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.gitattributes
CHANGED
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@@ -57,3 +57,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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+
tfds_datasets/mixture_v2_2/1.0.0/mixture_v2_2-train.tfrecord-00000-of-00001 filter=lfs diff=lfs merge=lfs -text
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tfds_datasets/mixture_v2_2/1.0.0/dataset_info.json
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{
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"description": "SO101 pick-cube dataset (mixture_v2_2), converted from LeRobot format.",
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"fileFormat": "tfrecord",
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"name": "mixture_v2_2",
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"splits": [
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{
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"filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
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"name": "train",
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"numBytes": "281681841",
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"shardLengths": [
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"90"
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]
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}
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],
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"version": "1.0.0"
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}
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tfds_datasets/mixture_v2_2/1.0.0/features.json
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@@ -0,0 +1,192 @@
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{
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"featuresDict": {
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"features": {
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"episode_metadata": {
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"featuresDict": {
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"features": {
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"episode_id": {
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"description": "Episode identifier.",
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"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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"text": {}
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},
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"file_path": {
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"description": "Source dataset path.",
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"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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"text": {}
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},
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"has_image_0": {
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"description": "True if image_0 is available.",
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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"tensor": {
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"dtype": "bool",
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"encoding": "none",
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"shape": {}
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}
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},
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"has_image_1": {
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"description": "True if image_1 is available.",
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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"tensor": {
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"dtype": "bool",
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"encoding": "none",
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"shape": {}
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}
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},
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"has_image_2": {
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"description": "True if image_2 is available.",
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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"tensor": {
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"dtype": "bool",
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"encoding": "none",
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"shape": {}
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}
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}
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}
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},
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
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},
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"steps": {
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"pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
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"sequence": {
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"feature": {
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"featuresDict": {
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"features": {
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"action": {
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| 55 |
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"description": "EEF action delta: [dx, dy, dz, droll, dpitch, dyaw, gripper].",
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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"tensor": {
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"dtype": "float32",
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"encoding": "none",
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"7"
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]
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}
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}
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},
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"discount": {
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"description": "Discount factor, always 1.0.",
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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"tensor": {
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}
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"description": "True on first step of the episode.",
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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"tensor": {
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}
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},
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"is_last": {
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"description": "True on last step of the episode.",
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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"tensor": {
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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"tensor": {
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}
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},
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"language_instruction": {
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"description": "Language instruction for the task.",
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"pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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"text": {}
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"dtype": "uint8",
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"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
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},
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"image_1": {
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| 127 |
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"description": "Camera 1 RGB observation (256x256).",
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"dtype": "uint8",
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"encodingFormat": "jpeg",
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"256",
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"3"
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"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
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},
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"image_2": {
|
| 142 |
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"description": "Camera 2 RGB observation (256x256).",
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| 143 |
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"image": {
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"dtype": "uint8",
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"encodingFormat": "jpeg",
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"shape": {
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"dimensions": [
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"256",
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"256",
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"3"
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},
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| 154 |
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"pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
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| 155 |
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},
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| 156 |
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"state": {
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| 157 |
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"description": "EEF state: [x, y, z, roll, pitch, yaw, gripper].",
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| 158 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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| 159 |
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"tensor": {
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| 160 |
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"dtype": "float32",
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| 161 |
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"encoding": "none",
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"shape": {
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"7"
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}
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}
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}
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}
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},
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| 171 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
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},
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| 173 |
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"reward": {
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| 174 |
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"description": "Reward, 0.0 for all steps.",
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| 175 |
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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"tensor": {
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| 177 |
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"dtype": "float32",
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"shape": {}
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}
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}
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}
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},
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| 184 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
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},
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"length": "-1"
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}
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| 188 |
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}
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| 189 |
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}
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},
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| 191 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
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}
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tfds_datasets/mixture_v2_2/1.0.0/mixture_metadata.json
ADDED
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@@ -0,0 +1,136 @@
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| 1 |
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{
|
| 2 |
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"mixture_name": "v2.2",
|
| 3 |
+
"description": "90 episodes: all just-cube",
|
| 4 |
+
"seed": 1337,
|
| 5 |
+
"timestamp": "2026-02-06 03:06:47",
|
| 6 |
+
"config": {
|
| 7 |
+
"num_images": 3,
|
| 8 |
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"camera_order": [
|
| 9 |
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"left",
|
| 10 |
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"right",
|
| 11 |
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"wrist"
|
| 12 |
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],
|
| 13 |
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"image_size": [
|
| 14 |
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256,
|
| 15 |
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256
|
| 16 |
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],
|
| 17 |
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"target_fps": 3.0,
|
| 18 |
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"source_fps": 15,
|
| 19 |
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"skip_frames": 5,
|
| 20 |
+
"binarize_gripper": true,
|
| 21 |
+
"gripper_threshold": 35.08157730102539
|
| 22 |
+
},
|
| 23 |
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"sources": [
|
| 24 |
+
{
|
| 25 |
+
"repo_id": "sapanostic/so101_pick_cube_v2.0",
|
| 26 |
+
"local_dir": "/home/thor/rebis-vla/hf_to_rlds/data/so101_pick_cube_v2.0_sapanostic",
|
| 27 |
+
"label": "just_cube",
|
| 28 |
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|
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