garySue commited on
Commit
6671a10
·
verified ·
1 Parent(s): e3ff1a5

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:ed7e061671752e51fb5846a58a39c3cd94d90347af856b796c1fbf2c77b60b26
3
+ size 49808
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["picking_wok"], "length": 205}
meta/info.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "bi_ur5",
4
+ "total_episodes": 1,
5
+ "total_frames": 205,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
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
+ 14
21
+ ],
22
+ "names": {
23
+ "motors": [
24
+ "left_shoulder_pan",
25
+ "left_shoulder_lift",
26
+ "left_elbow_flex",
27
+ "left_wrist_1",
28
+ "left_wrist_2",
29
+ "left_wrist_3",
30
+ "left_gripper",
31
+ "right_shoulder_pan",
32
+ "right_shoulder_lift",
33
+ "right_elbow_flex",
34
+ "right_wrist_1",
35
+ "right_wrist_2",
36
+ "right_wrist_3",
37
+ "right_gripper"
38
+ ]
39
+ }
40
+ },
41
+ "observation.state": {
42
+ "dtype": "float32",
43
+ "shape": [
44
+ 14
45
+ ],
46
+ "names": {
47
+ "arms": [
48
+ "left_shoulder_pan",
49
+ "left_shoulder_lift",
50
+ "left_elbow_flex",
51
+ "left_wrist_1",
52
+ "left_wrist_2",
53
+ "left_wrist_3",
54
+ "left_gripper",
55
+ "right_shoulder_pan",
56
+ "right_shoulder_lift",
57
+ "right_elbow_flex",
58
+ "right_wrist_1",
59
+ "right_wrist_2",
60
+ "right_wrist_3",
61
+ "right_gripper"
62
+ ]
63
+ }
64
+ },
65
+ "observation.velocity": {
66
+ "dtype": "float32",
67
+ "shape": [
68
+ 14
69
+ ],
70
+ "names": {
71
+ "arms": [
72
+ "left_shoulder_pan",
73
+ "left_shoulder_lift",
74
+ "left_elbow_flex",
75
+ "left_wrist_1",
76
+ "left_wrist_2",
77
+ "left_wrist_3",
78
+ "left_gripper",
79
+ "right_shoulder_pan",
80
+ "right_shoulder_lift",
81
+ "right_elbow_flex",
82
+ "right_wrist_1",
83
+ "right_wrist_2",
84
+ "right_wrist_3",
85
+ "right_gripper"
86
+ ]
87
+ }
88
+ },
89
+ "observation.gripper_position": {
90
+ "dtype": "float32",
91
+ "shape": [
92
+ 2
93
+ ],
94
+ "names": {
95
+ "gripper": [
96
+ "left_gripper",
97
+ "right_gripper"
98
+ ]
99
+ }
100
+ },
101
+ "observation.images.top_rgb": {
102
+ "dtype": "video",
103
+ "shape": [
104
+ 480,
105
+ 640,
106
+ 3
107
+ ],
108
+ "names": [
109
+ "height",
110
+ "width",
111
+ "channels"
112
+ ],
113
+ "info": {
114
+ "video.fps": 30.0,
115
+ "video.height": 480,
116
+ "video.width": 640,
117
+ "video.channels": 3,
118
+ "video.codec": "h264",
119
+ "video.pix_fmt": "yuv420p",
120
+ "video.is_depth_map": false,
121
+ "has_audio": false
122
+ }
123
+ },
124
+ "observation.images.left_rgb": {
125
+ "dtype": "video",
126
+ "shape": [
127
+ 480,
128
+ 640,
129
+ 3
130
+ ],
131
+ "names": [
132
+ "height",
133
+ "width",
134
+ "channels"
135
+ ],
136
+ "info": {
137
+ "video.fps": 30.0,
138
+ "video.height": 480,
139
+ "video.width": 640,
140
+ "video.channels": 3,
141
+ "video.codec": "h264",
142
+ "video.pix_fmt": "yuv420p",
143
+ "video.is_depth_map": false,
144
+ "has_audio": false
145
+ }
146
+ },
147
+ "observation.images.right_rgb": {
148
+ "dtype": "video",
149
+ "shape": [
150
+ 480,
151
+ 640,
152
+ 3
153
+ ],
154
+ "names": [
155
+ "height",
156
+ "width",
157
+ "channels"
158
+ ],
159
+ "info": {
160
+ "video.fps": 30.0,
161
+ "video.height": 480,
162
+ "video.width": 640,
