Upload folder using huggingface_hub
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 +133 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 217}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 1}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-1.142578125, -168.046875, -184.39453125, 13.0078125, -88.681640625, 0.0, 0.0, 0.0, 0.0], "max": [9.84375, -167.958984375, -184.39453125, 70.13671875, -38.49609375, 43.47408676147461, 0.0, 0.0, 0.0], "mean": [6.1989216804504395, -167.9921875, -184.39453125, 37.98738098144531, -60.73849868774414, 11.37523078918457, 0.0, 0.0, 0.0], "std": [2.4700767993927, 0.04261442646384239, 0.0, 20.916927337646484, 14.703423500061035, 12.475099563598633, 0.0, 0.0, 0.0], "count": [217]}, "observation.state": {"min": [-0.263671875, -177.451171875, 133.41796875, 55.283203125, 5.9765625, 0.567375898361206, -3.834951877593994, -4.428221225738525, -1.7578125], "max": [8.7890625, -177.451171875, 133.681640625, 70.048828125, 6.6796875, 35.319149017333984, 2.5566346645355225, 4.428221225738525, 1.7578125], "mean": [5.6298604011535645, -177.4514617919922, 133.49856567382812, 59.6801643371582, 6.559394836425781, 10.942898750305176, 0.005890868604183197, 0.030609820038080215, -0.02160138264298439], "std": [2.245091438293457, 0.0002899169921875, 0.12059053033590317, 6.652500629425049, 0.1381976157426834, 9.711459159851074, 1.2841812372207642, 1.611535668373108, 0.6234881281852722], "count": [217]}, "observation.images.front": {"min": [[[0.0196078431372549]], [[0.050980392156862744]], [[0.07058823529411765]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5292257128267973]], [[0.5180352369281046]], [[0.4895717892156863]]], "std": [[[0.23197951265542696]], [[0.24050241985551762]], [[0.24794326711399786]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.12156862745098039]], [[0.1411764705882353]], [[0.1607843137254902]]], "max": [[[0.8823529411764706]], [[0.9058823529411765]], [[0.9294117647058824]]], "mean": [[[0.6114605310457517]], [[0.6073673754084967]], [[0.5874993035130719]]], "std": [[[0.09984708226592179]], [[0.09574609855978379]], [[0.08830015104852616]]], "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": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [217]}, "index": {"min": [0], "max": [216], "mean": [108.0], "std": [62.6418390534633], "count": [217]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [217]}}}
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{"episode_index": 1, "stats": {"action": {"min": [10.634765625, -168.046875, -184.39453125, 70.224609375, -82.44140625, 5.9500956535339355, 0.0, 0.0, 0.0], "max": [10.634765625, -168.046875, -184.39453125, 70.224609375, -82.44140625, 5.9500956535339355, 0.0, 0.0, 0.0], "mean": [10.634765625, -168.046875, -184.39453125, 70.224609375, -82.44140625, 5.9500956535339355, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1]}, "observation.state": {"min": [9.66796875, -177.451171875, 133.41796875, 70.048828125, 6.591796875, 4.751773357391357, 1.2783173322677612, 2.2141106128692627, -1.171875], "max": [9.66796875, -177.451171875, 133.41796875, 70.048828125, 6.591796875, 4.751773357391357, 1.2783173322677612, 2.2141106128692627, -1.171875], "mean": [9.66796875, -177.451171875, 133.41796875, 70.048828125, 6.591796875, 4.751773357391357, 1.2783173322677612, 2.2141106128692627, -1.171875], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1]}, "observation.images.front": {"min": [[[0.07058823529411765]], [[0.08235294117647059]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5290888480392156]], [[0.5181981209150327]], [[0.4941917892156863]]], "std": [[[0.2319251957767661]], [[0.24059119308989538]], [[0.24735465115282645]]], "count": [1]}, "observation.images.wrist": {"min": [[[0.1450980392156863]], [[0.1607843137254902]], [[0.19607843137254902]]], "max": [[[0.8666666666666667]], [[0.8901960784313725]], [[0.9019607843137255]]], "mean": [[[0.6144573120915032]], [[0.605327614379085]], [[0.582359885620915]]], "std": [[[0.10374288405729447]], [[0.10061508180821133]], [[0.09423794029865934]]], "count": [1]}, "timestamp": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1]}, "frame_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1]}, "index": {"min": [217], "max": [217], "mean": [217.0], "std": [0.0], "count": [1]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1]}}}
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meta/info.json
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{
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
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videos/chunk-000/observation.images.front/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:688e7ecbf4e071f6e29e5de5a04b21856e391f9bb5929cf93e4c6ac3aafb760b
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size 4100910
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videos/chunk-000/observation.images.front/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 22561
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videos/chunk-000/observation.images.wrist/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:f42591f787e67b4b990855f436f35b4b10c301014eff3c163f17b882e2a2a0c5
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size 1830786
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videos/chunk-000/observation.images.wrist/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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