gxy1111 commited on
Commit
a5377b9
·
verified ·
1 Parent(s): 43b44ab

Upload folder using huggingface_hub

Browse files
Files changed (34) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. data/chunk-000/episode_000002.parquet +3 -0
  4. data/chunk-000/episode_000003.parquet +3 -0
  5. data/chunk-000/episode_000004.parquet +3 -0
  6. data/chunk-000/episode_000005.parquet +3 -0
  7. data/chunk-000/episode_000006.parquet +3 -0
  8. data/chunk-000/episode_000007.parquet +3 -0
  9. data/chunk-000/episode_000008.parquet +3 -0
  10. data/chunk-000/episode_000009.parquet +3 -0
  11. meta/episodes.jsonl +10 -0
  12. meta/episodes_stats.jsonl +10 -0
  13. meta/info.json +127 -0
  14. meta/tasks.jsonl +1 -0
  15. videos/chunk-000/observation.images.eye/episode_000000.mp4 +3 -0
  16. videos/chunk-000/observation.images.eye/episode_000001.mp4 +3 -0
  17. videos/chunk-000/observation.images.eye/episode_000002.mp4 +3 -0
  18. videos/chunk-000/observation.images.eye/episode_000003.mp4 +3 -0
  19. videos/chunk-000/observation.images.eye/episode_000004.mp4 +3 -0
  20. videos/chunk-000/observation.images.eye/episode_000005.mp4 +3 -0
  21. videos/chunk-000/observation.images.eye/episode_000006.mp4 +3 -0
  22. videos/chunk-000/observation.images.eye/episode_000007.mp4 +3 -0
  23. videos/chunk-000/observation.images.eye/episode_000008.mp4 +3 -0
  24. videos/chunk-000/observation.images.eye/episode_000009.mp4 +3 -0
  25. videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
  26. videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
  27. videos/chunk-000/observation.images.wrist/episode_000002.mp4 +3 -0
  28. videos/chunk-000/observation.images.wrist/episode_000003.mp4 +3 -0
  29. videos/chunk-000/observation.images.wrist/episode_000004.mp4 +3 -0
  30. videos/chunk-000/observation.images.wrist/episode_000005.mp4 +3 -0
  31. videos/chunk-000/observation.images.wrist/episode_000006.mp4 +3 -0
  32. videos/chunk-000/observation.images.wrist/episode_000007.mp4 +3 -0
  33. videos/chunk-000/observation.images.wrist/episode_000008.mp4 +3 -0
  34. videos/chunk-000/observation.images.wrist/episode_000009.mp4 +3 -0
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2527da658ef7df91f916ff0f75a40bc33beb628bc36c7af8ea0aab99ee7aa533
3
+ size 23276
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:43038f7012c016d90ee823d5c5f06a8bddfdcdaf95a1166fcd0d101d13c87471
3
+ size 36164
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9247504a5b22cbbbf339ac9322553870ebdc354fe01e818c130618bf3b115c25
3
+ size 41116
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8c6a2838cfa57399ad4a0ed7adcdf0ae4400be688c9358f0be3b5d9aac2350bc
3
+ size 61284
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0c8d12350695bff65ff9a78debfccf7622928e5bd50f91c368ce5395c4013bc5
3
+ size 31047
data/chunk-000/episode_000005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5c98f6d28753e05ee110cea362a1ca43cf0d7d197eac0aa61fbf2ebcb284837c
3
+ size 40313
data/chunk-000/episode_000006.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:508dcf93e6f9eee69186506a10f5da4125d32581089ae5d61dd335bd3d1a808a
3
+ size 25434
data/chunk-000/episode_000007.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:452df26cd0445830f9ad1ee93f46b56f5da9ef9ad11456ede7ac66d356db1757
3
+ size 43003
data/chunk-000/episode_000008.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6894abfc187788b9b4beeba0886a97142a96e9ccc8b33aa623b2f5b7485c2528
3
+ size 61794
data/chunk-000/episode_000009.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:58248d447f9335f5c0d7a074e6307639b0eabb0ff655c00c9e8b8c4e8c9a1385
3
+ size 61848
meta/episodes.jsonl ADDED
@@ -0,0 +1,10 @@
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a toy and put it in the cup."], "length": 297}
2
+ {"episode_index": 1, "tasks": ["Grasp a toy and put it in the cup."], "length": 508}
3
+ {"episode_index": 2, "tasks": ["Grasp a toy and put it in the cup."], "length": 581}
4
+ {"episode_index": 3, "tasks": ["Grasp a toy and put it in the cup."], "length": 885}
5
+ {"episode_index": 4, "tasks": ["Grasp a toy and put it in the cup."], "length": 418}
