garySue commited on
Commit
e91a87e
·
verified ·
1 Parent(s): 0e523d1

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000017.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e44cfa01209ae698172c13416490c4631ab1c878f9097e8bc941659c4534bf4
3
+ size 46281
data/chunk-000/episode_000018.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc06171d57a064996394849c3255e00005680e61295b508db639fb0bb2b9263f
3
+ size 38000
data/chunk-000/episode_000019.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1c647bfa37e141fff5d5d0ad05b318a6618528d1e15c175f0d8533f564787987
3
+ size 38465
data/chunk-000/episode_000020.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:84357d00a666247fc4e3e961640cc1bd798087c08e146a01f2503b54461d6860
3
+ size 46085
meta/episodes.jsonl CHANGED
@@ -15,3 +15,7 @@
15
  {"episode_index": 14, "tasks": ["picking_wok"], "length": 196}
16
  {"episode_index": 15, "tasks": ["picking_wok"], "length": 186}
17
  {"episode_index": 16, "tasks": ["picking_wok"], "length": 209}
 
 
 
 
 
15
  {"episode_index": 14, "tasks": ["picking_wok"], "length": 196}
16
  {"episode_index": 15, "tasks": ["picking_wok"], "length": 186}
17
  {"episode_index": 16, "tasks": ["picking_wok"], "length": 209}
18
+ {"episode_index": 17, "tasks": ["picking_wok"], "length": 201}
19
+ {"episode_index": 18, "tasks": ["picking_wok"], "length": 165}
20
+ {"episode_index": 19, "tasks": ["picking_wok"], "length": 162}
21
+ {"episode_index": 20, "tasks": ["picking_wok"], "length": 206}
meta/info.json CHANGED
@@ -1,15 +1,15 @@
1
  {
2
  "codebase_version": "v2.0",
3
  "robot_type": "bi_ur5",
4
- "total_episodes": 17,
5
- "total_frames": 3114,
6
  "total_tasks": 1,
7
- "total_videos": 51,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 30,
11
  "splits": {
12
- "train": "0:17"
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",
 
