Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- data/chunk-000/episode_000004.parquet +3 -0
- meta/episodes.jsonl +5 -0
- meta/episodes_stats.jsonl +5 -0
- meta/info.json +104 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000004.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 sha256:7744fcda2cd09b27a2ab7f260cc587d0ba84b79ea8f1b7036b98c037d9d90a5d
|
| 3 |
+
size 26903
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f8e74193124dd6d65cab3741c1e772e03e42288f89367c9806dd4c3fd79cafee
|
| 3 |
+
size 25239
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:59d6e90a766a8214585cea6887e85afa6472ee6e9586b659874f2bf2d78df55e
|
| 3 |
+
size 26303
|
data/chunk-000/episode_000003.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:58f3da3c9c508462554a75bafc9c2cc9a4f89013831f26914877e94c729f724c
|
| 3 |
+
size 31726
|
data/chunk-000/episode_000004.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:79cf418f91d4b97835136e59615f8caabb07a42c79816eebdefa2c938fe6e53b
|
| 3 |
+
size 26752
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,5 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grasp a garbage and put it in right."], "length": 505}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grasp a garbage and put it in right."], "length": 541}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Grasp a garbage and put it in right."], "length": 522}
|
| 4 |
+
{"episode_index": 3, "tasks": ["Grasp a garbage and put it in right."], "length": 615}
|
| 5 |
+
{"episode_index": 4, "tasks": ["Grasp a garbage and put it in right."], "length": 554}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,5 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-5.888671875, 56.77734375, 70.83984375, 5.537109375, -19.423828125, -0.263671875], "max": [81.03515625, 133.76953125, 179.560546875, 58.798828125, 29.794921875, 35.15625], "mean": [27.169864654541016, 104.70317077636719, 118.27778625488281, 35.48884201049805, -9.78979778289795, 24.42889404296875], "std": [27.634157180786133, 25.916889190673828, 36.14332580566406, 17.035017013549805, 8.695326805114746, 14.054361343383789], "count": [505]}, "observation.state": {"min": [-5.2734375, 56.6015625, 73.828125, 5.009765625, -19.3359375, 18.10546875], "max": [80.68359375, 129.287109375, 176.220703125, 58.623046875, 29.794921875, 34.1015625], "mean": [27.149152755737305, 103.0160903930664, 119.49707794189453, 36.62028121948242, -9.703298568725586, 28.4883975982666], "std": [27.715423583984375, 24.97039031982422, 34.28559494018555, 17.12291717529297, 8.562801361083984, 6.398874282836914], "count": [505]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5295720572820323]], [[0.5095055686582809]], [[0.47472138788691576]]], "std": [[[0.2350423733261879]], [[0.22579400429880575]], [[0.23039130107580025]]], "count": [106]}, "timestamp": {"min": [0.0], "max": [16.8], "mean": [8.4], "std": [4.859355238437846], "count": [505]}, "frame_index": {"min": [0], "max": [504], "mean": [252.0], "std": [145.78065715313537], "count": [505]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [505]}, "index": {"min": [0], "max": [504], "mean": [252.0], "std": [145.78065715313537], "count": [505]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [505]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [0.966796875, 99.755859375, 119.8828125, -18.896484375, -19.775390625, 8.7890625], "max": [78.57421875, 133.59375, 180.966796875, 55.107421875, 0.3515625, 33.837890625], "mean": [24.97133445739746, 120.16717529296875, 153.03843688964844, 14.53818130493164, -9.146798133850098, 29.36277961730957], "std": [27.448816299438477, 9.672242164611816, 25.531187057495117, 25.665359497070312, 6.814478874206543, 8.366036415100098], "count": [541]}, "observation.state": {"min": [1.40625, 99.755859375, 124.365234375, -18.80859375, -19.423828125, 16.787109375], "max": [78.046875, 129.375, 178.154296875, 55.01953125, 0.17578125, 32.958984375], "mean": [24.948753356933594, 119.0173110961914, 