163
+ "video.channels": 3,
164
+ "video.codec": "h264",
165
+ "video.pix_fmt": "yuv420p",
166
+ "video.is_depth_map": false,
167
+ "has_audio": false
168
+ }
169
+ },
170
+ "timestamp": {
171
+ "dtype": "float32",
172
+ "shape": [
173
+ 1
174
+ ],
175
+ "names": null
176
+ },
177
+ "frame_index": {
178
+ "dtype": "int64",
179
+ "shape": [
180
+ 1
181
+ ],
182
+ "names": null
183
+ },
184
+ "episode_index": {
185
+ "dtype": "int64",
186
+ "shape": [
187
+ 1
188
+ ],
189
+ "names": null
190
+ },
191
+ "index": {
192
+ "dtype": "int64",
193
+ "shape": [
194
+ 1
195
+ ],
196
+ "names": null
197
+ },
198
+ "task_index": {
199
+ "dtype": "int64",
200
+ "shape": [
201
+ 1
202
+ ],
203
+ "names": null
204
+ }
205
+ }
206
+ }
meta/stats.json ADDED
@@ -0,0 +1,498 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 1.9502350091934204,
5
+ -1.4117494821548462,
6
+ 1.5549910068511963,
7
+ -1.7479525804519653,
8
+ -1.5707976818084717,
9
+ 1.2218585014343262,
10
+ 0.22266077995300293,
11
+ -2.0506889820098877,
12
+ -1.825174331665039,
13
+ -1.4603404998779297,
14
+ -1.4098752737045288,
15
+ 1.60658860206604,
16
+ 1.3100208044052124,
17
+ 0.2466452270746231
18
+ ],
19
+ "std": [
20
+ 0.026921024546027184,
21
+ 0.08012024313211441,
22
+ 0.09276619553565979,
23
+ 0.19697155058383942,
24
+ 0.0365433394908905,
25
+ 0.38463181257247925,
26
+ 0.3748009204864502,
27
+ 0.06319813430309296,
28
+ 0.14959880709648132,
29
+ 0.0384618379175663,
30
+ 0.1438189595937729,
31
+ 0.045695748180150986,
32
+ 0.2015710026025772,
33
+ 0.3587774336338043
34
+ ],
35
+ "max": [
36
+ 2.0187277793884277,
37
+ -1.3095707893371582,
38
+ 1.648438572883606,
39
+ -1.3760610818862915,
40
+ -1.5103700160980225,
41
+ 1.4513037204742432,
42
+ 0.9898759126663208,
43
+ -1.921176791191101,
44
+ -1.5296937227249146,
45
+ -1.4135830402374268,
46
+ -1.3013437986373901,
47
+ 1.6607667207717896,
48
+ 1.536393165588379,
49
+ 0.9182702302932739
50
+ ],
51
+ "min": [
52
+ 1.8954353332519531,
53
+ -1.5358997583389282,
54
+ 1.3981231451034546,
55
+ -1.9278488159179688,
56
+ -1.6093316078186035,
57
+ -0.3662334680557251,
58
+ -0.006977986078709364,
59
+ -2.109421968460083,
60
+ -1.9476083517074585,
61
+ -1.541743516921997,
62
+ -1.7480876445770264,
63
+ 1.5247553586959839,
64
+ 0.38421595096588135,
65
+ -0.003322075353935361
66
+ ]
67
+ },
68
+ "observation.state": {
69
+ "mean": [
70
+ 1.9494184255599976,
71
+ -1.4121414422988892,
72
+ 1.5533223152160645,
73
+ -1.7452847957611084,
74
+ -1.5705679655075073,
75
+ 1.2088513374328613,
76
+ 0.22087134420871735,
77
+ -2.049468994140625,
78
+ -1.8236160278320312,
79
+ -1.4600679874420166,
80
+ -1.412071704864502,
81
+ 1.6060203313827515,
82
+ 1.3052644729614258,
83
+ 0.2369067519903183
84
+ ],
85
+ "std": [
86
+ 0.026347359642386436,
87
+ 0.08076867461204529,
88
+ 0.09372444450855255,
89
+ 0.19946128129959106,
90
+ 0.03643791005015373,
91
+ 0.41143471002578735,
92
+ 0.37418460845947266,
93
+ 0.06405319273471832,
94
+ 0.15108418464660645,
95
+ 0.03857044875621796,
96
+ 0.14656037092208862,
97
+ 0.04567062109708786,
98
+ 0.21451619267463684,
99
+ 0.36211276054382324
100
+ ],
101
+ "max": [
102
+ 2.0076780319213867,
103
+ -1.3095687627792358,
104
+ 1.6484313011169434,
105
+ -1.3760536909103394,
