garySue commited on
Commit
d97bd8b
·
verified ·
1 Parent(s): c62f888

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000050.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:927e7bab9cc88787ca62ff3267adf9a0acecac6735250985ff68c7c2c75f0a7a
3
+ size 63376
data/chunk-000/episode_000051.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5b690e80d20dcd1f75b8b4ceff25c3d1ec4ab9b351a392b987cb8f49d679d3bd
3
+ size 57879
data/chunk-000/episode_000052.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:09474eb44bea23b259873bab6f8651439591be485eac1d508fdae4766f583df1
3
+ size 52491
meta/episodes.jsonl CHANGED
@@ -48,3 +48,6 @@
48
  {"episode_index": 47, "tasks": ["pouring"], "length": 188}
49
  {"episode_index": 48, "tasks": ["pouring"], "length": 192}
50
  {"episode_index": 49, "tasks": ["pouring"], "length": 204}
 
 
 
 
48
  {"episode_index": 47, "tasks": ["pouring"], "length": 188}
49
  {"episode_index": 48, "tasks": ["pouring"], "length": 192}
50
  {"episode_index": 49, "tasks": ["pouring"], "length": 204}
51
+ {"episode_index": 50, "tasks": ["pouring"], "length": 300}
52
+ {"episode_index": 51, "tasks": ["pouring"], "length": 266}
53
+ {"episode_index": 52, "tasks": ["pouring"], "length": 240}
meta/info.json CHANGED
@@ -1,15 +1,15 @@
1
  {
2
  "codebase_version": "v2.0",
3
  "robot_type": "bi_ur5",
4
- "total_episodes": 50,
5
- "total_frames": 9699,
6
  "total_tasks": 1,
7
- "total_videos": 150,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 30,
11
  "splits": {
12
- "train": "0:50"
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": 53,
5
+ "total_frames": 10505,
6
  "total_tasks": 1,
7
+ "total_videos": 159,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 30,
11
  "splits": {
12
+ "train": "0:53"
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
@@ -1,49 +1,49 @@
1
  {
2
  "action": {
3
  "mean": [
4
- 1.806810975074768,
5
- -1.4008290767669678,
6
- 1.7119437456130981,
7
- -1.8375521898269653,
8
- -0.97195965051651,
9
- -0.5631895065307617,
10
- 0.43148377537727356,
11
- -1.8641332387924194,
12
- -1.7315821647644043,
13
- -1.753511905670166,
14
- -1.2462029457092285,
15
- 1.5546956062316895,
16
- -0.02980908378958702,
17
- 0.6589595079421997
18
  ],
19
  "std": [
20
- 0.23673585057258606,
21
- 0.176631361246109,
22
- 0.2505597472190857,
23
- 0.2467041313648224,
24
- 0.7048303484916687,
25
- 0.260456919670105,
26
- 0.3858463764190674,
27
- 0.1768772304058075,
28
- 0.12336104363203049,
29
- 0.18339736759662628,
30
- 0.23204132914543152,
31
- 0.08034883439540863,
32
- 0.4138370454311371,
33
- 0.4538433849811554
34
  ],
35
  "max": [
36
  2.4390294551849365,
37
  -0.9756118059158325,
38
  2.349996566772461,
39
- -1.167769432067871,
40
  0.09458447992801666,
41
  0.09708421677350998,
42
  1.0,
43
  -1.4727671146392822,
44
  -1.3790955543518066,
45
  -1.2854914665222168,
46
- -0.7255922555923462,
47
  1.9504958391189575,
48
  0.9964920282363892,
49
  1.0
@@ -67,49 +67,49 @@
67
  },
68
  "observation.state": {
69
  "mean": [
70
- 1.8083785772323608,
71
- -1.4004693031311035,
72
- 1.709577202796936,
73
- -1.8356379270553589,
74
- -0.9722192883491516,
75
- -0.5648889541625977,
76
- 0.3913443684577942,
77
- -1.8642494678497314,
78
- -1.7303218841552734,
79
- -1.749351143836975,
80
- -1.2495499849319458,
81
- 1.5558363199234009,
82
- -0.026868464425206184,
83
- 0.588257372379303
84
  ],
85
  "std": [
86
- 0.236393004655838,
87
- 0.17560914158821106,
88
- 0.25154098868370056,
89
- 0.24816183745861053,
90
- 0.7044903039932251,
91
- 0.25849270820617676,
92
- 0.3638504445552826,
93
- 0.17546135187149048,
94
- 0.1227412149310112,
95
- 0.18542040884494781,
96
- 0.23440910875797272,
97
- 0.08004415780305862,
98
- 0.41123050451278687,
99
- 0.4146276116371155
100
  ],
101
  "max": [
102
  2.4390451908111572,
103
  -0.9756224751472473,
104
  2.3479464054107666,
105
- -1.1744760274887085,
106
