ganker5 commited on
Commit
9f381a4
·
verified ·
1 Parent(s): 2644d02

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:c00a8e7649196486dfa17c8537dff6e7ba61d5bbbd050584f6da0ed38d583f07
3
+ size 25875
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6ff9747d50379a5656a01c6305db7e3bf834b6ecec4129a09fbd4a40b035adf
3
+ size 34302
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a65a62f0b14ed1e02cc5a03cc67c5daa24311cff4051038f4e4a1c40b048371e
3
+ size 22122
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b6130056ec699522010dd9079ccd18641cf034cf80e0969808285a1de23669de
3
+ size 23037
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b5886d2fda42d9a9d8e5356be181a6d5e6b1ea491941c92c6b3b55a517dadd5
3
+ size 24841
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 616}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 899}
3
+ {"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 566}
4
+ {"episode_index": 3, "tasks": ["Grasp a lego block and put it in the bin."], "length": 536}
5
+ {"episode_index": 4, "tasks": ["Grasp a lego block and put it in the bin."], "length": 579}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [2.109375, 78.486328125, 93.33984375, 36.5625, 1.93359375, -0.5046257376670837], "max": [29.8828125, 191.162109375, 170.244140625, 75.5859375, 2.8125, -0.42052143812179565], "mean": [11.723125457763672, 121.383544921875, 126.54327392578125, 53.98096466064453, 2.413853168487549, -0.4274834096431732], "std": [8.547343254089355, 40.89744186401367, 24.647863388061523, 14.155150413513184, 0.3577720522880554, 0.02317623794078827], "count": [616]}, "observation.state": {"min": [1.845703125, 77.607421875, 94.921875, 36.474609375, 0.966796875, 0.2302379161119461], "max": [28.740234375, 191.337890625, 169.892578125, 74.794921875, 2.109375, 0.3069838881492615], "mean": [11.118734359741211, 120.35265350341797, 127.26143646240234, 53.63411331176758, 1.5693327188491821, 0.29664120078086853], "std": [8.35793685913086, 41.31232452392578, 24.210786819458008, 14.086106300354004, 0.2437557876110077, 0.02620454877614975], "count": [616]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0196078431372549]]], "max": [[[0.7411764705882353]], [[0.7764705882352941]], [[0.7647058823529411]]], "mean": [[[0.5151518345820713]], [[0.5289744241192412]], [[0.5048613734789308]]], "std": [[[0.07903172058285479]], [[0.08371204252193229]], [[0.09839353523590579]]], "count": [123]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.5367268252829587]], [[0.5532366690578671]], [[0.528746637374462]]], "std": [[[0.0680237496385162]], [[0.07486575041540183]], [[0.089863932480585]]], "count": [123]}, "timestamp": {"min": [0.0], "max": [20.5], "mean": [10.25], "std": [5.927454953200591], "count": [616]}, "frame_index": {"min": [0], "max": [615], "mean": [307.5], "std": [177.82364859601773], "count": [616]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [616]}, "index": {"min": [0], "max": [615], "mean": [307.5], "std": [177.82364859601773], "count": [616]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [616]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [2.63671875, 63.80859375, 69.9609375, 29.35546875, 2.021484375, -0.5046257376670837], "max": [30.849609375, 190.986328125, 173.671875, 76.46484375, 3.076171875, -0.42052143812179565], "mean": [10.901077270507812, 96.68824768066406, 101.32414245605469, 50.214595794677734, 2.6965508460998535, -0.43221762776374817], "std": [8.96142864227295, 41.834495544433594, 32.08158493041992, 11.09050464630127, 0.2990413308143616, 0.029099315404891968], "count": [899]}, "observation.state": {"min": [1.93359375, 62.490234375, 71.19140625, 29.53125, 1.669921875, 0.2302379161119461], "max": [29.8828125, 190.107421875, 172.880859375, 76.11328125, 2.724609375, 0.38372987508773804], "mean": [10.31399917602539, 95.17241668701172, 101.898681640625, 49.94487762451172, 1.9581327438354492, 0.3311413526535034], "std": [8.807022094726562, 42.161964416503906, 31.908458709716797, 11.12130069732666, 0.199263334274292, 0.04062569886445999], "count": [899]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.00784313725490196]]], "max": [[[0.8627450980392157]], [[0.8980392156862745]], [[0.9137254901960784]]], "mean": [[[0.5080519525645624]], [[0.5238408618782879]], [[0.503870522726367]]], "std": [[[0.08185097928661922]], [[0.0868086436170162]], [[0.09871864604029987]]], "count": [164]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.5299889095628089]], [[0.546262364498645]], [[0.5246340242906106]]], "std": [[[0.0763741965114071]], [[0.08302989023979743]], [[0.09404040240922724]]], "count": [164]}, "timestamp": {"min": [0.0], "max": [29.933333333333334], "mean": [14.966666666666669], "std": [8.650626181573987], "count": [899]}, "frame_index": {"min": [0], "max": [898], "mean": [449.0], "std": [259.5187854472196], "count": [899]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [899]}, "index": {"min": [616], "max": [1514], "mean": [1065.0], "std": [259.5187854472196], "count": [899]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [899]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [1.318359375, 