6
+ {"episode_index": 5, "tasks": ["Grasp a toy and put it in the cup."], "length": 565}
7
+ {"episode_index": 6, "tasks": ["Grasp a toy and put it in the cup."], "length": 334}
8
+ {"episode_index": 7, "tasks": ["Grasp a toy and put it in the cup."], "length": 608}
9
+ {"episode_index": 8, "tasks": ["Grasp a toy and put it in the cup."], "length": 886}
10
+ {"episode_index": 9, "tasks": ["Grasp a toy and put it in the cup."], "length": 893}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,10 @@
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-15.452471733093262, 94.9151611328125, 112.08999633789062, 25.442716598510742, -42.66381072998047, -0.0751795768737793], "max": [1.6096997261047363, 169.1255645751953, 159.047607421875, 62.520240783691406, -24.084623336791992, 15.062494277954102], "mean": [-6.804780960083008, 133.57150268554688, 130.65658569335938, 47.035606384277344, -32.261985778808594, 7.539521217346191], "std": [4.702585697174072, 20.611120223999023, 13.309357643127441, 9.737283706665039, 4.702277183532715, 5.063024044036865], "count": [297]}, "observation.state": {"min": [-15.29296875, 94.5703125, 115.3125, 26.54296875, -41.396484375, 3.1120331287384033], "max": [1.58203125, 171.9140625, 173.935546875, 63.720703125, -24.609375, 14.661134719848633], "mean": [-6.728515625, 133.1146697998047, 132.62474060058594, 47.752132415771484, -32.175662994384766, 8.166036605834961], "std": [4.750087738037109, 21.134002685546875, 14.090373992919922, 9.759027481079102, 4.825117111206055, 3.8403000831604004], "count": [297]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5027052716503267]], [[0.5299846119281046]], [[0.5198207189542483]]], "std": [[[0.20396056240455754]], [[0.20797002625327538]], [[0.22747832518136443]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.519613570261438]], [[0.5119370465686274]], [[0.5100681760620914]]], "std": [[[0.20797261501287084]], [[0.21054578569208618]], [[0.22855839242520495]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.866666666666667], "mean": [4.933333333333334], "std": [2.857867632940233], "count": [297]}, "frame_index": {"min": [0], "max": [296], "mean": [148.0], "std": [85.73602898820698], "count": [297]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [297]}, "index": {"min": [0], "max": [296], "mean": [148.0], "std": [85.73602898820698], "count": [297]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [297]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-20.085254669189453, 95.95726776123047, 107.9620361328125, 29.576488494873047, -70.7716064453125, -0.10188579559326172], "max": [-1.1232728958129883, 193.07159423828125, 180.64353942871094, 72.76744079589844, -20.77621078491211, 16.14696502685547], "mean": [-7.884421348571777, 140.24652099609375, 135.95338439941406, 50.718074798583984, -34.72206115722656, 7.410269260406494], "std": [6.004455089569092, 20.67333221435547, 14.712467193603516, 7.88577938079834, 7.721144676208496, 4.342087745666504], "count": [508]}, "observation.state": {"min": [-19.423828125, 95.888671875, 111.62109375, 30.498046875, -79.716796875, 3.1120331287384033], "max": [-1.58203125, 192.48046875, 177.626953125, 73.125, -21.09375, 15.767635345458984], "mean": [-7.86275053024292, 139.92835998535156, 137.37718200683594, 51.2161865234375, -34.96800994873047, 7.787693023681641], "std": [5.870185852050781, 20.967924118041992, 14.360437393188477, 7.795048713684082, 8.426417350769043, 3.425717830657959], "count": [508]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5030517206493189]], [[0.5298325106132796]], [[0.5187648070521043]]], "std": [[[0.2006999530500937]], [[0.20564040052824484]], [[0.2252726342883695]]], "count": [107]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5351221977887729]], [[0.5271327060808747]], [[0.5227327725093153]]], "std": [[[0.20489804466617265]], [[0.20454330013220498]], [[0.21930781704636418]]], "count": [107]}, "timestamp": {"min": [0.0], "max": [16.9], "mean": [8.450000000000001], "std": [4.888222808160673], "count": [508]}, "frame_index": {"min": [0], "max": [507], "mean": [253.5], "std": [146.64668424482022], "count": [508]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [508]}, "index": {"min": [297], "max": [804], "mean": [550.5], "std": [146.64668424482022], "count": [508]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [508]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-15.266209602355957, 