garySue commited on
Commit
cf4dcae
·
verified ·
1 Parent(s): f52079b

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000016.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0adee9999c0d357da184eb214e87fd5684f64b4cf5f03c53fad87b27cb782a8b
3
+ size 60095
data/chunk-000/episode_000017.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7668a32956bf7c08009710883af73f121ae13a89d0687a461eecf91ce1d18f19
3
+ size 60058
data/chunk-000/episode_000018.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b301f30c446dd0eb79fa36936f48b25cb81e86068a29006f69ee15850ea597cf
3
+ size 58958
meta/episodes.jsonl CHANGED
@@ -14,3 +14,6 @@
14
  {"episode_index": 13, "tasks": ["wire_winding"], "length": 246}
15
  {"episode_index": 14, "tasks": ["wire_winding"], "length": 272}
16
  {"episode_index": 15, "tasks": ["wire_winding"], "length": 260}
 
 
 
 
14
  {"episode_index": 13, "tasks": ["wire_winding"], "length": 246}
15
  {"episode_index": 14, "tasks": ["wire_winding"], "length": 272}
16
  {"episode_index": 15, "tasks": ["wire_winding"], "length": 260}
17
+ {"episode_index": 16, "tasks": ["wire_winding"], "length": 261}
18
+ {"episode_index": 17, "tasks": ["wire_winding"], "length": 259}
19
+ {"episode_index": 18, "tasks": ["wire_winding"], "length": 253}
meta/info.json CHANGED
@@ -1,15 +1,15 @@
1
  {
2
  "codebase_version": "v2.0",
3
  "robot_type": "bi_ur5",
4
- "total_episodes": 16,
5
- "total_frames": 4904,
6
  "total_tasks": 1,
7
- "total_videos": 48,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 30,
11
  "splits": {
12
- "train": "0:16"
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": 19,
5
+ "total_frames": 5677,
6
  "total_tasks": 1,
7
+ "total_videos": 57,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 30,
11
  "splits": {
12
+ "train": "0:19"
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
@@ -1,50 +1,50 @@
1
  {
2
  "action": {
3
  "mean": [
4
- 1.8144631385803223,
5
- -1.5615499019622803,
6
- 1.6258258819580078,
7
- -1.8480998277664185,
8
- -0.7614521980285645,
9
- -0.1880713552236557,
10
- 0.4508747160434723,
11
- -1.7901291847229004,
12
- -1.7111175060272217,
13
- -1.563785433769226,
14
- -1.401375412940979,
15
- 0.6545300483703613,
16
- 0.3586968183517456,
17
- 0.7594402432441711
18
  ],
19
  "std": [
20
- 0.11574380844831467,
21
- 0.14059755206108093,
22
- 0.18787629902362823,
23
- 0.24610814452171326,
24
- 0.4886813461780548,
25
- 0.26135796308517456,
26
- 0.4139457643032074,
27
- 0.0834013968706131,
28
- 0.12297483533620834,
29
- 0.1375039517879486,
30
- 0.17458626627922058,
31
- 0.7201305031776428,
32
- 0.05859016627073288,
33
- 0.3760409653186798
34
  ],
35
  "max": [
36
  2.1468827724456787,
37
  -1.0883454084396362,
38
  2.1091578006744385,
39
- -1.3029359579086304,
40
  -0.06597653031349182,
41
  0.9785410761833191,
42
  1.0,
43
  -1.5922720432281494,
44
  -1.4650285243988037,
45
- -1.1121537685394287,
46
- -0.8715542554855347,
47
- 1.6606374979019165,
48
  0.5072703957557678,
49
  1.0
50
  ],
@@ -56,47 +56,47 @@
56
  -1.7163504362106323,
57
  -0.8518170118331909,
58
  0.0,
59
- -2.0355920791625977,
60
  -2.1567769050598145,
61
- -1.8683580160140991,
62
  -1.9595117568969727,
63
  -0.3113335967063904,
64
- 0.12698784470558167,
65
  0.0
66
  ]
67
  },
68
  "observation.state": {
69
  "mean": [
70
- 1.815535306930542,
71
- -1.560674786567688,
72
- 1.623911738395691,
73
- -1.8466331958770752,
74
- -0.7615427374839783,
75
- -0.18935072422027588,
76
- 0.43798622488975525,
77
- -1.791111707687378,
78
- -1.711324691772461,
79
- -1.5634055137634277,
80
- -1.401600956916809,
81
- 0.6543624997138977,
82
- 0.3589327931404114,
83
- 0.7549209594726562
84
  ],
85
  "std": [
86
- 0.11542944610118866,
87
- 0.1392289400100708,
88
- 0.18785490095615387,
89
- 0.24773550033569336,
90
- 0.4884357452392578,
91
- 0.26142406463623047,
92
- 0.4258515536785126,
93
- 0.08355089277029037,
94
- 0.12244313210248947,
95
- 0.1373722404241562,
96
- 0.1745438426733017,
97
- 0.71942538022995,
98
- 0.058148737996816635,
99
- 0.37336787581443787
100
  ],
101
  "max": [
102
  2.1433048248291016,
@@ -108,65 +108,65 @@
108
  1.0027226209640503,