1
  {
2
  "codebase_version": "v2.0",
3
  "robot_type": "bi_ur5",
4
+ "total_episodes": 21,
5
+ "total_frames": 3848,
6
  "total_tasks": 1,
7
+ "total_videos": 63,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 30,
11
  "splits": {
12
+ "train": "0:21"
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",
meta/stats.json CHANGED
@@ -1,36 +1,36 @@
1
  {
2
  "action": {
3
  "mean": [
4
- 2.042466163635254,
5
- -1.4125518798828125,
6
- 1.5931110382080078,
7
- -1.7557175159454346,
8
- -1.5762856006622314,
9
- 1.4866856336593628,
10
- 0.28486618399620056,
11
- -1.9847325086593628,
12
- -1.817405104637146,
13
- -1.4873923063278198,
14
- -1.4129011631011963,
15
- 1.5897759199142456,
16
- 1.458998680114746,
17
- 0.3067662715911865
18
  ],
19
  "std": [
20
- 0.08727263659238815,
21
- 0.1190265566110611,
22
- 0.15563900768756866,
23
- 0.16951744258403778,
24
- 0.04784247279167175,
25
- 0.48367664217948914,
26
- 0.39081892371177673,
27
- 0.07141511142253876,
28
- 0.1417883038520813,
29
- 0.12018997967243195,
30
- 0.10771221667528152,
31
- 0.052697017788887024,
32
- 0.32836803793907166,
33
- 0.3627392053604126
34
  ],
35
  "max": [
36
  2.2533648014068604,
@@ -50,11 +50,11 @@
50
  ],
51
  "min": [
52
  1.807782769203186,
53
- -1.7318488359451294,
54
  1.3775147199630737,
55
- -2.0202369689941406,
56
  -1.7333909273147583,
57
- -0.4336238205432892,
58
  0.0,
59
  -2.142948627471924,
60
  -2.0401484966278076,
@@ -67,36 +67,36 @@
67
  },
68
  "observation.state": {
69
  "mean": [
70
- 2.040933847427368,
71
- -1.4120471477508545,
72
- 1.5908217430114746,
73
- -1.7523081302642822,
74
- -1.5757495164871216,
75
- 1.4746265411376953,
76
- 0.27584508061408997,
77
- -1.9842772483825684,
78
- -1.8164095878601074,
79
- -1.4871398210525513,
80
- -1.4154441356658936,
81
- 1.5892326831817627,
82
- 1.4530572891235352,
83
- 0.2862807810306549
84
  ],
85
  "std": [
86
- 0.08762142807245255,
87
- 0.11768027395009995,
88
- 0.15561825037002563,
89
- 0.17240959405899048,
90
- 0.04731554910540581,
91
- 0.5108970999717712,
92
- 0.385879248380661,
93
- 0.07117705047130585,
94
- 0.14218425750732422,
95
- 0.1196034848690033,
96
- 0.10999056696891785,
97
- 0.05259239301085472,
98
- 0.33970555663108826,
99
- 0.36386337876319885
100
  ],
101
  "max": [
102
  2.251295566558838,
@@ -118,9 +118,9 @@
118
  1.8171261548995972,
119
  -1.7291020154953003,
120
  1.3775572776794434,
121
- -2.019404649734497,
122
  -1.7303112745285034,
123
- -0.4325636029243469,
124
  0.0,
125
  -2.140751600265503,
126
  -2.038999319076538,
@@ -133,35 +133,35 @@
133
  },
134
  "observation.velocity": {
135
  "mean": [
136
- 0.004027684684842825,
137
- -0.0013811413664370775,
138
- 0.005962796974927187,
139
- -0.009089584462344646,
140
- -0.0018012129003182054,
141
- 0.031643856316804886,
142
  0.0,
143
- -0.0012313268380239606,
144
- -0.00260063330642879,
145
- -0.0006386705208569765,
146
- 0.006684680003672838,
147
- 0.0008014725754037499,
148
- 0.01447353232651949,
149
  0.0
150
  ],
151
  "std": [
152
- 0.029544366523623466,
153
- 0.04383417218923569,
154
- 0.03817346319556236,
155
- 0.06389641016721725,
156
- 0.040537279099226,
157
- 0.2262837439775467,
158
  0.0,
159
- 0.021629981696605682,
160
- 0.040776778012514114,
161
- 0.023909177631139755,
162
- 0.04751981049776077,
163
- 0.038339193910360336,
164
- 0.15697060525417328,
165
  0.0
166
  ],
167
  "max": [
@@ -177,34 +177,34 @@
177
  0.17892608046531677,
178
  0.3616120219230652,
179
  0.2823004126548767,
180
- 1.1476094722747803,
181
  0.0
182
  ],
183
  "min": [
184
  -0.29406413435935974,
185
  -0.318479984998703,
186
  -0.29393628239631653,
187
- -0.44197824597358704,
188
- -0.3074672818183899,
189
  -1.4051024913787842,
190
  0.0,
191
  -0.2596006989479065,
192
  -0.26766687631607056,
193
- -0.20857025682926178,
194
- -0.29277461767196655,
195
- -0.2690698206424713,
196
  -0.7520341277122498,
197
  0.0
198
  ]
199
  },
200
  "observation.gripper_position": {
201
  "mean": [
202
- 0.27584508061408997,
203
- 0.2862807810306549
204
  ],
205
  "std": [
206
- 0.385879248380661,
207
- 0.36386337876319885
208
  ],
209
  "max": [
210
  0.9692522883415222,
@@ -219,34 +219,34 @@
219
  "mean": [
220
  [
221
  [
222
- 0.4090867340564728
223
  ]
224
  ],
225
  [
226
  [
227
- 0.42920994758605957
228
  ]
229
  ],
230
  [
231
  [
232
- 0.4281880259513855
233
  ]
234
  ]
235
  ],
236
  "std": [
237
  [
238
  [
239
- 0.40396878123283386
240
  ]
241
  ],
242
  [
243
  [
244
- 0.39101532101631165
245
  ]
246
  ],
247
  [
248
  [
249
- 0.38638758659362793
250
  ]
251
  ]
252
  ],
@@ -289,34 +289,34 @@
289
  "mean": [
290
  [
291
  [
292
- 0.4298758804798126
293
  ]
294
  ],
295
  [
296
  [
297
- 0.438323974609375
298
  ]
299
  ],
300
  [
301
  [
302
- 0.42769482731819153
303
  ]
304
  ]
305
  ],
306
  "std": [
307
  [
308
  [
309
- 0.22906886041164398
310
  ]
311
  ],
312
  [
313
  [
314
- 0.22494018077850342
315
  ]
316
  ],
317
  [
318
  [
319
- 0.22820723056793213
320
  ]
321
  ]
322
  ],
@@ -359,34 +359,34 @@
359
  "mean": [
360
  [
361
  [
362
- 0.4617779552936554
363
  ]
364
  ],
365
  [
366
  [
367
- 0.4718843698501587
368
  ]
369
  ],
370
  [
371
  [
372
- 0.4632747769355774
373
  ]
374
  ]
375
  ],
376
  "std": [
377
  [
378
  [
379
- 0.18473082780838013
380
  ]
381
  ],
382
  [
383
  [
384
- 0.17751875519752502
385
  ]
386
  ],
387
  [
388
  [
389
- 0.1759629249572754
390
  ]
391
  ]
392
  ],
@@ -427,10 +427,10 @@
427
  },
428
  "timestamp": {
429
  "mean": [
430
- 3.083289384841919
431
  ],
432
  "std": [
433
- 1.8440845012664795
434
  ],
435
  "max": [
436
  7.800000190734863
@@ -441,10 +441,10 @@
441
  },
442
  "frame_index": {
443
  "mean": [
444
- 92.49872589111328
445
  ],
446
  "std": [
447
- 55.32254409790039
448
  ],
449
  "max": [
450
  234.0
@@ -455,13 +455,13 @@
455
  },
456
  "episode_index": {
457
  "mean": [
458
- 8.029863357543945
459
  ],
460
  "std": [
461
- 4.99975061416626
462
  ],
463
  "max": [
464
- 16.0
465
  ],
466
  "min": [
467
  0.0
@@ -469,13 +469,13 @@
469
  },
470
  "index": {
471
  "mean": [
472
- 1556.4996337890625
473
  ],
474
  "std": [
475
- 898.9341430664062
476
  ],
477
  "max": [
478
- 3113.0
479
  ],
480
  "min": [
481
  0.0
 
