hu-po commited on
Commit
567516b
·
verified ·
1 Parent(s): e030533

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 sha256:6df6d687dd59ffd39adc4af498ed833e07a72c33d3e90ebaf912ec9fc29023b1
3
+ size 20412
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:348c47c4885c059d3b8203cd2c49f86f1f09b914dfc96783bcce498c9bd86b25
3
+ size 20077
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:74ac84371c0ac0d0412c52781e48ce7e1faea3b1a9a696c34a07ac579e32b0ed
3
+ size 20743
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Recording evaluation episode of pick up cube and place circle."], "length": 210}
2
+ {"episode_index": 1, "tasks": ["Recording evaluation episode of pick up cube and place circle."], "length": 210}
3
+ {"episode_index": 2, "tasks": ["Recording evaluation episode of pick up cube and place circle."], "length": 217}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-1.3986763954162598, 12.908039093017578, 14.663434028625488, -4.005809783935547, -3.664736747741699, -1.5962564945220947, 5.241268634796143], "max": [10.52448844909668, 81.1795654296875, 36.8736457824707, 30.229202270507812, 6.158812046051025, 3.9620330333709717, 237.8974609375], "mean": [4.789443492889404, 58.338436126708984, 27.38910675048828, 14.524019241333008, 2.6275393962860107, 0.1944083422422409, 130.47959899902344], "std": [4.185178756713867, 22.338085174560547, 9.154513359069824, 12.033763885498047, 2.7297236919403076, 1.5709404945373535, 73.16108703613281], "count": [210]}, "observation.state": {"min": [-1.2567740678787231, 13.10323429107666, 14.786218643188477, -4.032605171203613, -3.4424679279327393, -1.5409141778945923, 0.24126842617988586], "max": [10.502259254455566, 81.14388275146484, 36.75244140625, 29.780078887939453, 5.693732738494873, 3.6610372066497803, 237.23292541503906], "mean": [4.825077533721924, 57.4948844909668, 26.968420028686523, 14.42381763458252, 2.565587282180786, 0.2030613124370575, 126.876220703125], "std": [4.179019451141357, 22.911617279052734, 9.214484214782715, 12.064302444458008, 2.7046024799346924, 1.5284616947174072, 74.21939849853516], "count": [210]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9450980392156862]], [[0.7647058823529411]], [[0.7725490196078432]]], "mean": [[[0.1028231147875817]], [[0.20418887050653595]], [[0.11550311070261439]]], "std": [[[0.08157966899380234]], [[0.08502233390150883]], [[0.06152472034825864]]], "count": [100]}, "observation.images.cam_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2961333047385621]], [[0.43376376225490193]], [[0.30948331086601305]]], "std": [[[0.2392024515530207]], [[0.2097961269917773]], [[0.17959102645984829]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [6.966666666666667], "mean": [3.4833333333333334], "std": [2.0207030313088414], "count": [210]}, "frame_index": {"min": [0], "max": [209], "mean": [104.5], "std": [60.621090939265244], "count": [210]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [210]}, "index": {"min": [0], "max": [209], "mean": [104.5], "std": [60.621090939265244], "count": [210]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [210]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-1.1514582633972168, 14.501266479492188, 19.881147384643555, -28.588830947875977, -0.07385724782943726, -1.5576205253601074, 44.929019927978516], "max": [4.099773406982422, 83.45161437988281, 36.92039108276367, 26.88505744934082, 3.510887622833252, 2.104271411895752, 269.83221435546875], "mean": [1.2351168394088745, 46.876380920410156, 29.286067962646484, 1.4932698011398315, 1.8494184017181396, 1.0099552869796753, 165.7486114501953], "std": [1.4095042943954468, 20.74074363708496, 6.095527172088623, 19.465282440185547, 1.0987614393234253, 0.9473916292190552, 56.8613166809082], "count": [210]}, "observation.state": {"min": [-1.147489309310913, 14.808075904846191, 14.939216613769531, -28.359376907348633, 0.010928469710052013, -1.4097726345062256, 39.929019927978516], "max": [3.9451775550842285, 83.35143280029297, 36.971012115478516, 26.610822677612305, 3.15832781791687, 1.9124822616577148, 268.4757995605469], "mean": [1.1535261869430542, 45.795494079589844, 28.953887939453125, 0.9546284079551697, 1.6312556266784668, 0.8757345080375671, 162.15203857421875], "std": [1.3566818237304688, 20.377071380615234, 6.367304801940918, 19.170055389404297, 1.0491982698440552, 0.9589303135871887, 57.94575500488281], "count": [210]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[0.8980392156862745]]], "mean": [[[0.09913840277777779]], [[0.20340778390522876]], [[0.11240827205882352]]], "std": [[[0.08432908732582453]], [[0.0840742956358927]], [[0.06261759504707105]]], "count": [100]}, "observation.images.cam_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3099414072712418]], [[0.44964790236928104]], [[0.3266889440359477]]], "std": [[[0.23306288992121296]], [[0.21177952482628304]], [[0.18130072250360832]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [6.966666666666667], "mean": [3.4833333333333334], "std": [2.0207030313088414], "count": [210]}, "frame_index": {"min": [0], "max": [209], "mean": [104.5], "std": [60.621090939265244], "count": [210]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [210]}, "index": {"min": [210], "max": [419], "mean": [314.5], "std": [60.621090939265244], "count": [210]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [210]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-5.111465930938721, 