100.78132629394531, 113.2619400024414, 29.110109329223633, -45.0281982421875, -0.048603057861328125], "max": [9.593690872192383, 163.77462768554688, 153.2859344482422, 65.13957214355469, -23.398189544677734, 15.903599739074707], "mean": [-1.3313897848129272, 140.05880737304688, 136.2298583984375, 50.525718688964844, -35.791160583496094, 6.679348468780518], "std": [6.781219959259033, 20.040699005126953, 12.43110179901123, 6.827602863311768, 5.632702827453613, 4.347639560699463], "count": [581]}, "observation.state": {"min": [-14.853515625, 100.546875, 116.806640625, 30.146484375, -84.814453125, 0.7607192397117615], "max": [9.140625, 192.568359375, 177.01171875, 74.1796875, -24.169921875, 15.352697372436523], "mean": [-1.5074528455734253, 139.94140625, 138.2537384033203, 51.1416015625, -36.11049270629883, 7.0930047035217285], "std": [6.677278518676758, 20.59801483154297, 12.925118446350098, 6.8592119216918945, 6.941092491149902, 3.4655985832214355], "count": [581]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4993287654397917]], [[0.531720422067132]], [[0.5186447220837487]]], "std": [[[0.19717006124567105]], [[0.2024141520501885]], [[0.2197731106845878]]], "count": [118]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5215169629998893]], [[0.5134297420239282]], [[0.5088776829234518]]], "std": [[[0.2132995486804954]], [[0.2142435724504925]], [[0.23003505479957256]]], "count": [118]}, "timestamp": {"min": [0.0], "max": [19.333333333333332], "mean": [9.666666666666668], "std": [5.590666825661815], "count": [581]}, "frame_index": {"min": [0], "max": [580], "mean": [290.0], "std": [167.72000476985446], "count": [581]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [581]}, "index": {"min": [805], "max": [1385], "mean": [1095.0], "std": [167.72000476985446], "count": [581]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [581]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-16.645248413085938, 88.4012222290039, 105.66676330566406, 27.56871223449707, -74.29975891113281, -0.27224016189575195], "max": [34.0394401550293, 192.16644287109375, 179.24514770507812, 73.32212829589844, -16.87863540649414, 15.378421783447266], "mean": [1.9256665706634521, 124.2015380859375, 122.2313003540039, 48.63292694091797, -28.908035278320312, 6.9986186027526855], "std": [17.588001251220703, 22.747722625732422, 13.179515838623047, 8.705853462219238, 6.348383903503418, 5.653905868530273], "count": [885]}, "observation.state": {"min": [-16.083984375, 88.2421875, 108.28125, 28.828125, -72.333984375, 0.7607192397117615], "max": [34.1015625, 192.041015625, 177.451171875, 72.685546875, -17.2265625, 14.937760353088379], "mean": [1.954945683479309, 123.47651672363281, 123.92921447753906, 49.23728942871094, -28.853548049926758, 7.680171489715576], "std": [17.65506935119629, 23.04299545288086, 12.97363567352295, 8.670747756958008, 6.719023704528809, 4.792860507965088], "count": [885]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5006673739711934]], [[0.5299853079863632]], [[0.5239366716594045]]], "std": [[[0.20562589223209282]], [[0.20928110943592254]], [[0.22681567421469184]]], "count": [162]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5181836066731219]], [[0.509198494109578]], [[0.5052622927257323]]], "std": [[[0.22047110330606218]], [[0.22329403166759745]], [[0.23955417405299523]]], "count": [162]}, "timestamp": {"min": [0.0], "max": [29.466666666666665], "mean": [14.733333333333333], "std": [8.515911034102032], "count": [885]}, "frame_index": {"min": [0], "max": [884], "mean": [442.0], "std": [255.47733102306097], "count": [885]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [885]}, "index": {"min": [1386], "max": [2270], "mean": [1828.0], "std": [255.47733102306097], "count": [885]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [885]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-4.750617980957031, 