edgarkim commited on
Commit
0551023
·
verified ·
1 Parent(s): a75a6bb

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:746e41c89535eba20067e34279527c5fff0594e04630d1a237d2a8f11a505a29
3
+ size 19714
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cd8425a7823c33b023b54f52990956b2c3e38965ed8f27f304891e1872e3177d
3
+ size 21112
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f1c1ce8a9937f81fdb1b771ea5c5dbf371158245b27a07c6297a6d43904f23d
3
+ size 20031
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": 242}
2
+ {"episode_index": 1, "tasks": ["Pick up the red square block and place it inside the green square area on the right."], "length": 266}
3
+ {"episode_index": 2, "tasks": ["Pick up the red square block and place it inside the green square area on the right."], "length": 264}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-11.196342468261719, -103.12528228759766, -68.22603607177734, 37.169219970703125, -9.897651672363281, -10.636362075805664], "max": [23.49334716796875, 55.864990234375, 94.48454284667969, 100.1248779296875, 4.0011749267578125, 60.381900787353516], "mean": [-2.56329083442688, -0.7299025058746338, -2.9117748737335205, 80.92140197753906, -4.467607498168945, 25.322505950927734], "std": [11.501657485961914, 60.56689453125, 63.03800964355469, 16.559051513671875, 4.6280517578125, 30.41179656982422], "count": [242]}, "observation.state": {"min": [-11.115089416503906, -100.02906036376953, -66.11483001708984, 38.429168701171875, -10.408851623535156, -1.5605579392286018e-05], "max": [23.72113800048828, 59.451171875, 95.77752685546875, 95.00129699707031, 4.027748107910156, 60.30733108520508], "mean": [-2.284081220626831, 1.797154426574707, -2.574540853500366, 80.37258911132812, -4.409744739532471, 34.345008850097656], "std": [11.376829147338867, 59.486637115478516, 61.986656188964844, 16.54149055480957, 4.534318923950195, 21.595556259155273], "count": [242]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8470588235294118]], [[0.8470588235294118]], [[0.8470588235294118]]], "mean": [[[0.6841104595588235]], [[0.6957348039215686]], [[0.683201658496732]]], "std": [[[0.2005099855928846]], [[0.16979338900681532]], [[0.20220150205896484]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8705882352941177]], [[0.8705882352941177]], [[0.8705882352941177]]], "mean": [[[0.616289495506536]], [[0.6354336764705882]], [[0.5968517116013072]]], "std": [[[0.25010839271795954]], [[0.21025435739384565]], [[0.2781366513225642]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.033333333333333], "mean": [4.016666666666667], "std": [2.328626204439004], "count": [242]}, "frame_index": {"min": [0], "max": [241], "mean": [120.5], "std": [69.85878613317011], "count": [242]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [242]}, "index": {"min": [0], "max": [241], "mean": [120.5], "std": [69.85878613317011], "count": [242]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [242]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-10.133644104003906, -103.12528228759766, -60.11814880371094, 49.42762756347656, -12.793235778808594, -10.636362075805664], "max": [24.556053161621094, 62.94093322753906, 94.30027770996094, 98.11099243164062, 2.5270614624023438, 56.269264221191406], "mean": [-1.6879398822784424, -10.948887825012207, 5.347297668457031, 81.3258285522461, -5.400481224060059, 18.525829315185547], "std": [11.83721923828125, 63.516571044921875, 65.4359359741211, 14.61380672454834, 5.204524517059326, 27.439002990722656], "count": [266]}, "observation.state": {"min": [-10.132789611816406, -100.02877044677734, -59.75365447998047, 47.594085693359375, -12.735923767089844, -1.3871625924366526e-05], "max": [25.102569580078125, 58.27943420410156, 95.58123779296875, 95.24946594238281, 2.5457382202148438, 56.24610900878906], "mean": [-1.7121480703353882, -8.832189559936523, 5.837384223937988, 80.25263977050781, -5.283938884735107, 27.349781036376953], "std": [11.869851112365723, 62.2597541809082, 64.3156967163086, 14.52389907836914, 5.094846248626709, 