109
  -1.5922564268112183,
110
  -1.4667848348617554,
111
- -1.113791823387146,
112
- -0.880850613117218,
113
- 1.655849575996399,
114
  0.5073660612106323,
115
  1.097717523574829
116
  ],
117
  "min": [
118
- 1.5010714530944824,
119
  -2.010889768600464,
120
  1.0760383605957031,
121
  -2.5828025341033936,
122
  -1.709668517112732,
123
  -0.8316453099250793,
124
  0.0,
125
- -2.034263849258423,
126
  -2.156923532485962,
127
- -1.867306113243103,
128
  -1.9478763341903687,
129
  -0.30979567766189575,
130
- 0.13058723509311676,
131
  0.0
132
  ]
133
  },
134
  "observation.velocity": {
135
  "mean": [
136
- -0.0024969796650111675,
137
- -0.0021827213931828737,
138
- 0.004135736729949713,
139
- -0.0029781493358314037,
140
- -0.00010787275095935911,
141
- 0.0027878633700311184,
142
  0.0,
143
- 0.002513485960662365,
144
- 0.00048611738020554185,
145
- -0.000972624053247273,
146
- 0.0003390621568541974,
147
- 0.0004690712667070329,
148
- -0.0011387062259018421,
149
  0.0
150
  ],
151
  "std": [
152
- 0.06791307777166367,
153
- 0.0841793343424797,
154
- 0.08964303135871887,
155
- 0.09704022854566574,
156
- 0.12859995663166046,
157
- 0.11330623924732208,
158
  0.0,
159
- 0.026119045913219452,
160
- 0.052852384746074677,
161
- 0.060234881937503815,
162
- 0.07681585103273392,
163
- 0.16205354034900665,
164
- 0.03184404596686363,
165
  0.0
166
  ],
167
  "max": [
168
  0.42349374294281006,
169
- 0.49819862842559814,
170
  0.47301575541496277,
171
  0.7078362703323364,
172
  0.901309609413147,
@@ -177,12 +177,12 @@
177
  0.2929392158985138,
178
  0.42637476325035095,
179
  0.8559373617172241,
180
- 0.3262345790863037,
181
  0.0
182
  ],
183
  "min": [
184
  -0.5719958543777466,
185
- -0.4111452102661133,
186
  -0.4765567183494568,
187
  -0.5918769240379333,
188
  -0.8605393171310425,
@@ -199,12 +199,12 @@
199
  },
200
  "observation.gripper_position": {
201
  "mean": [
202
- 0.43798622488975525,
203
- 0.7549209594726562
204
  ],
205
  "std": [
206
- 0.4258515536785126,
207
- 0.37336787581443787
208
  ],
209
  "max": [
210
  1.0027226209640503,
@@ -219,34 +219,34 @@
219
  "mean": [
220
  [
221
  [
222
- 0.4208715856075287
223
  ]
224
  ],
225
  [
226
  [
227
- 0.4384515881538391
228
  ]
229
  ],
230
  [
231
  [
232
- 0.43333563208580017
233
  ]
234
  ]
235
  ],
236
  "std": [
237
  [
238
  [
239
- 0.40465405583381653
240
  ]
241
  ],
242
  [
243
  [
244
- 0.3888208866119385
245
  ]
246
  ],
247
  [
248
  [
249
- 0.38798201084136963
250
  ]
251
  ]
252
  ],
@@ -289,34 +289,34 @@
289
  "mean": [
290
  [
291
  [
292
- 0.4339735805988312
293
  ]
294
  ],
295
  [
296
  [
297
- 0.4302509129047394
298
  ]
299
  ],
300
  [
301
  [
302
- 0.420422226190567
303
  ]
304
  ]
305
  ],
306
  "std": [
307
  [
308
  [
309
- 0.22870786488056183
310
  ]
311
  ],
312
  [
313
  [
314
- 0.2275504469871521
315
  ]
316
  ],
317
  [
318
  [
319
- 0.2286624163389206
320
  ]
321
  ]
322
  ],
@@ -359,34 +359,34 @@
359
  "mean": [
360
  [
361
  [
362
- 0.3813793361186981
363
  ]
364
  ],
365
  [
366
  [
367
- 0.37472090125083923
368
  ]
369
  ],
370
  [
371
  [
372
- 0.366839200258255
373
  ]
374
  ]
375
  ],
376
  "std": [
377
  [
378
  [
379
- 0.27871057391166687
380
  ]
381
  ],
382
  [
383
  [
384
- 0.2661629021167755
385
  ]
386
  ],
387
  [
388
  [
389
- 0.256707102060318
390
  ]
391
  ]
392
  ],
@@ -427,10 +427,10 @@
427
  },
428
  "timestamp": {
429
  "mean": [
430
- 5.164109706878662
431
  ],
432
  "std": [
433
- 3.0717427730560303
434
  ],
435
  "max": [
436
  12.233333587646484
@@ -441,10 +441,10 @@
441
  },
442
  "frame_index": {
443
  "mean": [
444
- 154.9232940673828
445
  ],
446
  "std": [
447
- 92.15225219726562
448
  ],
449
  "max": [
450
  367.0
@@ -455,13 +455,13 @@
455
  },
456
  "episode_index": {
457
  "mean": [
458
- 7.087276935577393
459
  ],
460
  "std": [
461
- 4.614031791687012
462
  ],
463
  "max": [
464
- 15.0
465
  ],
466
  "min": [
467
  0.0
@@ -469,13 +469,13 @@
469
  },
470
  "index": {
471
  "mean": [
472
- 2451.498291015625
473
  ],
474
  "std": [
475
- 1415.662353515625
476
  ],
477
  "max": [
478
- 4903.0
479
  ],
480
  "min": [
481
  0.0
 