88.47943115234375, 106.22969055175781, 14.128509521484375, -81.31608581542969, -0.04678201675415039], "max": [36.033809661865234, 193.4805908203125, 180.9879608154297, 73.70529174804688, -16.668794631958008, 15.052796363830566], "mean": [18.453367233276367, 135.30087280273438, 138.7908172607422, 32.35785675048828, -37.51836395263672, 5.952140808105469], "std": [10.825340270996094, 26.00156021118164, 20.874900817871094, 15.004246711730957, 14.1662015914917, 4.855225563049316], "count": [418]}, "observation.state": {"min": [-5.185546875, 88.2421875, 108.720703125, 15.556640625, -79.27734375, 1.0373444557189941], "max": [35.859375, 193.7109375, 177.890625, 73.564453125, -17.2265625, 14.591978073120117], "mean": [18.520530700683594, 134.88241577148438, 140.37564086914062, 33.53132629394531, -37.52803421020508, 6.805640697479248], "std": [11.06458568572998, 26.558446884155273, 20.388347625732422, 15.145806312561035, 14.315695762634277, 3.8673715591430664], "count": [418]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4678518586601307]], [[0.49111042892156864]], [[0.48059967116013075]]], "std": [[[0.19896187740288268]], [[0.20492377421797942]], [[0.22659990008841496]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5272212969771242]], [[0.5190197957516339]], [[0.5160326613562092]]], "std": [[[0.2144863752744569]], [[0.21494169772243638]], [[0.22885891537862632]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.9], "mean": [6.95], "std": [4.022195365165093], "count": [418]}, "frame_index": {"min": [0], "max": [417], "mean": [208.5], "std": [120.66586095495279], "count": [418]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [418]}, "index": {"min": [2271], "max": [2688], "mean": [2479.5], "std": [120.66586095495279], "count": [418]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [418]}}}
6
+ {"episode_index": 5, "stats": {"action": {"min": [5.209988594055176, 110.739990234375, 128.67184448242188, -0.6605606079101562, -56.15714645385742, -0.10802888870239258], "max": [21.013031005859375, 159.39198303222656, 165.5742645263672, 38.05799102783203, -14.982818603515625, 14.504586219787598], "mean": [10.8023099899292, 135.74221801757812, 146.66632080078125, 20.34351348876953, -38.8464469909668, 6.839090824127197], "std": [4.597981929779053, 15.735736846923828, 12.164860725402832, 9.930106163024902, 13.742539405822754, 4.4725117683410645], "count": [565]}, "observation.state": {"min": [-1.142578125, 110.7421875, 131.484375, 0.966796875, -81.03515625, 0.7607192397117615], "max": [21.005859375, 192.48046875, 177.451171875, 73.125, -15.29296875, 14.038727760314941], "mean": [10.932193756103516, 135.65777587890625, 148.716064453125, 21.34528923034668, -38.886390686035156, 7.303024768829346], "std": [4.611262798309326, 16.498716354370117, 12.534692764282227, 10.632137298583984, 14.07167911529541, 3.7412376403808594], "count": [565]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4607775344558113]], [[0.49152038576300083]], [[0.47731881038647345]]], "std": [[[0.19180065021520362]], [[0.19968239142423339]], [[0.22090768950153616]]], "count": [115]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5234621980676328]], [[0.514217023657289]], [[0.5107891126740551]]], "std": [[[0.2076243596644865]], [[0.2068809099808673]], [[0.222616699278208]]], "count": [115]}, "timestamp": {"min": [0.0], "max": [18.8], "mean": [9.4], "std": [5.436706519371611], "count": [565]}, "frame_index": {"min": [0], "max": [564], "mean": [282.0], "std": [163.10119558114832], "count": [565]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [565]}, "index": {"min": [2689], "max": [3253], "mean": [2971.0], "std": [163.10119558114832], "count": [565]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [565]}}}
7
