ffiisjd commited on
Commit
ca2bc82
·
verified ·
1 Parent(s): 48b5ac1

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:e5c14013fd94f3bd3eb9146dd5a361478af7804897d2b88148a1d5cea073a037
3
+ size 25141
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cad59450f6bcb65fb69aa2b9f5f813a26ccb2a3cf8020508f429ffcd927372ff
3
+ size 26995
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:06531b004f92cc3b26dd5bc18b4f47394942d869c17702b13330eb0f5f812946
3
+ size 21578
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:31874d3598432c0733c8a031a0ebe969e32a5961949db163c6a721a5dbaf358e
3
+ size 19474
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4d5171891be40a50fbde62015b93ab9395b1eed21016657755d59bb518d71e9e
3
+ size 21745
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the black cube"], "length": 543}
2
+ {"episode_index": 1, "tasks": ["Grab the black cube"], "length": 492}
3
+ {"episode_index": 2, "tasks": ["Grab the black cube"], "length": 414}
4
+ {"episode_index": 3, "tasks": ["Grab the black cube"], "length": 369}
5
+ {"episode_index": 4, "tasks": ["Grab the black cube"], "length": 415}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-11.30886173248291, -99.40451049804688, -5.153707027435303, 39.62592315673828, -9.185064315795898, 0.40816327929496765], "max": [51.94660568237305, -2.4245002269744873, 94.30379486083984, 78.51239776611328, 0.29980921745300293, 14.530611991882324], "mean": [7.316016674041748, -63.584144592285156, 64.98974609375, 64.03532409667969, -3.5312044620513916, 4.151384353637695], "std": [20.63003921508789, 35.79727554321289, 31.752342224121094, 12.262909889221191, 3.255154609680176, 5.269464492797852], "count": [543]}, "observation.state": {"min": [-11.826698303222656, -99.4047622680664, -2.950521945953369, 40.13071823120117, -9.086148262023926, 0.9722222089767456], "max": [52.224822998046875, -2.2108843326568604, 94.3713150024414, 78.21350860595703, 0.3404032588005066, 14.23611068725586], "mean": [7.39905309677124, -63.32626724243164, 66.00127410888672, 64.29241943359375, -3.509582281112671, 5.4304609298706055], "std": [20.494285583496094, 36.089759826660156, 31.162389755249023, 12.218123435974121, 3.2593817710876465, 5.147918224334717], "count": [543]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5128409543504902]], [[0.5111598699375584]], [[0.5294679585375818]]], "std": [[[0.3017089296913964]], [[0.3046204460093969]], [[0.3020934916092324]]], "count": [112]}, "timestamp": {"min": [0.0], "max": [18.066666666666666], "mean": [9.033333333333333], "std": [5.225011075657232], "count": [543]}, "frame_index": {"min": [0], "max": [542], "mean": [271.0], "std": [156.75033226971695], "count": [543]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [543]}, "index": {"min": [0], "max": [542], "mean": [271.0], "std": [156.75033226971695], "count": [543]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [543]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-1.742677092552185, -96.767333984375, -48.10126495361328, 35.4501953125, -18.288362503051758, 0.08163265138864517], "max": [55.95105743408203, 13.653764724731445, 91.13924407958984, 99.47803497314453, 1.3900245428085327, 25.632652282714844], "mean": [16.91020965576172, -43.853206634521484, 41.97060012817383, 65.4388427734375, -8.263033866882324, 4.80388069152832], "std": [19.209911346435547, 39.111167907714844, 47.44824981689453, 15.618355751037598, 6.074411392211914, 8.21533203125], "count": [492]}, "observation.state": {"min": [-1.9906322956085205, -96.85374450683594, -45.982749938964844, 36.03485870361328, -18.1461124420166, 1.1111111640930176], "max": [56.20608901977539, 13.945578575134277, 91.55696868896484, 98.9542465209961, 0.9688400030136108, 25.0], "mean": [16.868255615234375, -43.45590591430664, 43.225624084472656, 65.49860382080078, -8.27006721496582, 7.616581439971924], "std": [19.12714385986328, 39.4104118347168, 46.95412826538086, 15.55274772644043, 6.071771621704102, 7.253241539001465], "count": [492]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5143360298045501]], [[0.5166040881096028]], [[0.5407141760149572]]], "std": [[[0.29988228881481754]], [[0.3043165876660176]], [[0.30503617937511174]]], "count": [104]}, "timestamp": {"min": [0.0], "max": [16.366666666666667], "mean": [8.183333333333334], "std": [4.734262428376858], "count": [492]}, "frame_index": {"min": [0], "max": [491], "mean": [245.5], "std": [142.02787285130574], "count": [492]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [492]}, "index": {"min": [543], "max": [1034], "mean": [788.5], "std": [142.02787285130574], "count": [492]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [492]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-6.266221523284912, -99.65972137451172, 31.91681671142578, 45.19356155395508, -9.45761775970459, 0.0], "max": [38.301815032958984, -15.270097732543945, 92.1338119506836, 74.24967193603516, 3.2433905601501465, 23.918367385864258], "mean": [8.392223358154297, -61.123409271240234, 66.59886169433594, 60.469295501708984, -4.041958332061768, 6.0755157470703125], "std": [13.998251914978027, 31.637733459472656, 20.947790145874023, 9.613503456115723, 2.711296319961548, 8.580645561218262], "count": [414]}, "observation.state": {"min": [-6.440280914306641, -99.5748291015625, 34.45301818847656, 45.620914459228516, -9.347996711730957, 1.1111111640930176], "max": [38.875877380371094, -15.306122779846191, 92.10167694091797, 74.03050231933594, 2.435192346572876, 