1
  {
2
  "action": {
3
  "mean": [
4
+ 2.0292203426361084,
5
+ -1.4301868677139282,
6
+ 1.619513988494873,
7
+ -1.7751445770263672,
8
+ -1.5833781957626343,
9
+ 1.480098843574524,
10
+ 0.27492988109588623,
11
+ -1.9997403621673584,
12
+ -1.8251296281814575,
13
+ -1.480708122253418,
14
+ -1.40267813205719,
15
+ 1.588809847831726,
16
+ 1.4622678756713867,
17
+ 0.29584336280822754
18
  ],
19
  "std": [
20
+ 0.08436481654644012,
21
+ 0.11546949297189713,
22
+ 0.15990188717842102,
23
+ 0.17471523582935333,
24
+ 0.046322986483573914,
25
+ 0.4646896719932556,
26
+ 0.38452211022377014,
27
+ 0.07518214732408524,
28
+ 0.13884605467319489,
29
+ 0.11005193740129471,
30
+ 0.11587849259376526,
31
+ 0.05105546861886978,
32
+ 0.3123931288719177,
33
+ 0.35853493213653564
34
  ],
35
  "max": [
36
  2.2533648014068604,
 
50
  ],
51
  "min": [
52
  1.807782769203186,
53
+ -1.7333608865737915,
54
  1.3775147199630737,
55
+ -2.047517776489258,
56
  -1.7333909273147583,
57
+ -0.4397752583026886,
58
  0.0,
59
  -2.142948627471924,
60
  -2.0401484966278076,
 