+ {"episode_index": 6, "stats": {"action": {"min": [-18.024887084960938, 109.66421508789062, 124.267333984375, -2.1400146484375, -56.61491775512695, -0.06610918045043945], "max": [19.74123764038086, 150.35711669921875, 157.76922607421875, 34.729225158691406, -20.649499893188477, 14.158973693847656], "mean": [3.8787078857421875, 136.0343475341797, 145.2244873046875, 17.701847076416016, -44.13733673095703, 6.916430950164795], "std": [10.881030082702637, 12.987455368041992, 10.872486114501953, 9.82236385345459, 11.046341896057129, 4.05714225769043], "count": [334]}, "observation.state": {"min": [-17.490234375, 109.6875, 128.056640625, -0.966796875, -80.859375, 3.1120331287384033], "max": [19.6875, 192.48046875, 177.5390625, 73.125, -21.181640625, 13.762103080749512], "mean": [4.024811744689941, 136.0902099609375, 146.94451904296875, 19.306201934814453, -44.50081253051758, 7.496020793914795], "std": [10.884115219116211, 14.547650337219238, 11.100099563598633, 11.317578315734863, 11.773337364196777, 2.9869887828826904], "count": [334]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4473191482843137]], [[0.48839849264705887]], [[0.47067188112745095]]], "std": [[[0.19291360815724526]], [[0.20348401848177672]], [[0.2251270649065373]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5226879064542483]], [[0.5162325326797386]], [[0.5136831617647059]]], "std": [[[0.19622603433863606]], [[0.1972090682891336]], [[0.21370047535879658]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.1], "mean": [5.55], "std": [3.2139020935097986], "count": [334]}, "frame_index": {"min": [0], "max": [333], "mean": [166.5], "std": [96.41706280529397], "count": [334]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [334]}, "index": {"min": [3254], "max": [3587], "mean": [3420.5], "std": [96.41706280529397], "count": [334]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [334]}}}
8
+ {"episode_index": 7, "stats": {"action": {"min": [-8.285609245300293, 103.27765655517578, 124.20042419433594, -3.2198410034179688, -61.439964294433594, -0.1499037742614746], "max": [20.84902572631836, 161.0060577392578, 160.2976837158203, 33.4743537902832, -21.002134323120117, 13.472365379333496], "mean": [5.872139930725098, 134.92877197265625, 144.8383026123047, 18.462366104125977, -44.68440246582031, 6.9933576583862305], "std": [6.728265762329102, 15.748597145080566, 11.317462921142578, 8.302401542663574, 11.800518989562988, 4.043895721435547], "count": [608]}, "observation.state": {"min": [-7.20703125, 103.0078125, 126.826171875, -1.93359375, -80.947265625, 0.7607192397117615], "max": [20.56640625, 192.48046875, 177.451171875, 73.125, -21.4453125, 13.001383781433105], "mean": [6.032505989074707, 134.60345458984375, 146.8028564453125, 19.494083404541016, -44.69411849975586, 7.3188347816467285], "std": [6.664615631103516, 16.526615142822266, 11.556480407714844, 9.167863845825195, 12.000064849853516, 3.3891477584838867], "count": [608]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44962048812011146]], [[0.48974859035144114]], [[0.4715724294840887]]], "std": [[[0.19120760951037444]], [[0.20098279032841662]], [[0.22263697666463797]]], "count": [122]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5266712505357335]], [[0.5176500371665059]], [[0.5151980824091932]]], "std": [[[0.1912967327314692]], [[0.19045126480915303]], [[0.20684436177970145]]], "count": [122]}, "timestamp": {"min": [0.0], "max": [20.233333333333334], "mean": [10.116666666666667], "std": [5.850474814539035], "count": [608]}, "frame_index": {"min": [0], "max": [607], "mean": [303.5], "std": [175.51424443617105], "count": [608]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [608]}, "index": {"min": [3588], "max": [4195], "mean": [3891.5], "std": [175.51424443617105], "count": [608]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [608]}}}
9