153.6689910888672, 15.337158203125, -9.178478240966797, 29.94145965576172], "std": [27.39617347717285, 8.564311027526855, 22.756690979003906, 25.637758255004883, 6.753377914428711, 5.537785530090332], "count": [541]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5333981293038048]], [[0.5134936737715919]], [[0.47911284357492995]]], "std": [[[0.23579036059951106]], [[0.22620795072238017]], [[0.23040792045872094]]], "count": [112]}, "timestamp": {"min": [0.0], "max": [18.0], "mean": [9.0], "std": [5.205766033928148], "count": [541]}, "frame_index": {"min": [0], "max": [540], "mean": [270.0], "std": [156.17298101784445], "count": [541]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [541]}, "index": {"min": [505], "max": [1045], "mean": [775.0], "std": [156.17298101784445], "count": [541]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [541]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"action": {"min": [-4.21875, 64.51171875, 95.625, -13.623046875, -18.017578125, 19.16015625], "max": [87.36328125, 133.330078125, 180.966796875, 40.693359375, 0.703125, 34.013671875], "mean": [22.00380516052246, 113.36441040039062, 144.25320434570312, 10.196491241455078, -7.328933238983154, 28.709423065185547], "std": [29.656124114990234, 22.019611358642578, 30.28593635559082, 19.191762924194336, 5.092646598815918, 6.179891109466553], "count": [522]}, "observation.state": {"min": [-3.603515625, 64.248046875, 97.998046875, -13.0078125, -17.9296875, 20.654296875], "max": [87.275390625, 129.19921875, 178.154296875, 40.60546875, 0.615234375, 33.3984375], "mean": [21.918777465820312, 111.95751190185547, 144.7703857421875, 11.265827178955078, -7.281115531921387, 28.76262855529785], "std": [29.622230529785156, 21.53067398071289, 28.492067337036133, 19.390703201293945, 5.067185401916504, 5.271259784698486], "count": [522]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.528097849958026]], [[0.5075559959075373]], [[0.4726214753103076]]], "std": [[[0.23427988342295342]], [[0.22473664994266804]], [[0.2288813444775364]]], "count": [109]}, "timestamp": {"min": [0.0], "max": [17.366666666666667], "mean": [8.683333333333334], "std": [5.022938124982967], "count": [522]}, "frame_index": {"min": [0], "max": [521], "mean": [260.5], "std": [150.68814374948903], "count": [522]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [522]}, "index": {"min": [1046], "max": [1567], "mean": [1306.5], "std": [150.68814374948903], "count": [522]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [522]}}}
|
| 4 |
+
{"episode_index": 3, "stats": {"action": {"min": [-38.056640625, 58.7109375, 58.88671875, -23.37890625, -14.765625, 13.7109375], "max": [90.439453125, 133.59375, 180.87890625, 66.4453125, 0.615234375, 34.013671875], "mean": [11.365615844726562, 111.99474334716797, 128.0101318359375, 28.949600219726562, -6.366996765136719, 27.287109375], "std": [38.79885482788086, 25.795207977294922, 42.429107666015625, 28.296459197998047, 4.223404884338379, 8.322999954223633], "count": [615]}, "observation.state": {"min": [-37.529296875, 58.447265625, 63.10546875, -20.126953125, -14.677734375, 17.05078125], "max": [90.263671875, 129.19921875, 177.978515625, 66.533203125, 0.615234375, 33.046875], "mean": [11.233565330505371, 109.57418823242188, 129.31214904785156, 29.594703674316406, -6.320693492889404, 27.76557731628418], "std": [38.7301025390625, 24.806121826171875, 40.35187530517578, 28.112117767333984, 4.194068908691406, 6.693678855895996], "count": [615]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5246024795419523]], [[0.5047991939662043]], [[0.47073669894787185]]], "std": [[[0.2339433707244423]], [[0.22504777852746646]], [[0.2298303118287301]]], "count": [123]}, "timestamp": {"min": [0.0], "max": [20.466666666666665], "mean": [10.233333333333333], "std": [5.9178324360141135], "count": [615]}, "frame_index": {"min": [0], "max": [614], "mean": [307.0], "std": [177.5349730804234], "count": [615]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [615]}, "index": {"min": [1568], "max": [2182], "mean": [1875.0], "std": [177.5349730804234], "count": [615]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [615]}}}
