Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed821a87b2ac5da8be61684180d86945fb44bd623df6fdf52c7318a2ad65e8e6
+size 113236

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:475608148436084a3cb2977433644f4e1cc9fde80f62447a3da6611ce903d954
+size 113482

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbae7ebb06c81396d7379b77149b144686d722fa2d5a292ab07ae5010ed28ea7
+size 112692

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66341e7208d42ff7ff6fac4cbe8595563a76b33ced8b4d86670466a35a0c4ce8
+size 114055

meta/episodes.jsonl

@@ -0,0 +1,4 @@
+{"episode_index": 0, "tasks": ["rub the plush toy's belly with the bottle"], "length": 1681}
+{"episode_index": 1, "tasks": ["rub the plush toy's belly with the bottle"], "length": 1701}
+{"episode_index": 2, "tasks": ["rub the plush toy's belly with the bottle"], "length": 1698}
+{"episode_index": 3, "tasks": ["rub the plush toy's belly with the bottle"], "length": 1686}

meta/episodes_stats.jsonl

@@ -0,0 +1,4 @@
+{"episode_index": 0, "stats": {"action": {"min": [8.722187995910645, -102.18660736083984, -48.457984924316406, -45.39056396484375, -1.8276989459991455, 0.4630250930786133], "max": [37.540122985839844, 39.9770393371582, 102.99285888671875, 46.4521369934082, 5.462682723999023, 23.02120590209961], "mean": [27.61061668395996, -9.415677070617676, 24.92686653137207, 8.897229194641113, 3.157684087753296, 8.455680847167969], "std": [6.060129642486572, 36.54586410522461, 48.782188415527344, 30.254770278930664, 1.9689891338348389, 9.007977485656738], "count": [1681]}, "observation.state": {"min": [8.998302459716797, -99.15290069580078, -43.37733459472656, -44.259422302246094, -5.982905864715576, 0.6939625144004822], "max": [37.068477630615234, 41.04193115234375, 99.81793212890625, 46.27519607543945, 5.25030517578125, 22.76197052001953], "mean": [27.66951560974121, -8.056022644042969, 27.15985679626465, 9.434606552124023, 3.0712149143218994, 9.257448196411133], "std": [5.955212116241455, 36.594547271728516, 47.92729187011719, 30.100337982177734, 2.030951738357544, 8.675773620605469], "count": [1681]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5760524913103494]], [[0.5375981878544464]], [[0.4503437536380116]]], "std": [[[0.259983611199269]], [[0.19137629777993584]], [[0.18031455399340598]]], "count": [262]}, "observation.images.gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44702845444793693]], [[0.45606335753130767]], [[0.45468395553726154]]], "std": [[[0.3018883426560806]], [[0.2552780201034012]], [[0.2710571045005468]]], "count": [262]}, "timestamp": {"min": [0.0], "max": [56.0], "mean": [28.0], "std": [16.175427179658794], "count": [1681]}, "frame_index": {"min": [0], "max": [1680], "mean": [840.0], "std": [485.26281538976383], "count": [1681]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1681]}, "index": {"min": [0], "max": [1680], "mean": [840.0], "std": [485.26281538976383], "count": [1681]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1681]}}}
+{"episode_index": 1, "stats": {"action": {"min": [12.411905288696289, -101.55045318603516, -62.550209045410156, -44.889015197753906, -1.6343579292297363, 0.6916384696960449], "max": [34.20512008666992, 40.076873779296875, 103.39077758789062, 45.9193000793457, 6.02223014831543, 23.208641052246094], "mean": [23.552837371826172, 14.160118103027344, -15.248433113098145, 22.751585006713867, 3.8263349533081055, 3.2856736183166504], "std": [4.271604537963867, 31.88759994506836, 43.64088439941406, 20.827476501464844, 2.1901891231536865, 5.628149032592773], "count": [1701]}, "observation.state": {"min": [13.073004722595215, -99.32231903076172, -59.12607955932617, -43.908851623535156, -5.689865589141846, 0.9021512866020203], "max": [33.78607940673828, 40.787803649902344, 99.81793212890625, 45.223487854003906, 5.787545680999756, 22.9007625579834], "mean": [23.712860107421875, 15.493561744689941, -13.076070785522461, 23.15369415283203, 3.7325398921966553, 3.2457709312438965], "std": [4.2140703201293945, 32.35675811767578, 43.22966384887695, 20.730392456054688, 2.239649772644043, 5.621457099914551], "count": [1701]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5779474710338681]], [[0.5377935492589292]], [[0.44462027134085963]]], "std": [[[0.2604704681933694]], [[0.18858831864545123]], [[0.18100649015068773]]], "count": [264]}, "observation.images.gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46377069304152635]], [[0.4543542801379811]], [[0.46387490922294844]]], "std": [[[0.28873897205215615]], [[0.24592066612473337]], [[0.26712415172681825]]], "count": [264]}, "timestamp": {"min": [0.0], "max": [56.666666666666664], "mean": [28.333333333333332], "std": [16.36787730304108], "count": [1701]}, "frame_index": {"min": [0], "max": [1700], "mean": [850.0], "std": [491.03631909123243], "count": [1701]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1701]}, "index": {"min": [1681], "max": [3381], "mean": [2531.0], "std": [491.03631909123243], "count": [1701]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1701]}}}
+{"episode_index": 2, "stats": {"action": {"min": [11.454482078552246, -99.34072875976562, -68.46773529052734, -43.99404525756836, -1.7014400959014893, 0.26471519470214844], "max": [38.22845458984375, 45.846534729003906, 101.41857147216797, 40.3206672668457, 5.819330215454102, 22.620603561401367], "mean": [19.44873809814453, 20.5419979095459, -23.39678192138672, 19.943307876586914, 3.712082624435425, 3.089735507965088], "std": [6.8993000984191895, 32.04476547241211, 46.64445495605469, 20.78316307067871, 2.116744041442871, 6.052361011505127], "count": [1698]}, "observation.state": {"min": [11.941143035888672, -98.72935485839844, -63.22257614135742, -42.944786071777344, -5.885225772857666, 0.9021512866020203], "max": [37.973968505859375, 46.46336364746094, 99.72689819335938, 41.279579162597656, 5.5433454513549805, 22.27619743347168], "mean": [19.752803802490234, 22.45277976989746, -20.309890747070312, 20.45172691345215, 3.625859022140503, 11.236231803894043], "std": [6.681384563446045, 32.86967468261719, 45.92441177368164, 20.766319274902344, 2.186716318130493, 3.6723124980926514], "count": [1698]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5775119474978544]], [[0.5397993424853106]], [[0.45213842468805704]]], "std": [[[0.26181654356519896]], [[0.18692961027338878]], [[0.1779414307548394]]], "count": [264]}, "observation.images.gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43235609464745495]], [[0.4718237749224269]], [[0.4594390772512709]]], "std": [[[0.3160248078653031]], [[0.2473198318987098]], [[0.25470815127276714]]], "count": [264]}, "timestamp": {"min": [0.0], "max": [56.56666666666667], "mean": [28.283333333333335], "std": [16.339009784584277], "count": [1698]}, "frame_index": {"min": [0], "max": [1697], "mean": [848.5], "std": [490.1702935375283], "count": [1698]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1698]}, "index": {"min": [3382], "max": [5079], "mean": [4230.5], "std": [490.1702935375283], "count": [1698]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1698]}}}
+{"episode_index": 3, "stats": {"action": {"min": [18.975936889648438, -52.99708557128906, -67.83577728271484, -37.58497619628906, 1.4469494819641113, 0.8224787712097168], "max": [39.31821060180664, 43.20372772216797, 82.870849609375, 40.3123779296875, 6.048551559448242, 23.311025619506836], "mean": [27.26432991027832, 9.02457332611084, -2.039863348007202, 16.208616256713867, 4.266000270843506, 6.269339561462402], "std": [5.223093509674072, 20.715927124023438, 42.914955139160156, 23.586936950683594, 1.032023310661316, 7.1657891273498535], "count": [1686]}, "observation.state": {"min": [14.091680526733398, -49.2587890625, -62.85844421386719, -36.98509979248047, 1.5873016119003296, 1.1103399991989136], "max": [38.087154388427734, 61.0334587097168, 80.70095825195312, 40.22787094116211, 5.787545680999756, 22.9007625579834], "mean": [27.42157554626465, 10.928296089172363, 0.15733933448791504, 16.71515464782715, 4.208402156829834, 8.818744659423828], "std": [4.995764255523682, 20.82457733154297, 41.9677848815918, 23.34316635131836, 0.9949011206626892, 6.811967372894287], "count": [1686]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5714272306303172]], [[0.53930940339803]], [[0.4531193027908248]]], "std": [[[0.2612731218258337]], [[0.19151405067252567]], [[0.18265419431560095]]], "count": [263]}, "observation.images.gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44439131915968755]], [[0.45417386221493244]], [[0.4521925826519877]]], "std": [[[0.3049228966342494]], [[0.25393450200993056]], [[0.26885115057388137]]], "count": [263]}, "timestamp": {"min": [0.0], "max": [56.166666666666664], "mean": [28.083333333333332], "std": [16.223539710579214], "count": [1686]}, "frame_index": {"min": [0], "max": [1685], "mean": [842.5], "std": [486.70619131737647], "count": [1686]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1686]}, "index": {"min": [5080], "max": [6765], "mean": [5922.5], "std": [486.70619131737647], "count": [1686]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1686]}}}

