guatian111 commited on
Commit
5b7cebe
·
verified ·
1 Parent(s): 785abe9

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 sha256:6b596c537dc783ce665db8a9a5d10fc6b2f02b1cbc51acc08e26f9f272567d10
3
+ size 60170402
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["Pick up the red cup on the table."], "length": 120}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"observation.images.color_0": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39775955065359475]], [[0.44629547385620916]], [[0.4539898447712418]]], "std": [[[0.3424965478352669]], [[0.3094800215206905]], [[0.33516826604584554]]], "count": [100]}, "observation.images.color_1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36621157475490196]], [[0.41739325980392156]], [[0.42527456903594774]]], "std": [[[0.3707186872803098]], [[0.3415556689952793]], [[0.366704221705663]]], "count": [100]}, "observation.images.color_2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39781477124183007]], [[0.4463025755718954]], [[0.4540249836601307]]], "std": [[[0.3424708846179919]], [[0.3094732977017742]], [[0.3351618554684869]]], "count": [100]}, "observation.images.color_3": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36627718954248367]], [[0.4174023774509804]], [[0.4253176266339869]]], "std": [[[0.370683430422814]], [[0.3415541338515307]], [[0.3667031176614492]]], "count": [100]}, "observation.state": {"min": [0.0216554943472147, -0.04569585248827934, 2.6247849464416504, 1.9212630987167358, -0.19024957716464996, -0.0015953400870785117, -0.008536603301763535], "max": [0.021739384159445763, -0.04562394693493843, 2.624856948852539, 1.9212989807128906, -0.19017766416072845, -0.0015646604588255286, -0.008505923673510551], "mean": [0.021707236766815186, -0.04565582796931267, 2.624819278717041, 1.9212795495986938, -0.19021517038345337, -0.0015769960591569543, -0.008524591103196144], "std": [1.5314815755118616e-05, 1.4137367543298751e-05, 2.2852465917821974e-05, 7.1585977821087e-06, 1.9382954633329064e-05, 5.9654430515365675e-06, 4.508859092311468e-06], "count": [120]}, "action": {"min": [-0.5045263171195984, -0.40273112058639526, 1.2096694707870483, 0.628855288028717, 0.6108790636062622, -0.6827169060707092, -0.5506992340087891], "max": [-0.5045114755630493, -0.4027233123779297, 1.209703803062439, 0.6288653016090393, 0.6108976006507874, -0.6827022433280945, -0.5506866574287415], "mean": [-0.5045180916786194, -0.40272679924964905, 1.2096854448318481, 0.6288602948188782, 0.6108881235122681, -0.6827096343040466, -0.550693154335022], "std": [3.2259229101327946e-06, 1.5910179627098842e-06, 7.757554158160929e-06, 2.0438687897694763e-06, 3.895848749380093e-06, 2.5200913569278782e-06, 2.871388460334856e-06], "count": [120]}, "timestamp": {"min": [0.0], "max": [1.9833333333333334], "mean": [0.9916666666666667], "std": [0.5773302219572306], "count": [120]}, "frame_index": {"min": [0], "max": [119], "mean": [59.5], "std": [34.63981331743384], "count": [120]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [120]}, "index": {"min": [0], "max": [119], "mean": [59.5], "std": [34.63981331743384], "count": [120]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [120]}}}
meta/info.json ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "unitree",
4
+ "total_episodes": 1,
5
+ "total_frames": 120,
6
+ "total_tasks": 1,
7
+ "total_videos": 0,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 60,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": null,
16
+ "features": {
17
+ "observation.images.color_0": {
18
+ "dtype": "image",
19
+ "shape": [
20
+ 480,
21
+ 640,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channels"
28
+ ]
29
+ },
30
+ "observation.images.color_1": {
31
+ "dtype": "image",
32
+ "shape": [
33
+ 480,
34
+ 640,
35
+ 3
36
+ ],
37
+ "names": [
38
+ "height",
39
+ "width",
40
+ "channels"
41
+ ]
42
+ },
43
+ "observation.images.color_2": {
44
+ "dtype": "image",
45
+ "shape": [
46
+ 480,
47
+ 640,
48
+ 3
49
+ ],
50
+ "names": [
51
+ "height",
52
+ "width",
53
+ "channels"
54
+ ]
55
+ },
56
+ "observation.images.color_3": {
57
+ "dtype": "image",
58
+ "shape": [
59
+ 480,
60
+ 640,
61
+ 3
62
+ ],
63
+ "names": [
64
+ "height",
65
+ "width",
66
+ "channels"
67
+ ]
68
+ },
69
+ "observation.state": {
70
+ "dtype": "float32",
71
+ "shape": [
72
+ 7
73
+ ],
74
+ "names": [
75
+ "left_arm_joint_0",
76
+ "left_arm_joint_1",
77
+ "left_arm_joint_2",
78
+ "left_arm_joint_3",
79
+ "left_arm_joint_4",
80
+ "left_arm_joint_5",
81
+ "left_arm_joint_6"
82
+ ]
83
+ },
84
+ "action": {
85
+ "dtype": "float32",
86
+ "shape": [
87
+ 7
88
+ ],
89
+ "names": [
90
+ "left_arm_action_0",
91
+ "left_arm_action_1",
92
+ "left_arm_action_2",
93
+ "left_arm_action_3",
94
+ "left_arm_action_4",
95
+ "left_arm_action_5",
96
+ "left_arm_action_6"
97
+ ]
98
+ },
99
+ "timestamp": {
100
+ "dtype": "float32",
101
+ "shape": [
102
+ 1
103
+ ],
104
+ "names": null
105
+ },
106
+ "frame_index": {
107
+ "dtype": "int64",
108
+ "shape": [
109
+ 1
110
+ ],
111
+ "names": null
112
+ },
113
+ "episode_index": {
114
+ "dtype": "int64",
115
+ "shape": [
116
+ 1
117
+ ],
118
+ "names": null
119
+ },
120
+ "index": {
121
+ "dtype": "int64",
122
+ "shape": [
123
+ 1
124
+ ],
125
+ "names": null
126
+ },
127
+ "task_index": {
128
+ "dtype": "int64",
129
+ "shape": [
130
+ 1
131
+ ],
132
+ "names": null
133
+ }
134
+ }
135
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Pick up the red cup on the table."}