79.716796875, 100.546875, 33.75, 2.021484375, -0.42052143812179565], "max": [30.05859375, 190.810546875, 173.056640625, 61.611328125, 2.900390625, -0.42052143812179565], "mean": [7.933138370513916, 136.1199493408203, 135.0091094970703, 47.73035430908203, 2.450222969055176, -0.4205200970172882], "std": [9.083892822265625, 49.02906036376953, 32.44160079956055, 12.327408790588379, 0.29421716928482056, 1.341104507446289e-06], "count": [566]}, "observation.state": {"min": [0.791015625, 78.662109375, 101.77734375, 33.3984375, 1.845703125, 0.38372987508773804], "max": [29.8828125, 190.283203125, 173.3203125, 60.8203125, 2.28515625, 0.38372987508773804], "mean": [7.458125114440918, 134.6975860595703, 135.70892333984375, 47.234066009521484, 1.8530014753341675, 0.3837283253669739], "std": [9.093181610107422, 49.53083419799805, 32.044254302978516, 12.3671875, 0.04031669721007347, 1.5497207641601562e-06], "count": [566]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.01568627450980392]]], "max": [[[0.8666666666666667]], [[0.9098039215686274]], [[0.9215686274509803]]], "mean": [[[0.5063922149678838]], [[0.5240552210108181]], [[0.5081664800259185]]], "std": [[[0.07996698359643659]], [[0.08562844172271165]], [[0.09990144505101857]]], "count": [116]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[1.0]], [[1.0]]], "mean": [[[0.5318971838376155]], [[0.5478058777749605]], [[0.5319405144241605]]], "std": [[[0.06943855904901551]], [[0.0774797458686315]], [[0.09199028875028216]]], "count": [116]}, "timestamp": {"min": [0.0], "max": [18.833333333333332], "mean": [9.416666666666666], "std": [5.446329038903176], "count": [566]}, "frame_index": {"min": [0], "max": [565], "mean": [282.5], "std": [163.3898711670953], "count": [566]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [566]}, "index": {"min": [1515], "max": [2080], "mean": [1797.5], "std": [163.3898711670953], "count": [566]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [566]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [1.0546875, 65.390625, 72.7734375, 46.23046875, 1.93359375, -0.42052143812179565], "max": [24.697265625, 190.986328125, 171.9140625, 68.73046875, 2.900390625, -0.42052143812179565], "mean": [8.075935363769531, 124.26531982421875, 125.61753845214844, 56.77291488647461, 2.571948528289795, -0.42052027583122253], "std": [6.85347843170166, 44.83307647705078, 31.049659729003906, 8.505117416381836, 0.31488463282585144, 1.1622905731201172e-06], "count": [536]}, "observation.state": {"min": [0.87890625, 64.599609375, 74.267578125, 46.40625, 1.142578125, 0.2302379161119461], "max": [24.08203125, 190.283203125, 171.9140625, 68.115234375, 2.28515625, 0.38372987508773804], "mean": [7.577286720275879, 123.24529266357422, 126.50789642333984, 56.4859619140625, 1.8052012920379639, 0.3728462755680084], "std": [6.803269863128662, 45.02277755737305, 30.68248176574707, 8.343039512634277, 0.19443486630916595, 0.0326857715845108], "count": [536]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8470588235294118]], [[0.8705882352941177]], [[0.9058823529411765]]], "mean": [[[0.5089911345168697]], [[0.527286946873344]], [[0.5105795446181475]]], "std": [[[0.07972500462323599]], [[0.08465890494603165]], [[0.09907322783243945]]], "count": [111]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.01568627450980392]]], "max": [[[0.9803921568627451]], [[1.0]], [[1.0]]], "mean": [[[0.535076578416652]], [[0.5519513980892657]], [[0.535749183006536]]], "std": [[[0.0682991403426812]], [[0.07497917054718603]], [[0.09020927600514411]]], "count": [111]}, "timestamp": {"min": [0.0], "max": [17.833333333333332], "mean": [8.916666666666666], "std": [5.157653428535974], "count": [536]}, "frame_index": {"min": [0], "max": [535], "mean": [267.5], "std": [154.72960285607923], "count": [536]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [536]}, "index": {"min": [2081], "max": [2616], "mean": [2348.5], "std": [154.72960285607923], "count": [536]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [536]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [1.7578125, 48.515625, 44.296875, 49.833984375, 1.845703125, -0.42052143812179565], "max": [24.609375, 190.986328125, 173.232421875, 87.451171875, 2.900390625, -0.42052143812179565], "mean": [9.179788589477539, 