1
  {
2
  "action": {
3
  "mean": [
4
+ 1.809046745300293,
5
+ -1.5617897510528564,
6
+ 1.6293268203735352,
7
+ -1.848083257675171,
8
+ -0.7648158073425293,
9
+ -0.1943521797657013,
10
+ 0.4570625424385071,
11
+ -1.799430012702942,
12
+ -1.7179250717163086,
13
+ -1.557643175125122,
14
+ -1.3995312452316284,
15
+ 0.6753535270690918,
16
+ 0.35089725255966187,
17
+ 0.7522024512290955
18
  ],
19
  "std": [
20
+ 0.11806889623403549,
21
+ 0.13637909293174744,
22
+ 0.1856747716665268,
23
+ 0.24611231684684753,
24
+ 0.4827116131782532,
25
+ 0.2623545825481415,
26
+ 0.41465094685554504,
27
+ 0.08818349987268448,
28
+ 0.12875573337078094,
29
+ 0.14614231884479523,
30
+ 0.19103385508060455,
31
+ 0.7213137745857239,
32
+ 0.0726114884018898,
33
+ 0.3849838972091675
34
  ],
35
  "max": [
36
  2.1468827724456787,
37
  -1.0883454084396362,
38
  2.1091578006744385,
39
+ -1.3008615970611572,
40
  -0.06597653031349182,
41
  0.9785410761833191,
42
  1.0,
43
  -1.5922720432281494,
44
  -1.4650285243988037,
45
+ -1.0814566612243652,
46
+ -0.6902921795845032,
47
+ 1.668884515762329,
48
  0.5072703957557678,
49
  1.0
50
  ],
 
