Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +147 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000002.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cb0a11e90efa13760363c311e8b28bb4f3e5210fcc1801244cee8eba70597844
|
| 3 |
+
size 18319
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4e5c8920e089acbaba3d515ea1e0ad96e29028c95a11727bf73f144be853231f
|
| 3 |
+
size 17664
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ec106cac891e775278e318f04b080fdbc0c669a1eefe5b27efd6384fa734b6c0
|
| 3 |
+
size 17356
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Pick up the red square block and place it inside the green square area on the right."], "length": 222}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Pick up the red square block and place it inside the green square area on the right."], "length": 212}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Pick up the red square block and place it inside the green square area on the right."], "length": 208}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-16.99370574951172, -100.0, -32.60771179199219, 56.08905029296875, -16.936752319335938, 1.4297966117737815e-06], "max": [21.288406372070312, 34.54545593261719, 94.46711730957031, 85.1593017578125, -2.5091476440429688, 53.01902389526367], "mean": [-3.726344108581543, -18.03020668029785, 21.558712005615234, 74.56710815429688, -8.656747817993164, 23.573972702026367], "std": [12.62811279296875, 53.91862106323242, 49.79535675048828, 6.978657245635986, 5.738781929016113, 21.73902130126953], "count": [222]}, "observation.state": {"min": [-16.554214477539062, -96.87159729003906, -31.092056274414062, 47.45770263671875, -17.714309692382812, 8.770597457885742], "max": [21.39562225341797, 37.349273681640625, 94.98832702636719, 84.433837890625, -2.5001144409179688, 53.008670806884766], "mean": [-3.6928365230560303, -15.090448379516602, 21.81366729736328, 74.15946197509766, -8.590624809265137, 31.271255493164062], "std": [12.608747482299805, 52.89324951171875, 48.44269561767578, 7.216232776641846, 5.752014636993408, 15.520756721496582], "count": [222]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8588235294117647]], [[0.8627450980392157]], [[0.8627450980392157]]], "mean": [[[0.6686434844771242]], [[0.6779372753267974]], [[0.6655576164215686]]], "std": [[[0.20490888720633826]], [[0.18176979189516132]], [[0.20949354448804902]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8901960784313725]], [[0.8901960784313725]], [[0.8901960784313725]]], "mean": [[[0.591696051879085]], [[0.5960088296568627]], [[0.5640668668300653]]], "std": [[[0.2646179216289159]], [[0.25250224053137355]], [[0.29821224237474003]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.366666666666666], "mean": [3.6833333333333336], "std": [2.1361743235842763], "count": [222]}, "frame_index": {"min": [0], "max": [221], "mean": [110.5], "std": [64.0852297075283], "count": [222]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [222]}, "index": {"min": [0], "max": [221], "mean": [110.5], "std": [64.0852297075283], "count": [222]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [222]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-16.401329040527344, -100.0, -41.768707275390625, 54.69227600097656, -16.257186889648438, 1.4297966117737815e-06], "max": [22.39911651611328, 41.9873046875, 93.46937561035156, 91.96856689453125, 0.31365203857421875, 54.590572357177734], "mean": [-2.9098222255706787, -21.801416397094727, 21.950551986694336, 76.62102508544922, -6.66270637512207, 23.695714950561523], "std": [12.717449188232422, 54.90563201904297, 51.90521240234375, 8.485869407653809, 6.520258903503418, 22.218042373657227], "count": [212]}, "observation.state": {"min": [-16.24803924560547, -96.84071350097656, -40.30725860595703, 47.46308898925781, -16.291419982910156, 8.770597457885742], "max": [22.48816680908203, 44.90153503417969, 94.52290344238281, 91.45220947265625, 0.32906341552734375, 