106
+ -1.5103944540023804,
107
+ 1.4512009620666504,
108
+ 0.9709892868995667,
109
+ -1.9198077917099,
110
+ -1.5297001600265503,
111
+ -1.396257758140564,
112
+ -1.3016008138656616,
113
+ 1.660834550857544,
114
+ 1.5361990928649902,
115
+ 0.9106126427650452
116
+ ],
117
+ "min": [
118
+ 1.8954123258590698,
119
+ -1.5708445310592651,
120
+ 1.3962559700012207,
121
+ -1.9278029203414917,
122
+ -1.6094664335250854,
123
+ -0.40154772996902466,
124
+ 0.0,
125
+ -2.1094048023223877,
126
+ -1.9476412534713745,
127
+ -1.5417617559432983,
128
+ -1.7478350400924683,
129
+ 1.5247342586517334,
130
+ 0.3930822014808655,
131
+ 0.0
132
+ ]
133
+ },
134
+ "observation.velocity": {
135
+ "mean": [
136
+ 0.0017858403734862804,
137
+ 0.0009223215165548027,
138
+ 0.0038140625692903996,
139
+ -0.004550380632281303,
140
+ 0.000262133136857301,
141
+ 0.029702521860599518,
142
+ 0.0,
143
+ -0.0025475306902080774,
144
+ -0.003414915641769767,
145
+ -0.0007120539085008204,
146
+ 0.005429964512586594,
147
+ 0.0043492806144058704,
148
+ 0.011036944575607777,
149
+ 0.0
150
+ ],
151
+ "std": [
152
+ 0.008932194672524929,
153
+ 0.019056878983974457,
154
+ 0.012341060675680637,
155
+ 0.03153367340564728,
156
+ 0.033387284725904465,
157
+ 0.08735441416501999,
158
+ 0.0,
159
+ 0.0059381043538451195,
160
+ 0.016385989263653755,
161
+ 0.02404937706887722,
162
+ 0.029140397906303406,
163
+ 0.03435749188065529,
164
+ 0.06841550022363663,
165
+ 0.0
166
+ ],
167
+ "max": [
168
+ 0.08833172917366028,
169
+ 0.1810225248336792,
170
+ 0.0645422413945198,
171
+ 0.07435013353824615,
172
+ 0.06169479340314865,
173
+ 0.48845306038856506,
174
+ 0.0,
175
+ 0.009779127314686775,
176
+ 0.05711521953344345,
177
+ 0.022971361875534058,
178
+ 0.05572664737701416,
179
+ 0.06831008195877075,
180
+ 0.3526478111743927,
181
+ 0.0
182
+ ],
183
+ "min": [
184
+ -0.016042882576584816,
185
+ -0.051490623503923416,
186
+ -0.023137543350458145,
187
+ -0.07005978375673294,
188
+ -0.05747634544968605,
189
+ -0.07593205571174622,
190
+ 0.0,
191
+ -0.028416994959115982,
192
+ -0.050097256898880005,
193
+ -0.32781168818473816,
194
+ -0.07319965213537216,
195
+ -0.13458284735679626,
196
+ -0.08451275527477264,
197
+ 0.0
198
+ ]
199
+ },
200
+ "observation.gripper_position": {
201
+ "mean": [
202
+ 0.22087134420871735,
203
+ 0.2369067519903183
204
+ ],
205
+ "std": [
206
+ 0.37418460845947266,
207
+ 0.36211276054382324
208
+ ],
209
+ "max": [
210
+ 0.9709892868995667,
211
+ 0.9106126427650452
212
+ ],
213
+ "min": [
214
+ 0.0,
215
+ 0.0
216
+ ]
217
+ },
218
+ "observation.images.top_rgb": {
219
+ "mean": [
220
+ [
221
+ [
222
+ 0.4078718423843384
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.4305468201637268
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.42587345838546753
233
+ ]
234
+ ]
235
+ ],
236
+ "std": [
237
+ [
238
+ [
239
+ 0.40523648262023926
240
+ ]
241
+ ],
242
+ [
243
+ [
244
+ 0.3910416066646576
245
+ ]
246
+ ],
247
+ [
248
+ [
249
+ 0.38843676447868347
250
+ ]
251
+ ]
252
+ ],
253
+ "max": [
254
+ [
255
+ [
256
+ 1.0
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 1.0
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 1.0
267
+ ]
268
+ ]
269
+ ],
270
+ "min": [
271
+ [
272
+ [
273