67
  },
68
  "observation.state": {
69
  "mean": [
70
+ 2.0278267860412598,
71
+ -1.4295189380645752,
72
+ 1.616969108581543,
73
+ -1.7717305421829224,
74
+ -1.582858920097351,
75
+ 1.468705415725708,
76
+ 0.26650166511535645,
77
+ -1.999118685722351,
78
+ -1.8239917755126953,
79
+ -1.4805206060409546,
80
+ -1.405255913734436,
81
+ 1.5882233381271362,
82
+ 1.4568349123001099,
83
+ 0.2762131989002228
84
  ],
85
  "std": [
86
+ 0.08452926576137543,
87
+ 0.11398962885141373,
88
+ 0.16018369793891907,
89
+ 0.17764407396316528,
90
+ 0.045915715396404266,
91
+ 0.4916592538356781,
92
+ 0.3810654282569885,
93
+ 0.07502976059913635,
94
+ 0.13952110707759857,
95
+ 0.10950235277414322,
96
+ 0.11823180317878723,
97
+ 0.05091925710439682,
98
+ 0.3234193027019501,
99
+ 0.36114832758903503
100
  ],
101
  "max": [
102
  2.251295566558838,
 
118
  1.8171261548995972,
119
  -1.7291020154953003,
120
  1.3775572776794434,
121
+ -2.0363872051239014,
122
  -1.7303112745285034,
123
+ -0.43967753648757935,
124
  0.0,
125
  -2.140751600265503,
126
  -2.038999319076538,
 
133
  },
134
  "observation.velocity": {
135
  "mean": [
136
+ 0.0036562327295541763,
137
+ -0.0018018590053543448,
138
+ 0.0067020561546087265,
139
+ -0.009371297433972359,
140
+ -0.0014876262284815311,
141
+ 0.02989879809319973,
142
  0.0,
143
+ -0.0016446668887510896,
144
+ -0.0029609675984829664,
145
+ -0.00047741885646246374,
146
+ 0.0064846305176615715,
147
+ 0.0012882357696071267,
148
+ 0.013381045311689377,
149
  0.0
150
  ],
151
  "std": [
152
+ 0.02800527960062027,
153
+ 0.043063387274742126,
154
+ 0.0399959571659565,
155
+ 0.06901524215936661,
156
+ 0.03996438533067703,
157
+ 0.22496093809604645,
158
  0.0,
159
+ 0.022048087790608406,
160
+ 0.04000449925661087,
161
+ 0.02367967739701271,
162
+ 0.048142530024051666,
163
+ 0.03886434808373451,
164
+ 0.15771956741809845,
165
  0.0
166
  ],
167
  "max": [
 
177
  0.17892608046531677,
178
  0.3616120219230652,
179
  0.2823004126548767,
180
+ 1.3153166770935059,
181
  0.0
182
  ],
183
  "min": [
184
  -0.29406413435935974,
185
  -0.318479984998703,
186
  -0.29393628239631653,
187
+ -0.6493772268295288,
188
+ -0.3646320402622223,
189
  -1.4051024913787842,
190
  0.0,
191
  -0.2596006989479065,
192
  -0.26766687631607056,
193
+ -0.2229641079902649,
194
+ -0.3081623613834381,
195
+ -0.2774348258972168,
196
  -0.7520341277122498,
197
  0.0
198
  ]
199
  },
200
  "observation.gripper_position": {
201
  "mean": [
202
+ 0.26650166511535645,
203
+ 0.2762131989002228
204
  ],
205
  "std": [
206
+ 0.3810654282569885,
207
+ 0.36114832758903503
208
  ],
209
  "max": [
210
  0.9692522883415222,
 
219
  "mean": [
220
  [
221
  [
222
+ 0.4090186357498169
223
  ]
224
  ],
225
  [
226
  [
227
+ 0.42907392978668213
228
  ]
229
  ],
230
  [
231
  [
232
+ 0.4280998408794403
233
  ]
234
  ]
235
  ],
236
  "std": [
237
  [
238
  [
239
+ 0.4037821292877197
240
  ]
241
  ],
242
  [
243
  [
244
+ 0.39082273840904236
245
  ]
246
  ],
247
  [
248
  [
249
+ 0.3861768841743469
250
  ]
251
  ]
252
  ],
 
289
  "mean": [
290
  [
291
  [
292
+ 0.42974522709846497
293
  ]
294
  ],
295
  [
296
  [
297
+ 0.4382914900779724
298
  ]
299
  ],
300
  [
301
  [
302
+ 0.4275953769683838
303
  ]
304
  ]
305
  ],
306
  "std": [
307
  [
308
  [
309
+ 0.22881847620010376
310
  ]
311
  ],
312
  [
313
  [
314
+ 0.22426584362983704
315
  ]
316
  ],
317
  [
318
  [
319
+ 0.22754605114459991
320
  ]
321
  ]
322
  ],
 