  0.0882851630449295,
107
  0.08785935491323471,
108
- 0.8307811617851257,
109
  -1.4742850065231323,
110
  -1.3811091184616089,
111
  -1.2864011526107788,
112
- -0.7283104062080383,
113
  1.9459636211395264,
114
  0.9928492307662964,
115
  0.9726444482803345
@@ -133,35 +133,35 @@
133
  },
134
  "observation.velocity": {
135
  "mean": [
136
- -0.003383527509868145,
137
- -0.0007122004753910005,
138
- 0.005166551098227501,
139
- -0.004290799144655466,
140
- 0.0008715270087122917,
141
- 0.003592096269130707,
142
  0.0,
143
- 0.0032746721990406513,
144
- -0.0005997978732921183,
145
- -0.003854600014165044,
146
- 0.008987040258944035,
147
- 0.002039291663095355,
148
- -0.002489065285772085,
149
  0.0
150
  ],
151
  "std": [
152
- 0.10328283905982971,
153
- 0.0873974934220314,
154
- 0.09703671187162399,
155
- 0.15594984591007233,
156
- 0.22796013951301575,
157
- 0.10706974565982819,
158
  0.0,
159
- 0.05484917387366295,
160
- 0.04763690009713173,
161
- 0.05952121689915657,
162
- 0.0890774354338646,
163
- 0.05502595379948616,
164
- 0.12354801595211029,
165
  0.0
166
  ],
167
  "max": [
@@ -175,7 +175,7 @@
175
  0.37651559710502625,
176
  0.3222382366657257,
177
  0.3418092727661133,
178
- 0.5210261940956116,
179
  0.5963350534439087,
180
  1.0435863733291626,
181
  0.0
@@ -191,7 +191,7 @@
191
  -0.29086834192276,
192
  -0.2570056915283203,
193
  -0.3455163836479187,
194
- -0.5986120700836182,
195
  -0.5736129879951477,
196
  -0.9138451218605042,
197
  0.0
@@ -199,15 +199,15 @@
199
  },
200
  "observation.gripper_position": {
201
  "mean": [
202
- 0.3913443684577942,
203
- 0.588257372379303
204
  ],
205
  "std": [
206
- 0.3638504445552826,
207
- 0.4146276116371155
208
  ],
209
  "max": [
210
- 0.8307811617851257,
211
  0.9726444482803345
212
  ],
213
  "min": [
@@ -219,34 +219,34 @@
219
  "mean": [
220
  [
221
  [
222
- 0.4116286039352417
223
  ]
224
  ],
225
  [
226
  [
227
- 0.4315434992313385
228
  ]
229
  ],
230
  [
231
  [
232
- 0.42838701605796814
233
  ]
234
  ]
235
  ],
236
  "std": [
237
  [
238
  [
239
- 0.4056181311607361
240
  ]
241
  ],
242
  [
243
  [
244
- 0.3916952610015869
245
  ]
246
  ],
247
  [
248
  [
249
- 0.3897659182548523
250
  ]
251
  ]
252
  ],
@@ -289,34 +289,34 @@
289
  "mean": [
290
  [
291
  [
292
- 0.4206336438655853
293
  ]
294
  ],
295
  [
296
  [
297
- 0.40935218334198
298
  ]
299
  ],
300
  [
301
  [
302
- 0.40055713057518005
303
  ]
304
  ]
305
  ],
306
  "std": [
307
  [
308
  [
309
- 0.23179733753204346
310
  ]
311
  ],
312
  [
313
  [
314
- 0.2441297471523285
315
  ]
316
  ],
317
  [
318
  [
319
- 0.245656356215477
320
  ]
321
  ]
322
  ],
@@ -359,34 +359,34 @@
359
  "mean": [
360
  [
361
  [
362
- 0.43110767006874084
363
  ]
364
  ],
365
  [
366
  [
367
- 0.4396478533744812
368
  ]
369
  ],
370
  [
371
  [
372
- 0.4071870744228363
373
  ]
374
  ]
375
  ],
376
  "std": [
377
  [
378
  [
379
- 0.16148455440998077
380
  ]
381
  ],
382
  [
383
  [
384
- 0.1562557965517044
385
  ]
386
  ],
387
  [
388
  [
389
- 0.17399629950523376
390
  ]
391
  ]
392
  ],
@@ -427,13 +427,13 @@
427
  },
428
  "timestamp": {
429
  "mean": [
430
- 3.2516627311706543
431
  ],
432
  "std": [
433
- 1.927436351776123
434
  ],
435
  "max": [
436
- 8.100000381469727
437
  ],
438
  "min": [
439
  0.0
@@ -441,13 +441,13 @@
441
  },
442
  "frame_index": {
443
  "mean": [
444
- 97.54981231689453
445
  ],
446
  "std": [
447
- 57.823089599609375
448
  ],
449
  "max": [
450
- 243.0
451
  ],
452
  "min": [
453
  0.0
@@ -455,13 +455,13 @@
455
  },
456
  "episode_index": {
457
  "mean": [
458
- 24.80317497253418
459
  ],
460
  "std": [
461
- 14.644574165344238
462
  ],
463
  "max": [
464
- 49.0
465
  ],
466
  "min": [
467
  0.0
@@ -469,13 +469,13 @@
469
  },
470
  "index": {
471
  "mean": [
472
- 4849.0
473
  ],
474
  "std": [
475
- 2799.860595703125
476
  ],
477
  "max": [
478
- 9698.0
479
  ],
480
  "min": [
481
  0.0
 