19.880809783935547], "count": [266]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8470588235294118]], [[0.8470588235294118]], [[0.8470588235294118]]], "mean": [[[0.6861344056372549]], [[0.6977607026143791]], [[0.6851671915849674]]], "std": [[[0.19782044706423044]], [[0.1664284305957555]], [[0.19966194380953184]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8705882352941177]], [[0.8705882352941177]], [[0.8705882352941177]]], "mean": [[[0.6165151000816993]], [[0.6404131107026143]], [[0.6003968137254903]]], "std": [[[0.2536046602038222]], [[0.204829757558421]], [[0.2769374070082605]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.833333333333334], "mean": [4.416666666666666], "std": [2.5595681059289843], "count": [266]}, "frame_index": {"min": [0], "max": [265], "mean": [132.5], "std": [76.78704317786953], "count": [266]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [266]}, "index": {"min": [242], "max": [507], "mean": [374.5], "std": [76.78704317786953], "count": [266]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [266]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-11.955421447753906, -103.30000305175781, -67.67322540283203, 48.63958740234375, -11.845596313476562, -10.636362075805664], "max": [23.79698944091797, 54.904052734375, 94.48454284667969, 100.1248779296875, -1.0529403686523438, 54.564029693603516], "mean": [-2.1331732273101807, -19.249704360961914, 14.08444595336914, 82.18358612060547, -5.003076553344727, 18.4215030670166], "std": [10.266804695129395, 64.71803283691406, 65.7491226196289, 14.690644264221191, 4.320201396942139, 27.340320587158203], "count": [264]}, "observation.state": {"min": [-12.09600830078125, -100.02906036376953, -66.33477783203125, 47.60020446777344, -12.188858032226562, -1.3004650099901482e-05], "max": [23.951553344726562, 58.277862548828125, 95.44366455078125, 95.10346984863281, -1.0005035400390625, 54.55527877807617], "mean": [-2.1140029430389404, -16.420501708984375, 14.506824493408203, 79.8726806640625, -4.969879627227783, 26.240755081176758], "std": [10.286287307739258, 63.996070861816406, 64.71073913574219, 13.761801719665527, 4.302923679351807, 21.4080810546875], "count": [264]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8470588235294118]], [[0.8470588235294118]], [[0.8470588235294118]]], "mean": [[[0.6879162050653594]], [[0.6996014276960785]], [[0.6869117973856209]]], "std": [[[0.19524017099670382]], [[0.16307234282216057]], [[0.19720233541184717]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8745098039215686]], [[0.8745098039215686]], [[0.8745098039215686]]], "mean": [[[0.6308028472222222]], [[0.649261388888889]], [[0.6157491196895425]]], "std": [[[0.2399673535728487]], [[0.1988594602534378]], [[0.26358912813146235]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.766666666666667], "mean": [4.383333333333334], "std": [2.5403229599286665], "count": [264]}, "frame_index": {"min": [0], "max": [263], "mean": [131.5], "std": [76.20968879786], "count": [264]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [264]}, "index": {"min": [508], "max": [771], "mean": [639.5], "std": [76.20968879786], "count": [264]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [264]}}}
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": 772,
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:d340fc16b10b8d33e732dbbfa58055283cf38892cb481b6cc3ee28ef029feecd
3
+ size 526856
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 sha256:3904ccd5bb1c1d1548aa2f6dfeeefcac362c3a855a31e534abd2c2f25a0beff8
3
+ size 577064
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 sha256:6ac5fa2bca07b584be86a7a75089e0b250a6e93c6924ae5ad0c340e2d0364618
3
+ size 558287
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:a61f42c9b6b18178cfb902781478bac699036ce1370a59482b5abef9b41b821e
3
+ size 452836
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 sha256:7a5e1cda499077f960c20ffae8f1d8655e7740f8cb9fa9308053140e2e04642c
3
+ size 495581
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 sha256:6e1f72fdaad9a9979fbfb0f00b9962ce4286d28c5fc01f52b068791c7ff90581
3
+ size 490965