54.583824157714844], "mean": [-2.904574394226074, -18.88349723815918, 22.205467224121094, 75.94873809814453, -6.698825359344482, 30.749399185180664], "std": [12.72470474243164, 54.06389617919922, 50.543548583984375, 8.665532112121582, 6.455519676208496, 16.12569808959961], "count": [212]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8627450980392157]], [[0.8627450980392157]], [[0.8627450980392157]]], "mean": [[[0.6698906862745098]], [[0.6791337642973856]], [[0.6667968157679739]]], "std": [[[0.20312127132846805]], [[0.17982009273967692]], [[0.20778579841376144]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8784313725490196]], [[0.8823529411764706]], [[0.8784313725490196]]], "mean": [[[0.5892043586601308]], [[0.5988169546568627]], [[0.5654953594771241]]], "std": [[[0.268336018249075]], [[0.2488239523327259]], [[0.2971643722443111]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.033333333333333], "mean": [3.5166666666666666], "std": [2.039948256424385], "count": [212]}, "frame_index": {"min": [0], "max": [211], "mean": [105.5], "std": [61.198447692731555], "count": [212]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [212]}, "index": {"min": [222], "max": [433], "mean": [327.5], "std": [61.198447692731555], "count": [212]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [212]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"action": {"min": [-18.992965698242188, -100.0, -15.011337280273438, 54.60496520996094, -20.54364776611328, 1.4297966117737815e-06], "max": [22.176971435546875, 29.72515869140625, 92.56234741210938, 83.9371337890625, -0.418182373046875, 59.30521011352539], "mean": [-3.4271481037139893, -24.630414962768555, 31.13991355895996, 68.4455337524414, -7.4472784996032715, 25.204017639160156], "std": [13.305129051208496, 49.991004943847656, 42.83381652832031, 7.130568027496338, 8.704115867614746, 22.47618865966797], "count": [208]}, "observation.state": {"min": [-18.851417541503906, -96.88410186767578, -13.770797729492188, 47.45286560058594, -20.535995483398438, 8.770599365234375], "max": [22.378707885742188, 31.898895263671875, 91.74697875976562, 83.14967346191406, -0.40680694580078125, 59.22669219970703], "mean": [-3.425046443939209, -21.640329360961914, 31.33922004699707, 67.8856201171875, -7.391831398010254, 31.123186111450195], "std": [13.313163757324219, 49.131080627441406, 41.18706512451172, 6.813416957855225, 8.601404190063477, 16.830215454101562], "count": [208]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8627450980392157]], [[0.8627450980392157]], [[0.8627450980392157]]], "mean": [[[0.6699557271241829]], [[0.6792892708333332]], [[0.6668879166666667]]], "std": [[[0.2033299886056256]], [[0.17981478195677378]], [[0.20793491307739462]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8705882352941177]], [[0.8705882352941177]], [[0.8705882352941177]]], "mean": [[[0.5774516258169935]], [[0.5925455555555555]], [[0.5551126062091504]]], "std": [[[0.2764562706617508]], [[0.24912059004580653]], [[0.30192431142074366]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [6.9], "mean": [3.45], "std": [2.0014578020366387], "count": [208]}, "frame_index": {"min": [0], "max": [207], "mean": [103.5], "std": [60.043734061099165], "count": [208]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [208]}, "index": {"min": [434], "max": [641], "mean": [537.5], "std": [60.043734061099165], "count": [208]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [208]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,147 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "so101_follower",
|
| 4 |
+
"total_episodes": 3,
|
| 5 |
+
"total_frames": 642,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 6,
|
| 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 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"shoulder_pan.pos",
|
| 24 |
+
"shoulder_lift.pos",
|
| 25 |
+
"elbow_flex.pos",
|
| 26 |
+
"wrist_flex.pos",
|
| 27 |
+
"wrist_roll.pos",
|
| 28 |
+