1
  {
2
  "action": {
3
  "mean": [
4
+ 1.811155915260315,
5
+ -1.4037269353866577,
6
+ 1.7111341953277588,
7
+ -1.8397384881973267,
8
+ -0.9749056696891785,
9
+ -0.5653344988822937,
10
+ 0.440017431974411,
11
+ -1.8694804906845093,
12
+ -1.7318975925445557,
13
+ -1.7584422826766968,
14
+ -1.2359657287597656,
15
+ 1.5567017793655396,
16
+ -0.04071455076336861,
17
+ 0.6691557168960571
18
  ],
19
  "std": [
20
+ 0.24081023037433624,
21
+ 0.17674875259399414,
22
+ 0.249871164560318,
23
+ 0.252930611371994,
24
+ 0.7091156244277954,
25
+ 0.26047807931900024,
26
+ 0.3912447988986969,
27
+ 0.1769276261329651,
28
+ 0.12101931124925613,
29
+ 0.18018226325511932,
30
+ 0.23123224079608917,
31
+ 0.07877317070960999,
32
+ 0.4169754683971405,
33
+ 0.45097246766090393
34
  ],
35
  "max": [
36
  2.4390294551849365,
37
  -0.9756118059158325,
38
  2.349996566772461,
39
+ -1.06617271900177,
40
  0.09458447992801666,
41
  0.09708421677350998,
42
  1.0,
43
  -1.4727671146392822,
44
  -1.3790955543518066,
45
  -1.2854914665222168,
46
+ -0.713396430015564,
47
  1.9504958391189575,
48
  0.9964920282363892,
49
  1.0
 
