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 +127 -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.top/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.top/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 sha256:15455d647bb2f5b6b5e015c267aca39c276c026170dfb948ab3d7c319f581ae1
|
| 3 |
+
size 23777
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4c865e6c7729c0bf7cc084f43db200e687cd46f77791e45a1b626710946ec125
|
| 3 |
+
size 25059
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:50ce5e94fc5b30658a49503388021626eb6306b0142761504707190973bd970f
|
| 3 |
+
size 25218
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["grip the green block and put into the box"], "length": 594}
|
| 2 |
+
{"episode_index": 1, "tasks": ["grip the green block and put into the box"], "length": 593}
|
| 3 |
+
{"episode_index": 2, "tasks": ["grip the green block and put into the box"], "length": 593}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-17.21611785888672, 60.86369705200195, -26.120555877685547, -97.90576171875, -100.0, 4.767580509185791], "max": [16.14163589477539, 100.0, 13.446677207946777, -32.74264907836914, -100.0, 49.82121658325195], "mean": [-7.143227577209473, 90.5839614868164, 0.7502874732017517, -64.42842864990234, -100.0, 41.273887634277344], "std": [9.071338653564453, 10.295254707336426, 12.575708389282227, 20.70488739013672, 0.0, 15.72136116027832], "count": [594]}, "observation.state": {"min": [-17.0207576751709, 60.41666793823242, -17.860380172729492, 100.0, -100.0, 20.122888565063477], "max": [16.092796325683594, 99.08853912353516, 14.173466682434082, 100.0, -100.0, 47.388633728027344], "mean": [-7.115518569946289, 89.59029388427734, 4.0433573722839355, 100.0, -100.0, 41.980194091796875], "std": [9.040482521057129, 10.196416854858398, 10.922654151916504, 0.0, 0.0, 10.075060844421387], "count": [594]}, "observation.images.front": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[0.984313725490196]]], "mean": [[[0.4807470741421569]], [[0.4433106345315904]], [[0.4506975064678649]]], "std": [[[0.2927925920099765]], [[0.29445465492215406]], [[0.3127343390015678]]], "count": [120]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9764705882352941]]], "mean": [[[0.569557007421024]], [[0.564754915577342]], [[0.5575089494825709]]], "std": [[[0.2503600052650952]], [[0.26467943742217603]], [[0.2607939397522152]]], "count": [120]}, "timestamp": {"min": [0.0], "max": [19.766666666666666], "mean": [9.883333333333333], "std": [5.715759565220305], "count": [594]}, "frame_index": {"min": [0], "max": [593], "mean": [296.5], "std": [171.47278695660916], "count": [594]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [594]}, "index": {"min": [0], "max": [593], "mean": [296.5], "std": [171.47278695660916], "count": [594]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [594]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-29.035409927368164, 38.46154022216797, -47.140647888183594, -90.33427429199219, -100.0, 4.529201507568359], "max": [16.581195831298828, 100.0, 26.661514282226562, -46.43576431274414, -100.0, 49.7020263671875], "mean": [-4.6582865715026855, 91.27017974853516, 2.7325475215911865, -62.7788200378418, -100.0, 40.32466506958008], "std": [15.167980194091797, 18.82796859741211, 23.831241607666016, 11.99511432647705, 0.0, 17.0753173828125], "count": [593]}, "observation.state": {"min": [-28.791208267211914, 37.63020706176758, -37.68510055541992, 100.0, -100.0, 41.16743469238281], "max": [16.385835647583008, 100.0, 25.29465103149414, 100.0, -100.0, 47.46543884277344], "mean": [-4.723021984100342, 90.62647247314453, 5.969363212585449, 100.0, -100.0, 45.92951202392578], "std": [15.12314224243164, 19.12561798095703, 20.101444244384766, 0.0, 0.0, 2.439121723175049], "count": [593]}, "observation.images.front": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[0.984313725490196]]], "mean": [[[0.4888792245370371]], [[0.4474351749727669]], [[0.45466842150054465]]], "std": [[[0.29721968787741027]], [[0.30422376432039683]], [[0.3221148145679862]]], "count": [120]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9725490196078431]]], "mean": [[[0.600639933959695]], [[0.5821986111111112]], [[0.5757140318627452]]], "std": [[[0.2569807175028117]], [[0.27415102745529274]], [[0.26923053938921465]]], "count": [120]}, "timestamp": {"min": [0.0], "max": [19.733333333333334], "mean": [9.866666666666667], "std": [5.706137047074843], "count": [593]}, "frame_index": {"min": [0], "max": [592], "mean": [296.0], "std": [171.18411141224527], "count": [593]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [593]}, "index": {"min": [594], "max": [1186], "mean": [890.0], "std": [171.18411141224527], "count": [593]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [593]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"action": {"min": [-17.36263656616211, 