|
| 5 |
+
{"episode_index": 4, "stats": {"action": {"min": [-20.126953125, 30.498046875, 38.14453125, -28.65234375, -22.060546875, 12.041015625], "max": [88.9453125, 133.59375, 180.87890625, 53.525390625, -6.591796875, 33.662109375], "mean": [10.352849006652832, 110.7320327758789, 132.64541625976562, 18.84682846069336, -12.620713233947754, 26.858993530273438], "std": [31.11893653869629, 36.517704010009766, 50.37272262573242, 23.62229347229004, 4.981013298034668, 9.252960205078125], "count": [554]}, "observation.state": {"min": [-19.599609375, 30.234375, 40.517578125, -25.048828125, -21.796875, 17.05078125], "max": [88.330078125, 129.287109375, 177.978515625, 53.4375, -6.50390625, 32.958984375], "mean": [10.310966491699219, 107.79398345947266, 133.11328125, 19.409549713134766, -12.584858894348145, 27.901782989501953], "std": [31.027347564697266, 35.593467712402344, 48.61699676513672, 23.777587890625, 5.012107849121094, 6.860978603363037], "count": [554]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5288037818197454]], [[0.508635821580094]], [[0.4740855675237931]]], "std": [[[0.2354852899416708]], [[0.22638649335975522]], [[0.23080961926036628]]], "count": [114]}, "timestamp": {"min": [0.0], "max": [18.433333333333334], "mean": [9.216666666666665], "std": [5.330858800939635], "count": [554]}, "frame_index": {"min": [0], "max": [553], "mean": [276.5], "std": [159.92576402818904], "count": [554]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [554]}, "index": {"min": [2183], "max": [2736], "mean": [2459.5], "std": [159.92576402818904], "count": [554]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [554]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "koch",
|
| 4 |
+
"total_episodes": 5,
|
| 5 |
+
"total_frames": 2737,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 5,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:5"
|
| 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.phone": {
|
| 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.height": 480,
|
| 59 |
+
"video.width": 640,
|
| 60 |
+
"video.codec": "av1",
|
| 61 |
+
"video.pix_fmt": "yuv420p",
|
| 62 |
+
"video.is_depth_map": false,
|
| 63 |
+
"video.fps": 30,
|
| 64 |
+
"video.channels": 3,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"timestamp": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"names": null
|
| 74 |
+
},
|
| 75 |
+
"frame_index": {
|
| 76 |
+
"dtype": "int64",
|
| 77 |
+
"shape": [
|
| 78 |
+
1
|
| 79 |
+
],
|
| 80 |
+
"names": null
|
| 81 |
+
},
|
| 82 |
+
"episode_index": {
|
| 83 |
+
"dtype": "int64",
|
| 84 |
+
"shape": [
|
| 85 |
+
1
|
| 86 |
+
],
|
| 87 |
+
"names": null
|
| 88 |
+
},
|
| 89 |
+
"index": {
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"task_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Grasp a garbage and put it in right."}
|
videos/chunk-000/observation.images.phone/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d937e0481648b5c6af48ec0c0adcf67feb2e1cb5e42c0f7852081365afbe96ae
|
| 3 |
+
size 12977167
|
videos/chunk-000/observation.images.phone/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2f0bed95142086af024bc71ce4b16b0fb6f5506e6e41de12b7e1d688e6f079a9
|
| 3 |
+
size 13670796
|
videos/chunk-000/observation.images.phone/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eb36206ca3bf8b6a1705089efd04d652e428a8d2df09ae74418b875bbffafd53
|
| 3 |
+
size 13136586
|
videos/chunk-000/observation.images.phone/episode_000003.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2bd2cb980de9ffad97c6a0b2d032701368e6fa87edd585fc65bf73bc72987170
|
| 3 |
+
size 15391483
|
videos/chunk-000/observation.images.phone/episode_000004.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a519a20ff7a76aa07304b1d1cb5334c1a37173536b2020d3653ba5f6aff60e66
|
| 3 |
+
size 13813198
|