67
  },
68
  "observation.state": {
69
  "mean": [
70
+ 1.8126460313796997,
71
+ -1.4033633470535278,
72
+ 1.7088741064071655,
73
+ -1.8379069566726685,
74
+ -0.9751537442207336,
75
+ -0.5669848918914795,
76
+ 0.39872512221336365,
77
+ -1.8696650266647339,
78
+ -1.7307876348495483,
79
+ -1.7544362545013428,
80
+ -1.2392991781234741,
81
+ 1.5577247142791748,
82
+ -0.038010384887456894,
83
+ 0.5984408855438232
84
  ],
85
  "std": [
86
+ 0.24046245217323303,
87
+ 0.1757606416940689,
88
+ 0.250812828540802,
89
+ 0.254304975271225,
90
+ 0.7087637186050415,
91
+ 0.258560448884964,
92
+ 0.3683379888534546,
93
+ 0.17558424174785614,
94
+ 0.12033799290657043,
95
+ 0.18229609727859497,
96
+ 0.2337714582681656,
97
+ 0.07843882590532303,
98
+ 0.4146190881729126,
99
+ 0.41262316703796387
100
  ],
101
  "max": [
102
  2.4390451908111572,
103
  -0.9756224751472473,
104
  2.3479464054107666,
105
+ -1.0710242986679077,
106
  0.0882851630449295,
107
  0.08785935491323471,
108
+ 0.8963972926139832,
109
  -1.4742850065231323,
110
  -1.3811091184616089,
111
  -1.2864011526107788,
112
+ -0.7174666523933411,
113
  1.9459636211395264,
114
  0.9928492307662964,
115
  0.9726444482803345
 
133
  },
134
  "observation.velocity": {
135
  "mean": [
136
+ -0.0032415452878922224,
137
+ -0.0007457450265064836,
138
+ 0.004980247467756271,
139
+ -0.004070740193128586,
140
+ 0.0008154545212164521,
141
+ 0.0034806113690137863,
142
  0.0,
143
+ 0.0032201369758695364,
144
+ -0.00040421015000902116,
145
+ -0.003994546364992857,
146
+ 0.008919168263673782,
147
+ 0.001973551930859685,
148
+ -0.0022441933397203684,
149
  0.0
150
  ],
151
  "std": [
152
+ 0.10173160582780838,
153
+ 0.08650796860456467,
154
+ 0.09585574269294739,
155
+ 0.15374350547790527,
156
+ 0.2251834124326706,
157
+ 0.10569535940885544,
158
  0.0,
159
+ 0.05427931621670723,
160
+ 0.04732830822467804,
161
+ 0.05901110917329788,
162
+ 0.08965809643268585,
163
+ 0.053773943334817886,
164
+ 0.12235049158334732,
165
  0.0
166
  ],
167
  "max": [
 
175
  0.37651559710502625,
176
  0.3222382366657257,
177
  0.3418092727661133,
178
+ 0.5876824259757996,
179
  0.5963350534439087,
180
  1.0435863733291626,
181
  0.0
 
191
  -0.29086834192276,
192
  -0.2570056915283203,
193
  -0.3455163836479187,
194
+ -0.6974579691886902,
195
  -0.5736129879951477,
196
  -0.9138451218605042,
197
  0.0
 
199
  },
200
  "observation.gripper_position": {
201
  "mean": [
202
+ 0.39872512221336365,
203
+ 0.5984408855438232
204
  ],
205
  "std": [
206
+ 0.3683379888534546,
207
+ 0.41262316703796387
208
  ],
209
  "max": [
210
+ 0.8963972926139832,
211
  0.9726444482803345
212
  ],
213
  "min": [
 
219
  "mean": [
220
  [
221
  [
222
+ 0.41197440028190613
223
  ]
224
  ],
225
  [
226
  [
227
+ 0.4317174255847931
228
  ]
229
  ],
230
  [
231
  [
232
+ 0.4287440776824951
233
  ]
234
  ]
235
  ],
236
  "std": [
237
  [
238
  [
239
+ 0.4054877758026123
240
  ]
241
  ],
242
  [
243
  [
244
+ 0.39163774251937866
245
  ]
246
  ],
247
  [
248
  [
249
+ 0.38949090242385864
250
  ]
251
  ]
252
  ],
 