359
  "mean": [
360
  [
361
  [
362
+ 0.46274223923683167
363
  ]
364
  ],
365
  [
366
  [
367
+ 0.47260650992393494
368
  ]
369
  ],
370
  [
371
  [
372
+ 0.4641890525817871
373
  ]
374
  ]
375
  ],
376
  "std": [
377
  [
378
  [
379
+ 0.1838381439447403
380
  ]
381
  ],
382
  [
383
  [
384
+ 0.17677700519561768
385
  ]
386
  ],
387
  [
388
  [
389
+ 0.17537878453731537
390
  ]
391
  ]
392
  ],
 
427
  },
428
  "timestamp": {
429
  "mean": [
430
+ 3.0823543071746826
431
  ],
432
  "std": [
433
+ 1.8410075902938843
434
  ],
435
  "max": [
436
  7.800000190734863
 
441
  },
442
  "frame_index": {
443
  "mean": [
444
+ 92.47067260742188
445
  ],
446
  "std": [
447
+ 55.23023986816406
448
  ],
449
  "max": [
450
  234.0
 
455
  },
456
  "episode_index": {
457
  "mean": [
458
+ 10.028579711914062
459
  ],
460
  "std": [
461
+ 6.118564128875732
462
  ],
463
  "max": [
464
+ 20.0
465
  ],
466
  "min": [
467
  0.0
 
469
  },
470
  "index": {
471
  "mean": [
472
+ 1923.4993896484375
473
  ],
474
  "std": [
475
+ 1110.8216552734375
476
  ],
477
  "max": [
478
+ 3847.0
479
  ],
480
  "min": [
481
  0.0
videos/chunk-000/observation.images.left_rgb/episode_000017.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:53694246c283e00c3f5b4dd49d8cb59b8ede5e779d9475e3db117b9a4921342f
3
+ size 717333
videos/chunk-000/observation.images.left_rgb/episode_000018.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89169b30e3e2747f2b2fb67c9097cc8409a202fd5ac5252e3f66fc82d1ebacb3
3
+ size 530380
videos/chunk-000/observation.images.left_rgb/episode_000019.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9cc2fea39ef5ccb1344470922b4eaacbf3f3a1c7ab248dbc6caf0e946fa28c95
3
+ size 545786
videos/chunk-000/observation.images.left_rgb/episode_000020.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1a44726f57bd660f02769a81addba70567b984bebe84e72040705de9f92432c3
3
+ size 681090
videos/chunk-000/observation.images.right_rgb/episode_000017.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c95811506b68c836c3ea6c5ab6ed979780e1a8926b42310cbfde30414a70cff2
3
+ size 444003
videos/chunk-000/observation.images.right_rgb/episode_000018.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:43c6090b40016d3b0c2f649ef2b7e7ea6ec10e58dbb94ba858ec6dcb87f44955
3
+ size 387318
videos/chunk-000/observation.images.right_rgb/episode_000019.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8e76861f278b1e5796cd8a64e4f62d406809d6037374a30a22810ab48752edb3
3
+ size 374191
videos/chunk-000/observation.images.right_rgb/episode_000020.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:82611374b5bd4b97903e2d1183e6b48b1d95e3c6fa89dfbb749997154fbb746c
3
+ size 463967
videos/chunk-000/observation.images.top_rgb/episode_000017.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2502f5346e88961915748434b18f78a5ed979216779d74b946ce504dfaee379b
3
+ size 908955
videos/chunk-000/observation.images.top_rgb/episode_000018.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e0f061af33bfe42e0a54ab71d61d7ca541097df83bc333911970ed092b2fb00f
3
+ size 754276
videos/chunk-000/observation.images.top_rgb/episode_000019.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3eb955b9f5c143b62cc6094edae44028099fc59ff2af1653409669a8f9730a29
3
+ size 739872
videos/chunk-000/observation.images.top_rgb/episode_000020.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f482d5560bfd3cba43d45b1db0a4630ce633e8f4fabfb4fad5f626f2efe1f9b3
3
+ size 936267