+ 0.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.0
284
+ ]
285
+ ]
286
+ ]
287
+ },
288
+ "observation.images.left_rgb": {
289
+ "mean": [
290
+ [
291
+ [
292
+ 0.4189854860305786
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.43097159266471863
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.40088218450546265
303
+ ]
304
+ ]
305
+ ],
306
+ "std": [
307
+ [
308
+ [
309
+ 0.22556020319461823
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 0.2233307808637619
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.24161396920681
320
+ ]
321
+ ]
322
+ ],
323
+ "max": [
324
+ [
325
+ [
326
+ 1.0
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 1.0
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 1.0
337
+ ]
338
+ ]
339
+ ],
340
+ "min": [
341
+ [
342
+ [
343
+ 0.0
344
+ ]
345
+ ],
346
+ [
347
+ [
348
+ 0.0
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.0
354
+ ]
355
+ ]
356
+ ]
357
+ },
358
+ "observation.images.right_rgb": {
359
+ "mean": [
360
+ [
361
+ [
362
+ 0.47185033559799194
363
+ ]
364
+ ],
365
+ [
366
+ [
367
+ 0.47806552052497864
368
+ ]
369
+ ],
370
+ [
371
+ [
372
+ 0.4692610502243042
373
+ ]
374
+ ]
375
+ ],
376
+ "std": [
377
+ [
378
+ [
379
+ 0.1731177717447281
380
+ ]
381
+ ],
382
+ [
383
+ [
384
+ 0.16477766633033752
385
+ ]
386
+ ],
387
+ [
388
+ [
389
+ 0.16295510530471802
390
+ ]
391
+ ]
392
+ ],
393
+ "max": [
394
+ [
395
+ [
396
+ 1.0
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ 1.0
402
+ ]
403
+ ],
404
+ [
405
+ [
406
+ 1.0
407
+ ]
408
+ ]
409
+ ],
410
+ "min": [
411
+ [
412
+ [
413
+ 0.0
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.0
419
+ ]
420
+ ],
421
+ [
422
+ [
423
+ 0.0
424
+ ]
425
+ ]
426
+ ]
427
+ },
428
+ "timestamp": {
429
+ "mean": [
430
+ 3.4000000953674316
431
+ ],
432
+ "std": [
433
+ 1.9725899696350098
434
+ ],
435
+ "max": [
436
+ 6.800000190734863
437
+ ],
438
+ "min": [
439
+ 0.0
440
+ ]
441
+ },
442
+ "frame_index": {
443
+ "mean": [
444
+ 102.00000762939453
445
+ ],
446
+ "std": [
447
+ 59.17770004272461
448
+ ],
449
+ "max": [
450
+ 204.0
451
+ ],
452
+ "min": [
453
+ 0.0
454
+ ]
455
+ },
456
+ "episode_index": {
457
+ "mean": [
458
+ 0.0
459
+ ],
460
+ "std": [
461
+ 0.0
462
+ ],
463
+ "max": [
464
+ 0.0
465
+ ],
466
+ "min": [
467
+ 0.0
468
+ ]
469
+ },
470
+ "index": {
471
+ "mean": [
472
+ 102.00000762939453
473
+ ],
474
+ "std": [
475
+ 59.17770004272461
476
+ ],
477
+ "max": [
478
+ 204.0
479
+ ],
480
+ "min": [
481
+ 0.0
482
+ ]
483
+ },
484
+ "task_index": {
485
+ "mean": [
486
+ 0.0
487
+ ],
488
+ "std": [
489
+ 0.0
490
+ ],
491
+ "max": [
492
+ 0.0
493
+ ],
494
+ "min": [
495
+ 0.0
496
+ ]
497
+ }
498
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "picking_wok"}
videos/chunk-000/observation.images.left_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:76da9116f8d8b3b888ffd8d5a0621d921a90ffadd1c8c3eb8b865831cbcc5668
3
+ size 647755
videos/chunk-000/observation.images.right_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3232e28aad8b75f3a4a8c740171dd3e69c44ad91244d2e117d9e9172d91df679
3
+ size 433831
videos/chunk-000/observation.images.top_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7410b3398d65196d567d16b86bab86faea23e89b2ebc35c9782a415150e6cf48
3
+ size 935111