56
  -1.7163504362106323,
57
  -0.8518170118331909,
58
  0.0,
59
+ -2.043262481689453,
60
  -2.1567769050598145,
61
+ -1.9281483888626099,
62
  -1.9595117568969727,
63
  -0.3113335967063904,
64
+ 0.01332950871437788,
65
  0.0
66
  ]
67
  },
68
  "observation.state": {
69
  "mean": [
70
+ 1.810164213180542,
71
+ -1.5609809160232544,
72
+ 1.6273901462554932,
73
+ -1.846502661705017,
74
+ -0.7649255394935608,
75
+ -0.19563652575016022,
76
+ 0.4437835216522217,
77
+ -1.800373911857605,
78
+ -1.7180873155593872,
79
+ -1.5572396516799927,
80
+ -1.399841547012329,
81
+ 0.6752076148986816,
82
+ 0.35123753547668457,
83
+ 0.7469817996025085
84
  ],
85
  "std": [
86
+ 0.11781362444162369,
87
+ 0.1350443959236145,
88
+ 0.18563032150268555,
89
+ 0.24778275191783905,
90
+ 0.48247477412223816,
91
+ 0.2623768746852875,
92
+ 0.4267721176147461,
93
+ 0.08825722336769104,
94
+ 0.1282787322998047,
95
+ 0.1459978222846985,
96
+ 0.19112540781497955,
97
+ 0.7206611633300781,
98
+ 0.07195650786161423,
99
+ 0.3816104233264923
100
  ],
101
  "max": [
102
  2.1433048248291016,
 
108
  1.0027226209640503,
109
  -1.5922564268112183,
110
  -1.4667848348617554,
111
+ -1.0818356275558472,
112
+ -0.6912544369697571,
113
+ 1.6643695831298828,
114
  0.5073660612106323,
115
  1.097717523574829
116
  ],
117
  "min": [
118
+ 1.5008432865142822,
119
  -2.010889768600464,
120
  1.0760383605957031,
121
  -2.5828025341033936,
122
  -1.709668517112732,
123
  -0.8316453099250793,
124
  0.0,
125
+ -2.043250322341919,
126
  -2.156923532485962,
127
+ -1.926498293876648,
128
  -1.9478763341903687,
129
  -0.30979567766189575,
130
+ 0.014518888667225838,
131
  0.0
132
  ]
133
  },
134
  "observation.velocity": {
135
  "mean": [
136
+ -0.0026655388064682484,
137
+ -0.0020490079186856747,
138
+ 0.0043620034120976925,
139
+ -0.0034965723752975464,
140
+ -0.00010229990584775805,
141
+ 0.0028351685032248497,
142
  0.0,
143
+ 0.002398289507254958,
144
+ 0.0003473952237982303,
145
+ -0.001031825551763177,
146
+ 0.0006524347118102014,
147
+ 0.00039289184496738017,
148
+ -0.001472863252274692,
149
  0.0
150
  ],
151
  "std": [
152
+ 0.06931113451719284,
153
+ 0.08463957160711288,
154
+ 0.08921890705823898,
155
+ 0.10128632187843323,
156
+ 0.1304900348186493,
157
+ 0.11390913277864456,
158
  0.0,
159
+ 0.02590695209801197,
160
+ 0.05393725261092186,
161
+ 0.06073561683297157,
162
+ 0.07685357332229614,
163
+ 0.16056612133979797,
164
+ 0.03363846614956856,
165
  0.0
166
  ],
167
  "max": [
168
  0.42349374294281006,
169
+ 0.5006529688835144,
170
  0.47301575541496277,
171
  0.7078362703323364,
172
  0.901309609413147,
 
177
  0.2929392158985138,
178
  0.42637476325035095,
179
  0.8559373617172241,
180
+ 0.33680465817451477,
181
  0.0
182
  ],
183
  "min": [
184
  -0.5719958543777466,
185
+ -0.41366350650787354,
186
  -0.4765567183494568,
187
  -0.5918769240379333,
188
  -0.8605393171310425,
 
199
  },
200
  "observation.gripper_position": {
201
  "mean": [
202
+ 0.4437835216522217,
203
+ 0.7469817996025085
204
  ],
205
  "std": [
206
+ 0.4267721176147461,
207
+ 0.3816104233264923
208
  ],
209
  "max": [
210
  1.0027226209640503,
 