+ {"episode_index": 8, "stats": {"action": {"min": [-13.930350303649902, 88.31635284423828, 105.69415283203125, 32.212547302246094, -83.02101135253906, -0.25343751907348633], "max": [33.80343246459961, 192.5481719970703, 180.1977996826172, 73.96426391601562, -17.491365432739258, 15.607508659362793], "mean": [18.23086166381836, 125.97972869873047, 129.08689880371094, 49.52545928955078, -30.82447052001953, 6.696596622467041], "std": [13.88049030303955, 22.457887649536133, 12.441365242004395, 6.911550998687744, 9.141955375671387, 5.759863376617432], "count": [886]}, "observation.state": {"min": [-13.53515625, 88.41796875, 106.962890625, 33.92578125, -81.826171875, 0.7607192397117615], "max": [33.22265625, 192.48046875, 177.802734375, 73.564453125, -17.841796875, 15.006916046142578], "mean": [18.174015045166016, 125.66966247558594, 130.62521362304688, 49.965938568115234, -30.835721969604492, 6.927807807922363], "std": [13.862309455871582, 22.693817138671875, 12.413537979125977, 6.958525657653809, 9.485939979553223, 5.407715320587158], "count": [886]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5140263619079318]], [[0.5471069038469297]], [[0.5344867175522473]]], "std": [[[0.20087239779072236]], [[0.2066507179660105]], [[0.22426873352313012]]], "count": [162]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5222784296074396]], [[0.5164159013656903]], [[0.5122326439320585]]], "std": [[[0.24911366859636755]], [[0.25091699238611215]], [[0.2641751052106533]]], "count": [162]}, "timestamp": {"min": [0.0], "max": [29.5], "mean": [14.75], "std": [8.525533544724471], "count": [886]}, "frame_index": {"min": [0], "max": [885], "mean": [442.5], "std": [255.76600634173417], "count": [886]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [886]}, "index": {"min": [4196], "max": [5081], "mean": [4638.5], "std": [255.76600634173417], "count": [886]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [886]}}}
10
+ {"episode_index": 9, "stats": {"action": {"min": [9.65658187866211, 89.52574157714844, 107.85847473144531, 0.8800773620605469, -39.550811767578125, -0.24251461029052734], "max": [34.16742706298828, 160.95425415039062, 151.07861328125, 58.069026947021484, -5.362354278564453, 14.087931632995605], "mean": [22.879907608032227, 119.18803405761719, 128.03884887695312, 28.8201904296875, -25.348371505737305, 5.510507583618164], "std": [5.909117221832275, 20.12041473388672, 10.859884262084961, 13.664978981018066, 7.678885459899902, 5.573854446411133], "count": [893]}, "observation.state": {"min": [-0.87890625, 89.296875, 110.56640625, 1.93359375, -80.68359375, 0.7607192397117615], "max": [34.189453125, 192.48046875, 177.626953125, 73.125, -5.9765625, 13.623790740966797], "mean": [22.933252334594727, 118.87578582763672, 129.90045166015625, 29.633806228637695, -25.34586524963379, 6.2757182121276855], "std": [5.934336185455322, 20.802494049072266, 11.32944107055664, 13.575892448425293, 8.43840503692627, 4.760530948638916], "count": [893]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4334393745739605]], [[0.49669399584987367]], [[0.47258594219896544]]], "std": [[[0.1892188353786758]], [[0.20292408892659383]], [[0.2251737172398316]]], "count": [163]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5287224327358755]], [[0.5166041278218855]], [[0.5099292799430611]]], "std": [[[0.23837301967418006]], [[0.24069352690909276]], [[0.2581188716233497]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.733333333333334], "mean": [14.866666666666664], "std": [8.592891118696766], "count": [893]}, "frame_index": {"min": [0], "max": [892], "mean": [446.0], "std": [257.78673356090303], "count": [893]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [893]}, "index": {"min": [5082], "max": [5974], "mean": [5528.0], "std": [257.78673356090303], "count": [893]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [893]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 10,
5
+ "total_frames": 5975,
6
+ "total_tasks": 1,
7
+ "total_videos": 20,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:10"
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",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "main_shoulder_pan",
24
+ "main_shoulder_lift",
25
+ "main_elbow_flex",
26
+ "main_wrist_flex",
27
+ "main_wrist_roll",
28
+ "main_gripper"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "main_shoulder_pan",
38
+ "main_shoulder_lift",
39
+ "main_elbow_flex",
40
+ "main_wrist_flex",
41
+ "main_wrist_roll",
42
+ "main_gripper"
43
+ ]
44
+ },
45