23.47222137451172], "mean": [8.366706848144531, -60.88719177246094, 67.82736206054688, 60.63398742675781, -4.026517391204834, 7.855795383453369], "std": [13.897405624389648, 31.692731857299805, 20.3830509185791, 9.485318183898926, 2.68155837059021, 7.9324164390563965], "count": [414]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4971993382352941]], [[0.4979678901143791]], [[0.5220301000816994]]], "std": [[[0.30970773783229955]], [[0.31341116466000285]], [[0.31213870584266856]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.766666666666667], "mean": [6.883333333333333], "std": [3.9837052360092366], "count": [414]}, "frame_index": {"min": [0], "max": [413], "mean": [206.5], "std": [119.5111570802771], "count": [414]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [414]}, "index": {"min": [1035], "max": [1448], "mean": [1241.5], "std": [119.5111570802771], "count": [414]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [414]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-7.97182035446167, -99.8298568725586, 48.28209686279297, 43.54066848754883, -11.2019624710083, 0.40816327929496765], "max": [38.301815032958984, -17.652063369750977, 92.22422790527344, 75.46759796142578, 3.679476737976074, 25.224489212036133], "mean": [7.707147598266602, -67.11575317382812, 71.50594329833984, 59.76983642578125, -4.689629077911377, 5.58707332611084], "std": [15.59227180480957, 29.852645874023438, 17.174129486083984, 11.924971580505371, 3.0182976722717285, 8.163247108459473], "count": [369]}, "observation.state": {"min": [-8.430912971496582, -99.5748291015625, 50.9759407043457, 43.61655807495117, -11.076197624206543, 1.0416666269302368], "max": [38.29039764404297, -17.43197250366211, 92.4648208618164, 75.25054168701172, 2.9588897228240967, 25.0], "mean": [7.7800517082214355, -66.81461334228516, 72.61927032470703, 59.98944091796875, -4.680842876434326, 7.153726577758789], "std": [15.461448669433594, 29.955018997192383, 16.511112213134766, 11.721800804138184, 3.024653434753418, 7.622884750366211], "count": [369]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49780110089869284]], [[0.4992862704248366]], [[0.5241147569444444]]], "std": [[[0.31058018935531256]], [[0.31438409509130644]], [[0.31247144392733517]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [12.266666666666667], "mean": [6.133333333333333], "std": [3.5506911168682933], "count": [369]}, "frame_index": {"min": [0], "max": [368], "mean": [184.0], "std": [106.5207335060488], "count": [369]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [369]}, "index": {"min": [1449], "max": [1817], "mean": [1633.0], "std": [106.5207335060488], "count": [369]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [369]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-11.012235641479492, -99.91493225097656, 31.555152893066406, 44.932579040527344, -11.2019624710083, 0.2448979616165161], "max": [33.77827072143555, -15.440237998962402, 93.12838745117188, 74.51065826416016, 1.826110601425171, 27.020408630371094], "mean": [5.809142589569092, -67.38429260253906, 69.07180786132812, 62.08651351928711, -4.657778739929199, 5.713285446166992], "std": [14.262872695922852, 30.503339767456055, 19.85153579711914, 10.47585678100586, 3.041275978088379, 9.229101181030273], "count": [415]}, "observation.state": {"min": [-11.007025718688965, -99.48979949951172, 34.1806640625, 45.35947799682617, -11.076197624206543, 1.0416666269302368], "max": [34.0749397277832, -15.561224937438965, 93.37267303466797, 74.46623229980469, 1.9114952087402344, 26.66666603088379], "mean": [5.769301891326904, -67.1709976196289, 69.97115325927734, 62.27479934692383, -4.613895893096924, 7.299022197723389], "std": [14.22404670715332, 30.60127830505371, 19.21962547302246, 10.3370361328125, 3.028369903564453, 8.621829986572266], "count": [415]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.501094904003268]], [[0.5020474387254902]], [[0.5262960212418301]]], "std": [[[0.30975302102605656]], [[0.31327931554840516]], [[0.3112895829738829]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.8], "mean": [6.9], "std": [3.9933277684991833], "count": [415]}, "frame_index": {"min": [0], "max": [414], "mean": [207.0], "std": [119.7998330549755], "count": [415]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [415]}, "index": {"min": [1818], "max": [2232], "mean": [2025.0], "std": [119.7998330549755], "count": [415]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [415]}}}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 2233,
6
+ "total_tasks": 1,
7
+ "total_videos": 5,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:5"
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
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab the black cube"}
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 sha256:4b4b91328b349c7d39eef383fda1db63a1a93bc47770c36a970db88f1c8f894a
3
+ size 7150117
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 sha256:337274fa5eeea4de9e3eaee0303976a11b35478398904833f876695b12ea793c
3
+ size 6602441
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 sha256:514b3d719502c01f99814b7806819a3deee334e8ef8e277973e52c305f941637
3
+ size 5569526
videos/chunk-000/observation.images.front/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:49abf7829f4f44d1d6f66207bc2035a661cc0c222ee5b43b0812d0c1a9a9ab18
3
+ size 4980373
videos/chunk-000/observation.images.front/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d105a858feaf217255b7aae7a4b8c8cefdcc9d73c4e7a74191281e0ec3b71dd9
3
+ size 5585089