"gripper.pos"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"shoulder_pan.pos",
|
| 38 |
+
"shoulder_lift.pos",
|
| 39 |
+
"elbow_flex.pos",
|
| 40 |
+
"wrist_flex.pos",
|
| 41 |
+
"wrist_roll.pos",
|
| 42 |
+
"gripper.pos"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.front": {
|
| 46 |
+
"dtype": "video",
|
| 47 |
+
"shape": [
|
| 48 |
+
480,
|
| 49 |
+
640,
|
| 50 |
+
3
|
| 51 |
+
],
|
| 52 |
+
"names": [
|
| 53 |
+
"height",
|
| 54 |
+
"width",
|
| 55 |
+
"channels"
|
| 56 |
+
],
|
| 57 |
+
"video_info": {
|
| 58 |
+
"video.height": 480,
|
| 59 |
+
"video.width": 640,
|
| 60 |
+
"video.codec": "av1",
|
| 61 |
+
"video.pix_fmt": "yuv420p",
|
| 62 |
+
"video.is_depth_map": false,
|
| 63 |
+
"video.fps": 30.0,
|
| 64 |
+
"video.channels": 3,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
},
|
| 67 |
+
"info": {
|
| 68 |
+
"video.height": 480,
|
| 69 |
+
"video.width": 640,
|
| 70 |
+
"video.codec": "av1",
|
| 71 |
+
"video.pix_fmt": "yuv420p",
|
| 72 |
+
"video.is_depth_map": false,
|
| 73 |
+
"video.fps": 30,
|
| 74 |
+
"video.channels": 3,
|
| 75 |
+
"has_audio": false
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"observation.images.wrist": {
|
| 79 |
+
"dtype": "video",
|
| 80 |
+
"shape": [
|
| 81 |
+
480,
|
| 82 |
+
640,
|
| 83 |
+
3
|
| 84 |
+
],
|
| 85 |
+
"names": [
|
| 86 |
+
"height",
|
| 87 |
+
"width",
|
| 88 |
+
"channels"
|
| 89 |
+
],
|
| 90 |
+
"video_info": {
|
| 91 |
+
"video.height": 480,
|
| 92 |
+
"video.width": 640,
|
| 93 |
+
"video.codec": "av1",
|
| 94 |
+
"video.pix_fmt": "yuv420p",
|
| 95 |
+
"video.is_depth_map": false,
|
| 96 |
+
"video.fps": 30.0,
|
| 97 |
+
"video.channels": 3,
|
| 98 |
+
"has_audio": false
|
| 99 |
+
},
|
| 100 |
+
"info": {
|
| 101 |
+
"video.height": 480,
|
| 102 |
+
"video.width": 640,
|
| 103 |
+
"video.codec": "av1",
|
| 104 |
+
"video.pix_fmt": "yuv420p",
|
| 105 |
+
"video.is_depth_map": false,
|
| 106 |
+
"video.fps": 30,
|
| 107 |
+
"video.channels": 3,
|
| 108 |
+
"has_audio": false
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"timestamp": {
|
| 112 |
+
"dtype": "float32",
|
| 113 |
+
"shape": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"names": null
|
| 117 |
+
},
|
| 118 |
+
"frame_index": {
|
| 119 |
+
"dtype": "int64",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"episode_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
|
| 131 |
+
},
|
| 132 |
+
"index": {
|
| 133 |
+
"dtype": "int64",
|
| 134 |
+
"shape": [
|
| 135 |
+
1
|
| 136 |
+
],
|
| 137 |
+
"names": null
|
| 138 |
+
},
|
| 139 |
+
"task_index": {
|
| 140 |
+
"dtype": "int64",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
],
|
| 144 |
+
"names": null
|
| 145 |
+
}
|
| 146 |
+
}
|
| 147 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Pick up the red square block and place it inside the green square area on the right."}
|
videos/chunk-000/observation.images.front/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4128b13565a1842befec8940c05797f69cc421f6f72f4db7cb85e6935d39dac0
|
| 3 |
+
size 1035812
|
videos/chunk-000/observation.images.front/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b659d98ca1c818156902bb51d1f95609df28feb85f28e29549af7781cbdd5efa
|
| 3 |
+
size 983026
|
videos/chunk-000/observation.images.front/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7404e7436713ce1e08f81f43deadb994d8b7b2ffb197ca939987312e8d2bd57c
|
| 3 |
+
size 972390
|
videos/chunk-000/observation.images.wrist/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4f9bd6c4dc88f7cdb940b2ced622a40f5cc225a4986f82abd7bc2d04c7f8ece1
|
| 3 |
+
size 585118
|
videos/chunk-000/observation.images.wrist/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:41204695467348cc1989b57f32c8023e4cac86d110d171192baf6080172c5b15
|
| 3 |
+
size 589107
|
videos/chunk-000/observation.images.wrist/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f5423d700a4d78b3f8b42bf580a860f30352b13f87870b32fdb881778e5248be
|
| 3 |
+
size 568887
|