+ "observation.images.eye": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.fps": 30.0,
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.channels": 3,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.wrist": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.fps": 30.0,
82
+ "video.height": 480,
83
+ "video.width": 640,
84
+ "video.channels": 3,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a toy and put it in the cup."}
videos/chunk-000/observation.images.eye/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:342321d8a9b18915a11368d22d3a5fd1c9ed7246d30915e41a80232ceddcf2e1
3
+ size 2562520
videos/chunk-000/observation.images.eye/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:53c551b99531d9290f41cdcafda3bfd627d9bef7396a790855a08b3521c1de83
3
+ size 4298333
videos/chunk-000/observation.images.eye/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:97813f3565dde46f9e3f1dbb095d4fdb4362097bddbdd1487fd046a778f8f789
3
+ size 4918087
videos/chunk-000/observation.images.eye/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ade28b5fe7437f649a5047da871e74d558d3b77e2e49ec978ebd453fe525a701
3
+ size 7129302
videos/chunk-000/observation.images.eye/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:837448b1646ea65f519866f2e9023842ab4ec1738fe37949d06441a4912fd38a
3
+ size 3100936
videos/chunk-000/observation.images.eye/episode_000005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:93360d72937e6ff171d9bf7cfa2ebe0e0c6d1a809453ff8094c898d5f4f2b473
3
+ size 4304076
videos/chunk-000/observation.images.eye/episode_000006.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:55929d40fb4746f734c52191008b1f40cf3d95fdb2cb0abfe90de8682f32c285
3
+ size 2555267
videos/chunk-000/observation.images.eye/episode_000007.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:74400b28c11ccff61989fdd9352adc9f55b031161641cca70002fec1de893f3f
3
+ size 4657635
videos/chunk-000/observation.images.eye/episode_000008.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d64eb567353620b351fb5f075fd325560832c99132e1606a8e32c2ca2f2b2bd6
3
+ size 6757535
videos/chunk-000/observation.images.eye/episode_000009.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b65b1c29cbe48cad89abb9f1a9c95f249cb079066becc3a272d8674fff3f27cb
3
+ size 6519871
videos/chunk-000/observation.images.wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89fb8856e2cad1058862f3d7f132d0e8618759247b06089be3a720944e9f3cd5
3
+ size 1735379
videos/chunk-000/observation.images.wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22fd1879afcfd5ae22ee270f01e8fea9ec3e4255c5f2aa6557269edd0097635a
3
+ size 2759288
videos/chunk-000/observation.images.wrist/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6aed4915044ef0f4f16907bed8b3db6f5940e104b88fbe094dd449814d0dc8d6
3
+ size 3229741
videos/chunk-000/observation.images.wrist/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ae4891a91a1f63270389f408be2e22c8b72c910e3c2d7604bc38db49f35b154a
3
+ size 4843273
videos/chunk-000/observation.images.wrist/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a61d86fb5911007ca627c7cc2f288083890906ac202cf75ac0fb39dea2082d53
3
+ size 2361320
videos/chunk-000/observation.images.wrist/episode_000005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a19019c1a6376c13640ffa550d669b341b28a2e350b6b85d35c9d34f195bdad7
3
+ size 3259193
videos/chunk-000/observation.images.wrist/episode_000006.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d45f2fa31442807d686704eaa8e60a9e10618fd748ce664c241461b902449e11
3
+ size 2184954
videos/chunk-000/observation.images.wrist/episode_000007.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:944d754c718dcb63263d9a7b8f2495c9e6920fb66cb00f9aaf06b3b3c3448a7d
3
+ size 3397920
videos/chunk-000/observation.images.wrist/episode_000008.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5a4a1b478861781d2a6cf662ba7230e0500e72f21429ea1427b8541adce94942
3
+ size 4279492
videos/chunk-000/observation.images.wrist/episode_000009.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:34d82415f13f1fff2005621b5084140aaded04adbaf8d8510ce050dd9b16cc41
3
+ size 4944951