289
  "mean": [
290
  [
291
  [
292
+ 0.4192151725292206
293
  ]
294
  ],
295
  [
296
  [
297
+ 0.40847036242485046
298
  ]
299
  ],
300
  [
301
  [
302
+ 0.399670273065567
303
  ]
304
  ]
305
  ],
306
  "std": [
307
  [
308
  [
309
+ 0.2335049957036972
310
  ]
311
  ],
312
  [
313
  [
314
+ 0.24522946774959564
315
  ]
316
  ],
317
  [
318
  [
319
+ 0.246729776263237
320
  ]
321
  ]
322
  ],
 
359
  "mean": [
360
  [
361
  [
362
+ 0.43060681223869324
363
  ]
364
  ],
365
  [
366
  [
367
+ 0.4392175078392029
368
  ]
369
  ],
370
  [
371
  [
372
+ 0.40670040249824524
373
  ]
374
  ]
375
  ],
376
  "std": [
377
  [
378
  [
379
+ 0.16173548996448517
380
  ]
381
  ],
382
  [
383
  [
384
+ 0.15664449334144592
385
  ]
386
  ],
387
  [
388
  [
389
+ 0.17428997159004211
390
  ]
391
  ]
392
  ],
 
427
  },
428
  "timestamp": {
429
  "mean": [
430
+ 3.34732985496521
431
  ],
432
  "std": [
433
+ 2.0195958614349365
434
  ],
435
  "max": [
436
+ 9.966666221618652
437
  ],
438
  "min": [
439
  0.0
 
441
  },
442
  "frame_index": {
443
  "mean": [
444
+ 100.41991424560547
445
  ],
446
  "std": [
447
+ 60.58790969848633
448
  ],
449
  "max": [
450
+ 299.0
451
  ],
452
  "min": [
453
  0.0
 
455
  },
456
  "episode_index": {
457
  "mean": [
458
+ 26.807424545288086
459
  ],
460
  "std": [
461
+ 15.6970853805542
462
  ],
463
  "max": [
464
+ 52.0
465
  ],
466
  "min": [
467
  0.0
 
469
  },
470
  "index": {
471
  "mean": [
472
+ 5252.0068359375
473
  ],
474
  "std": [
475
+ 3032.531982421875
476
  ],
477
  "max": [
478
+ 10504.0
479
  ],
480
  "min": [
481
  0.0
videos/chunk-000/observation.images.left_rgb/episode_000050.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7b267dc8b5be7346ca48e8bb733850f5c14ec32f1bc2d1bed3677ad947e78fb7
3
+ size 996379
videos/chunk-000/observation.images.left_rgb/episode_000051.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:13796a7655a807b1768dc263d8c6d1cc15814e37e6be1a898799ac22a56e6eb0
3
+ size 921126
videos/chunk-000/observation.images.left_rgb/episode_000052.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b4eafa73e6d6920e82354772e5e5dc091f0f456392aacf15c7872bd2bba5524
3
+ size 847774
videos/chunk-000/observation.images.right_rgb/episode_000050.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ad6fb0e66a49d64a923d3295de13d3fca10d56b7b41b21842ccaea631686e18
3
+ size 553100
videos/chunk-000/observation.images.right_rgb/episode_000051.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f6f095a465ae958a7a4fb13acfdef470bfe7b4514289fc1ca42b7bb69c593a56
3
+ size 494806
videos/chunk-000/observation.images.right_rgb/episode_000052.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e273b1e15585b685f982a0a28fdbfb9e9ebaa76a67a2c9c58406a9bc7fc9ef16
3
+ size 452362
videos/chunk-000/observation.images.top_rgb/episode_000050.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:27055b3ca744523dd5e3167db522fda78836a449a17a8eac766f6d85021039c2
3
+ size 1372014
videos/chunk-000/observation.images.top_rgb/episode_000051.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4a148185c76c8a284311c1a4463edd5c31d489d69597ce91a32bd4e9ba1df230
3
+ size 1189104
videos/chunk-000/observation.images.top_rgb/episode_000052.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:faaa601e7ca7cc31f784cad8560b4d757f6a4803f8149f62641150d794afe0fa
3
+ size 1082008