219
  "mean": [
220
  [
221
  [
222
+ 0.4211087226867676
223
  ]
224
  ],
225
  [
226
  [
227
+ 0.43876269459724426
228
  ]
229
  ],
230
  [
231
  [
232
+ 0.43364471197128296
233
  ]
234
  ]
235
  ],
236
  "std": [
237
  [
238
  [
239
+ 0.4048251807689667
240
  ]
241
  ],
242
  [
243
  [
244
+ 0.3889975845813751
245
  ]
246
  ],
247
  [
248
  [
249
+ 0.38802939653396606
250
  ]
251
  ]
252
  ],
 
289
  "mean": [
290
  [
291
  [
292
+ 0.43506836891174316
293
  ]
294
  ],
295
  [
296
  [
297
+ 0.4312065541744232
298
  ]
299
  ],
300
  [
301
  [
302
+ 0.4211934506893158
303
  ]
304
  ]
305
  ],
306
  "std": [
307
  [
308
  [
309
+ 0.22711211442947388
310
  ]
311
  ],
312
  [
313
  [
314
+ 0.226297065615654
315
  ]
316
  ],
317
  [
318
  [
319
+ 0.2275869995355606
320
  ]
321
  ]
322
  ],
 
359
  "mean": [
360
  [
361
  [
362
+ 0.38349807262420654
363
  ]
364
  ],
365
  [
366
  [
367
+ 0.37710806727409363
368
  ]
369
  ],
370
  [
371
  [
372
+ 0.369416207075119
373
  ]
374
  ]
375
  ],
376
  "std": [
377
  [
378
  [
379
+ 0.27752262353897095
380
  ]
381
  ],
382
  [
383
  [
384
+ 0.265481561422348
385
  ]
386
  ],
387
  [
388
  [
389
+ 0.25608134269714355
390
  ]
391
  ]
392
  ],
 
427
  },
428
  "timestamp": {
429
  "mean": [
430
+ 5.043527126312256
431
  ],
432
  "std": [
433
+ 3.01346492767334
434
  ],
435
  "max": [
436
  12.233333587646484
 
441
  },
442
  "frame_index": {
443
  "mean": [
444
+ 151.3057861328125
445
  ],
446
  "std": [
447
+ 90.40396118164062
448
  ],
449
  "max": [
450
  367.0
 
455
  },
456
  "episode_index": {
457
  "mean": [
458
+ 8.435623168945312
459
  ],
460
  "std": [
461
+ 5.478571891784668
462
  ],
463
  "max": [
464
+ 18.0
465
  ],
466
  "min": [
467
  0.0
 
469
  },
470
  "index": {
471
  "mean": [
472
+ 2838.000732421875
473
  ],
474
  "std": [
475
+ 1638.808837890625
476
  ],
477
  "max": [
478
+ 5676.0
479
  ],
480
  "min": [
481
  0.0
videos/chunk-000/observation.images.left_rgb/episode_000016.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8abd8c0f041f9cd7661441afdb6ec307f94478a9c5d095b8f0d8ec010d448155
3
+ size 811274
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 sha256:2c8283f0378ac4c2796124128918da0f7f63e2be87d25b7f81cb7a27c5ba09b0
3
+ size 831333
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 sha256:89e9f6d44c9341489c5d14478741c9c0984d5171c85ff66d19d22dc328415746
3
+ size 827865
videos/chunk-000/observation.images.right_rgb/episode_000016.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c641f54a853888d5b73011898ce976733e4b640da7c314d3fd3c43d957a6b596
3
+ size 1023184
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 sha256:9b49464a7135e4a06653105177c29286868a4e65c4808c21820c173517b253af
3
+ size 1045596
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:dc54adb10778a397731bd6eea24a11f2a7c874d619a13c4fb8646c5346800876
3
+ size 1011453
videos/chunk-000/observation.images.top_rgb/episode_000016.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5519dc5d3b722bdbdfc244e9b93606834ec9f9690a2e8175183114c8bb4c69f4
3
+ size 1159469
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 sha256:1ee21a5f7d2ac5b92c6bda79c430b2e67b74d5225e02c63fa168848aecdce087
3
+ size 1183054
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 sha256:24c6b32bc36a9eea1417cb61fcb688794aa25d69f36c5b0dde857b725312ea6a
3
+ size 1123358