 206 |
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"observation.images.wrist_right": {
|
| 207 |
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"dtype": "video",
|
| 208 |
+
"shape": [
|
| 209 |
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|
| 210 |
+
640,
|
| 211 |
+
3
|
| 212 |
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],
|
| 213 |
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"names": [
|
| 214 |
+
"height",
|
| 215 |
+
"width",
|
| 216 |
+
"channel"
|
| 217 |
+
],
|
| 218 |
+
"video_info": {
|
| 219 |
+
"video.fps": 30.0,
|
| 220 |
+
"video.codec": "mp4v",
|
| 221 |
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"video.pix_fmt": "yuv420p",
|
| 222 |
+
"video.is_depth_map": false,
|
| 223 |
+
"has_audio": false
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
}
|
walkforward/meta/modality.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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},
|
| 19 |
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"left_leg": {
|
| 20 |
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"start": 28,
|
| 21 |
+
"end": 34
|
| 22 |
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},
|
| 23 |
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"right_leg": {
|
| 24 |
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|
| 25 |
+
"end": 40
|
| 26 |
+
}
|
| 27 |
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},
|
| 28 |
+
"action": {
|
| 29 |
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"left_arm": {
|
| 30 |
+
"start": 0,
|
| 31 |
+
"end": 7
|
| 32 |
+
},
|
| 33 |
+
"right_arm": {
|
| 34 |
+
"start": 7,
|
| 35 |
+
"end": 14
|
| 36 |
+
},
|
| 37 |
+
"left_hand": {
|
| 38 |
+
"start": 14,
|
| 39 |
+
"end": 21
|
| 40 |
+
},
|
| 41 |
+
"right_hand": {
|
| 42 |
+
"start": 21,
|
| 43 |
+
"end": 28
|
| 44 |
+
},
|
| 45 |
+
"navigate_command": {
|
| 46 |
+
"start": 28,
|
| 47 |
+
"end": 31
|
| 48 |
+
},
|
| 49 |
+
"base_height_command": {
|
| 50 |
+
"start": 31,
|
| 51 |
+
"end": 32
|
| 52 |
+
},
|
| 53 |
+
"waist": {
|
| 54 |
+
"start": 32,
|
| 55 |
+
"end": 35
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"lable": {
|
| 59 |
+
"tasklable": {
|
| 60 |
+
"start": 0,
|
| 61 |
+
"end": 2
|
| 62 |
+
},
|
| 63 |
+
"stage_vector": {
|
| 64 |
+
"start": 2,
|
| 65 |
+
"end": 3
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"video": {
|
| 69 |
+
"ego_view": {
|
| 70 |
+
"original_key": "observation.images.ego_view"
|
| 71 |
+
},
|
| 72 |
+
"wrist_left": {
|
| 73 |
+
"original_key": "observation.images.wrist_left"
|
| 74 |
+
},
|
| 75 |
+
"wrist_right": {
|
| 76 |
+
"original_key": "observation.images.wrist_right"
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"annotation": {
|
| 80 |
+
"human.action.task_description": {},
|
| 81 |
+
"human.validity": {}
|
| 82 |
+
}
|
| 83 |
+
}
|
walkforward/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": " walk forward "}
|
walkforward/videos/chunk-000/observation.images.ego_view/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:890013edd641f4c42bcf0f26e86ff52ee4da6403a8e3e6b86b3dd6137a51b6d0
|
| 3 |
+
size 2175789
|
walkforward/videos/chunk-000/observation.images.ego_view/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b4b6b14987de40eed9d03fa00408a80bdb989f20ba859fef7721436f735da3bf
|
| 3 |
+
size 1987591
|
walkforward/videos/chunk-000/observation.images.ego_view/episode_000005.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8516754016e9a2c3f6248b1fdacde2b1942663bb9590cd683cca647e207525bd
|
| 3 |
+
size 2824114
|
walkforward/videos/chunk-000/observation.images.ego_view/episode_000008.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cbc7ed66432d2262be24bc22e7c06a78696961eeb49a0aba3f956f4543be118a
|
| 3 |
+
size 2864351
|
walkforward/videos/chunk-000/observation.images.ego_view/episode_000021.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c2596d38a845ed92a0e3454436ec94df367a6fe9d88d4b0fc5c828e2bc34ebde
|
| 3 |
+
size 2538181
|