95.86760711669922, 84.98355102539062, 70.84984588623047, 2.4399895668029785, -0.42052003741264343], "std": [7.346174716949463, 54.82407760620117, 48.68096923828125, 11.723299026489258, 0.3809082508087158, 1.4007091522216797e-06], "count": [579]}, "observation.state": {"min": [0.87890625, 47.63671875, 45.966796875, 49.5703125, 1.0546875, 0.38372987508773804], "max": [24.08203125, 190.283203125, 172.96875, 87.1875, 2.021484375, 0.38372987508773804], "mean": [8.596431732177734, 94.05506896972656, 85.7344970703125, 70.512451171875, 1.610417366027832, 0.3837283253669739], "std": [7.350045204162598, 55.467857360839844, 48.35260772705078, 11.64658260345459, 0.17686358094215393, 1.5497207641601562e-06], "count": [579]}, "observation.images.laptop": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9450980392156862]], [[0.996078431372549]], [[1.0]]], "mean": [[[0.5109451506591337]], [[0.5244323401323807]], [[0.5026337636396366]]], "std": [[[0.08010913585965845]], [[0.08446720353591962]], [[0.09708914124271166]]], "count": [118]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.01568627450980392]]], "max": [[[0.9921568627450981]], [[1.0]], [[1.0]]], "mean": [[[0.528890391326022]], [[0.5453657603578155]], [[0.528259582364019]]], "std": [[[0.07527945010214408]], [[0.0820209425755979]], [[0.09343408314211346]]], "count": [118]}, "timestamp": {"min": [0.0], "max": [19.266666666666666], "mean": [9.633333333333335], "std": [5.571421788084325], "count": [579]}, "frame_index": {"min": [0], "max": [578], "mean": [289.0], "std": [167.14265364252975], "count": [579]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [579]}, "index": {"min": [2617], "max": [3195], "mean": [2906.0], "std": [167.14265364252975], "count": [579]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [579]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 5,
5
+ "total_frames": 3196,
6
+ "total_tasks": 1,
7
+ "total_videos": 10,
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
+ "main_shoulder_pan",
24
+ "main_shoulder_lift",
25
+ "main_elbow_flex",
26
+ "main_wrist_flex",
27
+ "main_wrist_roll",
28
+ "main_gripper"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "main_shoulder_pan",
38
+ "main_shoulder_lift",
39
+ "main_elbow_flex",
40
+ "main_wrist_flex",
41
+ "main_wrist_roll",
42
+ "main_gripper"
43
+ ]
44
+ },
45
+ "observation.images.laptop": {
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.fps": 30.0,
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.channels": 3,
62
+ "video.codec": "h264",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.phone": {
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.fps": 30.0,
82
+ "video.height": 480,
83
+ "video.width": 640,
84
+ "video.channels": 3,
85
+ "video.codec": "h264",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
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": "Grasp a lego block and put it in the bin."}
videos/chunk-000/observation.images.laptop/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:02841623cca39e88c6109a3fe62235fe2528c954065803f3c73ffa199ea38d8f
3
+ size 5011151
videos/chunk-000/observation.images.laptop/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c38ffbdae89539fdf882615eb5832097d2b4447c6c25fc057ba7ba29bf60c9e6
3
+ size 7501205
videos/chunk-000/observation.images.laptop/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ecfb91ed5ebe09e503884ece50a6d0d00fa0c10270654592ef783da195502eae
3
+ size 4711238
videos/chunk-000/observation.images.laptop/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:13ed731a0fd08275fe15606a409281ff61437dfbaf3a2548d076d7521b2c198e
3
+ size 4375691
videos/chunk-000/observation.images.laptop/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bdfbbc685a72d4c7e20b7e1430050b769511b0064c96d8692baafff0bb68e32e
3
+ size 4748857
videos/chunk-000/observation.images.phone/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:58f267c8c8350187ef799ad7d051817f887828e4cc52c20dfee14615321a27d6
3
+ size 4893015
videos/chunk-000/observation.images.phone/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:257bfd4983006926e7ac880360426cd0888a915fedf2ab57702a9d1074703f88
3
+ size 7641705
videos/chunk-000/observation.images.phone/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4b5498964079447b837222da872817b48b652984310a62d94ad9022b0df7d6f4
3
+ size 4565489
videos/chunk-000/observation.images.phone/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ff8f8d42349c9af677348f1b913c451289976af3290e5aab940288ae3c13e388
3
+ size 4193678
videos/chunk-000/observation.images.phone/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1e38a55803be75d6867b96d6460fdde17e1ef8699131bff74fb6f08a101832d4
3
+ size 4957123