35.492576599121094, -45.595054626464844, -72.93596649169922, -100.0, 4.767580509185791], "max": [5.934065818786621, 100.0, 26.661514282226562, -44.82481002807617, -100.0, 50.059593200683594], "mean": [-2.6523964405059814, 77.74164581298828, 3.069164752960205, -59.462947845458984, -100.0, 43.43212127685547], "std": [7.928152561187744, 18.616971969604492, 21.0006103515625, 6.956953525543213, 0.0, 13.829909324645996], "count": [593]}, "observation.state": {"min": [-17.36263656616211, 40.75520706176758, -37.745540618896484, 100.0, -100.0, 24.03993797302246], "max": [5.934065818786621, 100.0, 25.475975036621094, 100.0, -99.95115661621094, 47.926265716552734], "mean": [-2.6490118503570557, 77.36560821533203, 4.821185111999512, 100.0, -99.99992370605469, 44.213645935058594], "std": [7.904458045959473, 18.302719116210938, 17.98314666748047, 0.0, 0.0020040746312588453, 7.495020866394043], "count": [593]}, "observation.images.front": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.996078431372549]], [[0.984313725490196]]], "mean": [[[0.39874074414488014]], [[0.36110314712690633]], [[0.3666007540168845]]], "std": [[[0.30710144122841354]], [[0.30662958918230354]], [[0.32548585473734376]]], "count": [120]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9764705882352941]]], "mean": [[[0.5986724128540305]], [[0.5837866966230937]], [[0.5798104490059913]]], "std": [[[0.24759399104458682]], [[0.2654931264977054]], [[0.26098584556599874]]], "count": [120]}, "timestamp": {"min": [0.0], "max": [19.733333333333334], "mean": [9.866666666666667], "std": [5.706137047074843], "count": [593]}, "frame_index": {"min": [0], "max": [592], "mean": [296.0], "std": [171.18411141224527], "count": [593]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [593]}, "index": {"min": [1187], "max": [1779], "mean": [1483.0], "std": [171.18411141224527], "count": [593]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [593]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "koch_follower",
|
| 4 |
+
"total_episodes": 3,
|
| 5 |
+
"total_frames": 1780,
|
| 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 |
+
"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,
|
| 64 |
+
"video.channels": 3,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"observation.images.top": {
|
| 69 |
+
"dtype": "video",
|
| 70 |
+
"shape": [
|
| 71 |
+
480,
|
| 72 |
+
640,
|
| 73 |
+
3
|
| 74 |
+
],
|
| 75 |
+
"names": [
|
| 76 |
+
"height",
|
| 77 |
+
"width",
|
| 78 |
+
"channels"
|
| 79 |
+
],
|
| 80 |
+
"info": {
|
| 81 |
+
"video.height": 480,
|
| 82 |
+
"video.width": 640,
|
| 83 |
+
"video.codec": "av1",
|
| 84 |
+
"video.pix_fmt": "yuv420p",
|
| 85 |
+
"video.is_depth_map": false,
|
| 86 |
+
"video.fps": 30,
|
| 87 |
+
"video.channels": 3,
|
| 88 |
+
"has_audio": false
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"timestamp": {
|
| 92 |
+
"dtype": "float32",
|
| 93 |
+
"shape": [
|
| 94 |
+
1
|
| 95 |
+
],
|
| 96 |
+
"names": null
|
| 97 |
+
},
|
| 98 |
+
"frame_index": {
|
| 99 |
+
"dtype": "int64",
|
| 100 |
+
"shape": [
|
| 101 |
+
1
|
| 102 |
+
],
|
| 103 |
+
"names": null
|
| 104 |
+
},
|
| 105 |
+
"episode_index": {
|
| 106 |
+
"dtype": "int64",
|
| 107 |
+
"shape": [
|
| 108 |
+
1
|
| 109 |
+
],
|
| 110 |
+
"names": null
|
| 111 |
+
},
|
| 112 |
+
"index": {
|
| 113 |
+
"dtype": "int64",
|
| 114 |
+
"shape": [
|
| 115 |
+
1
|
| 116 |
+
],
|
| 117 |
+
"names": null
|
| 118 |
+
},
|
| 119 |
+
"task_index": {
|
| 120 |
+
"dtype": "int64",
|
| 121 |
+
"shape": [
|
| 122 |
+
1
|
| 123 |
+
],
|
| 124 |
+
"names": null
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "grip the green block and put into the box"}
|
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 sha256:8986279a9eb5c9a274e9457d4db8a7a50d8aa20016f24c62d3b167bfefbaff73
|
| 3 |
+
size 3943012
|
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 sha256:0557a3f47ecca52fd63281534a86717434909f09f097134c5662f8098a4a732a
|
| 3 |
+
size 4117073
|
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:af7166df0adbaae026fd33a0f2e055f89bd776f5aa8d958b69ca6acd496a8b2f
|
| 3 |
+
size 4764086
|
videos/chunk-000/observation.images.top/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:265586b23b7bc900f16cede27137304290acacf2b91caecfd3b539f24222b98b
|
| 3 |
+
size 4161975
|
videos/chunk-000/observation.images.top/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8ac9e6c56bdeeea228fd3ca59e77bb8c7e010f85451370858b7e2c630eddf21f
|
| 3 |
+
size 4202688
|
videos/chunk-000/observation.images.top/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2d89bb89948c4c74010ce7a678ad33ff625bc15b4e54ee037bbe5cb4830a49bc
|
| 3 |
+
size 3966929
|