meta/info.json

@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so101_follower",
+    "total_episodes": 4,
+    "total_frames": 6766,
+    "total_tasks": 1,
+    "total_videos": 8,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:4"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.images.top": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.gripper": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1920,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 1080,
+                "video.width": 1920,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "rub the plush toy's belly with the bottle"}

videos/chunk-000/observation.images.gripper/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8993ccbf9b8447a8ec35685352563292f874b384785c879ee85ddf20a001bb50
+size 30438423

videos/chunk-000/observation.images.gripper/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:047480a9fbedc3adb0b083ccc1cb3507318f1265ef9a2d5fcfee36a8b572c45b
+size 27938114

videos/chunk-000/observation.images.gripper/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ae4dc938e2e0138e56a2d2209a3807cd7a098c355b1193fdc8d54cb883be505
+size 35253592

videos/chunk-000/observation.images.gripper/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdcb5652de9306fa767514ac89531e6be38a4abf82a2aa240a878323d7d02a05
+size 32186275

videos/chunk-000/observation.images.top/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8853dec3c7a6084885ddcf839493081ab546340c063e5c0e354cc65782057f80
+size 94860241

videos/chunk-000/observation.images.top/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf147dfab138e70f32174e3402ec32596cd3e155c7daef01665ca20c7cdc8fda
+size 86174559

videos/chunk-000/observation.images.top/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5abe8533b4eeb6fb7312193b4b4e003b1b65264bbd4e0695278c1cccec2d2466
+size 80380958

videos/chunk-000/observation.images.top/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d5173905d635f4270131407f0ced7dcb74f3db0240936c0c7c72359ed99131
+size 85784488