Add files using upload-large-folder tool
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +152 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_left_high/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:e9c744b95b2cc196b34b1341eda98ba6c557f4dc4aef695bea2d270f70e84490
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size 66875
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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:29a5226ee23bbe31c821d9673467771c5f1dcf36132926f1048207b9d9f80705
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size 54912
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["e.g. pick the red cube on the table."], "length": 262}
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{"episode_index": 1, "tasks": ["e.g. pick the red cube on the table."], "length": 219}
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meta/episodes_stats.jsonl
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meta/info.json
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| 1 |
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{
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| 2 |
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"codebase_version": "v2.1",
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"robot_type": "Unitree_G1_Dex3",
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:2"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"observation.state": {
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"dtype": "float32",
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"shape": [
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28
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],
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"names": [
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[
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"kLeftShoulderPitch",
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"kLeftShoulderRoll",
|
| 26 |
+
"kLeftShoulderYaw",
|
| 27 |
+
"kLeftElbow",
|
| 28 |
+
"kLeftWristRoll",
|
| 29 |
+
"kLeftWristPitch",
|
| 30 |
+
"kLeftWristYaw",
|
| 31 |
+
"kRightShoulderPitch",
|
| 32 |
+
"kRightShoulderRoll",
|
| 33 |
+
"kRightShoulderYaw",
|
| 34 |
+
"kRightElbow",
|
| 35 |
+
"kRightWristRoll",
|
| 36 |
+
"kRightWristPitch",
|
| 37 |
+
"kRightWristYaw",
|
| 38 |
+
"kLeftHandThumb0",
|
| 39 |
+
"kLeftHandThumb1",
|
| 40 |
+
"kLeftHandThumb2",
|
| 41 |
+
"kLeftHandMiddle0",
|
| 42 |
+
"kLeftHandMiddle1",
|
| 43 |
+
"kLeftHandIndex0",
|
| 44 |
+
"kLeftHandIndex1",
|
| 45 |
+
"kRightHandThumb0",
|
| 46 |
+
"kRightHandThumb1",
|
| 47 |
+
"kRightHandThumb2",
|
| 48 |
+
"kRightHandIndex0",
|
| 49 |
+
"kRightHandIndex1",
|
| 50 |
+
"kRightHandMiddle0",
|
| 51 |
+
"kRightHandMiddle1"
|
| 52 |
+
]
|
| 53 |
+
]
|
| 54 |
+
},
|
| 55 |
+
"action": {
|
| 56 |
+
"dtype": "float32",
|
| 57 |
+
"shape": [
|
| 58 |
+
28
|
| 59 |
+
],
|
| 60 |
+
"names": [
|
| 61 |
+
[
|
| 62 |
+
"kLeftShoulderPitch",
|
| 63 |
+
"kLeftShoulderRoll",
|
| 64 |
+
"kLeftShoulderYaw",
|
| 65 |
+
"kLeftElbow",
|
| 66 |
+
"kLeftWristRoll",
|
| 67 |
+
"kLeftWristPitch",
|
| 68 |
+
"kLeftWristYaw",
|
| 69 |
+
"kRightShoulderPitch",
|
| 70 |
+
"kRightShoulderRoll",
|
| 71 |
+
"kRightShoulderYaw",
|
| 72 |
+
"kRightElbow",
|
| 73 |
+
"kRightWristRoll",
|
| 74 |
+
"kRightWristPitch",
|
| 75 |
+
"kRightWristYaw",
|
| 76 |
+
"kLeftHandThumb0",
|
| 77 |
+
"kLeftHandThumb1",
|
| 78 |
+
"kLeftHandThumb2",
|
| 79 |
+
"kLeftHandMiddle0",
|
| 80 |
+
"kLeftHandMiddle1",
|
| 81 |
+
"kLeftHandIndex0",
|
| 82 |
+
"kLeftHandIndex1",
|
| 83 |
+
"kRightHandThumb0",
|
| 84 |
+
"kRightHandThumb1",
|
| 85 |
+
"kRightHandThumb2",
|
| 86 |
+
"kRightHandIndex0",
|
| 87 |
+
"kRightHandIndex1",
|
| 88 |
+
"kRightHandMiddle0",
|
| 89 |
+
"kRightHandMiddle1"
|
| 90 |
+
]
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"observation.images.cam_left_high": {
|
| 94 |
+
"dtype": "video",
|
| 95 |
+
"shape": [
|
| 96 |
+
720,
|
| 97 |
+
1280,
|
| 98 |
+
3
|
| 99 |
+
],
|
| 100 |
+
"names": [
|
| 101 |
+
"height",
|
| 102 |
+
"width",
|
| 103 |
+
"channel"
|
| 104 |
+
],
|
| 105 |
+
"info": {
|
| 106 |
+
"video.height": 720,
|
| 107 |
+
"video.width": 1280,
|
| 108 |
+
"video.codec": "av1",
|
| 109 |
+
"video.pix_fmt": "yuv420p",
|
| 110 |
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"video.is_depth_map": false,
|
| 111 |
+
"video.fps": 30,
|
| 112 |
+
"video.channels": 3,
|
| 113 |
+
"has_audio": false
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
"timestamp": {
|
| 117 |
+
"dtype": "float32",
|
| 118 |
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"shape": [
|
| 119 |
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1
|
| 120 |
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],
|
| 121 |
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"names": null
|
| 122 |
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},
|
| 123 |
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"frame_index": {
|
| 124 |
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"dtype": "int64",
|
| 125 |
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"shape": [
|
| 126 |
+
1
|
| 127 |
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],
|
| 128 |
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"names": null
|
| 129 |
+
},
|
| 130 |
+
"episode_index": {
|
| 131 |
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"dtype": "int64",
|
| 132 |
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"shape": [
|
| 133 |
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1
|
| 134 |
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],
|
| 135 |
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"names": null
|
| 136 |
+
},
|
| 137 |
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|
| 138 |
+
"dtype": "int64",
|
| 139 |
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|
| 140 |
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1
|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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"task_index": {
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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"names": null
|
| 150 |
+
}
|
| 151 |
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}
|
| 152 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "e.g. pick the red cube on the table."}
|
videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:7d9ec7df81c3f2bed9322000e40ab14d678cc2444b9a15570d0a32d5030b85b6
|
| 3 |
+
size 18004745
|
videos/chunk-000/observation.images.cam_left_high/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:881e27a3a045e98c6a5b638c48f4c26077a7afea6901d7a68ad924c5bedcb369
|
| 3 |
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size 14354219
|