22.256052017211914, 19.93921661376953, -27.152055740356445, 0.11071449518203735, -2.9760050773620605, 44.929019927978516], "max": [4.360114097595215, 79.28707122802734, 40.94983673095703, 25.132591247558594, 3.1750988960266113, 1.2533223628997803, 270.0043640136719], "mean": [-1.1703077554702759, 57.379913330078125, 35.44586944580078, 1.267062783241272, 1.580103874206543, -1.2304977178573608, 185.64663696289062], "std": [2.5390894412994385, 17.218935012817383, 6.383970260620117, 15.900666236877441, 1.0915292501449585, 1.4381812810897827, 63.20673370361328], "count": [217]}, "observation.state": {"min": [-5.10359525680542, 17.256052017211914, 14.939216613769531, -27.047962188720703, 0.032785408198833466, -2.874187469482422, 39.929019927978516], "max": [4.294888496398926, 79.17676544189453, 40.83968734741211, 24.840410232543945, 2.9179015159606934, 1.0600615739822388, 264.6705627441406], "mean": [-1.1702532768249512, 56.65031051635742, 35.32679748535156, 0.9074649810791016, 1.4775595664978027, -1.2656370401382446, 181.9375], "std": [2.536853075027466, 17.93372344970703, 6.672648906707764, 15.762958526611328, 1.0413252115249634, 1.3935714960098267, 64.97447967529297], "count": [217]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.984313725490196]]], "mean": [[[0.10059360089869282]], [[0.2007694934640523]], [[0.11901685661764706]]], "std": [[[0.07813288444416526]], [[0.08395373162854068]], [[0.06041532074724797]]], "count": [100]}, "observation.images.cam_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3241458251633987]], [[0.4493027144607843]], [[0.31508525122549025]]], "std": [[[0.22325204616199243]], [[0.21651598968998817]], [[0.17592257951471038]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.2], "mean": [3.6], "std": [2.08806130178211], "count": [217]}, "frame_index": {"min": [0], "max": [216], "mean": [108.0], "std": [62.6418390534633], "count": [217]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [217]}, "index": {"min": [420], "max": [636], "mean": [528.0], "std": [62.6418390534633], "count": [217]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [217]}}}
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "trossen_ai_solo",
4
+ "total_episodes": 3,
5
+ "total_frames": 637,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:3"
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
+ 7
21
+ ],
22
+ "names": [
23
+ "main_joint_0",
24
+ "main_joint_1",
25
+ "main_joint_2",
26
+ "main_joint_3",
27
+ "main_joint_4",
28
+ "main_joint_5",
29
+ "main_joint_6"
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "shape": [
35
+ 7
36
+ ],
37
+ "names": [
38
+ "main_joint_0",
39
+ "main_joint_1",
40
+ "main_joint_2",
41
+ "main_joint_3",
42
+ "main_joint_4",
43
+ "main_joint_5",
44
+ "main_joint_6"
45
+ ]
46
+ },
47
+ "observation.images.cam_high": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.fps": 30.0,
61
+ "video.height": 480,
62
+ "video.width": 640,
63
+ "video.channels": 3,
64
+ "video.codec": "av1",
65
+ "video.pix_fmt": "yuv420p",
66
+ "video.is_depth_map": false,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.cam_wrist": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.fps": 30.0,
84
+ "video.height": 480,
85
+ "video.width": 640,
86
+ "video.channels": 3,
87
+ "video.codec": "av1",
88
+ "video.pix_fmt": "yuv420p",
89
+ "video.is_depth_map": false,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "timestamp": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "frame_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "task_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ }
128
+ }
129
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Recording evaluation episode of pick up cube and place circle."}
videos/chunk-000/observation.images.cam_high/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9dbac8237af18e32d03e4da12239b1d375cd348361ccab439b168ee9145aef11
3
+ size 986560
videos/chunk-000/observation.images.cam_high/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:858c73ed16f3d1641a07f5ffafe740dc8c9a08cb647d2b51a295421adb4fa662
3
+ size 1000573
videos/chunk-000/observation.images.cam_high/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d2cc4cc4d3696b141663bba6fdd5b3a33004896f0eee9d7616529b365953cb2a
3
+ size 1014230
videos/chunk-000/observation.images.cam_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:11616b5020415ccfbfd3872182d712a93610234b010c4baca02466fb866f0ddc
3
+ size 1574434
videos/chunk-000/observation.images.cam_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4fd82ce3402a0d8d4ab361e6100256dd143af9db0666112fb5c30817478da0b
3
+ size 1490921
videos/chunk-000/observation.images.cam_wrist/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a238c81667c2712d5ebb893421638691794231f47f5d35dc2186ddb502a499aa
3
+ size 1599321