Upload 19 files

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd47350f0b86fc8cd3ee29513dba86b5b490aaf6681e3801ca61eb19d03bbd9a
+size 26852

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55ccf4dc741a05739af4c6137283fb00b2009ad5ec683066dfa593844386c5ad
+size 28150

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16a68bfab2fd7d3983e34f6a717d455f926cc1d497c780cbf53d693c38b3c3fd
+size 27742

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0c178038a50e9ac2fedfd40962a959d87f921223163024fea7c804b2b77ebe6
+size 23953

data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80817b817b45c026c8c2f1512a4083a21b55b26cffffda3368a75b275b95c295
+size 22403

meta/episodes.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "tasks": ["Pick the blue ball and place it inside the box"], "length": 453}
+{"episode_index": 1, "tasks": ["Pick the blue ball and place it inside the box"], "length": 494}
+{"episode_index": 2, "tasks": ["Pick the blue ball and place it inside the box"], "length": 454}
+{"episode_index": 3, "tasks": ["Pick the blue ball and place it inside the box"], "length": 393}
+{"episode_index": 4, "tasks": ["Pick the blue ball and place it inside the box"], "length": 361}

meta/episodes_stats.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "stats": {"action": {"min": [-9.569732666015625, -99.5762710571289, -65.80498504638672, 51.98603057861328, -57.96379089355469, 0.0], "max": [65.94955444335938, 47.88135528564453, 99.90929412841797, 100.0, -43.05956268310547, 63.69636917114258], "mean": [15.34593391418457, -32.13357925415039, 16.992382049560547, 78.37413024902344, -50.5135612487793, 19.1337890625], "std": [28.537019729614258, 52.183021545410156, 60.57999801635742, 12.825759887695312, 5.254871845245361, 23.73989486694336], "count": [453]}, "observation.state": {"min": [-8.970099449157715, -99.57063293457031, -61.59420394897461, 55.041465759277344, -57.4390869140625, 0.4184100329875946], "max": [65.15319061279297, 49.1627311706543, 99.72826385498047, 99.388916015625, -43.44219970703125, 63.11017990112305], "mean": [15.159605026245117, -30.34241485595703, 20.339214324951172, 79.02754974365234, -50.61920928955078, 22.5993595123291], "std": [28.36719512939453, 53.540672302246094, 59.117427825927734, 12.59378433227539, 5.250088214874268, 21.134674072265625], "count": [453]}, "observation.images.entorno": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.9607843137254902]], [[0.9686274509803922]]], "mean": [[[0.4791534375]], [[0.49145191584967324]], [[0.46692548406862744]]], "std": [[[0.1769398563210447]], [[0.18531672154315354]], [[0.17641191303676318]]], "count": [100]}, "observation.images.pinza": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5639806290849673]], [[0.5766592156862745]], [[0.5547418198529412]]], "std": [[[0.2478190378933053]], [[0.22148299092417262]], [[0.18057767692522092]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [15.066666666666666], "mean": [7.533333333333333], "std": [4.358983911502857], "count": [453]}, "frame_index": {"min": [0], "max": [452], "mean": [226.0], "std": [130.7695173450857], "count": [453]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [453]}, "index": {"min": [0], "max": [452], "mean": [226.0], "std": [130.7695173450857], "count": [453]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [453]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-10.905044555664062, -100.0, -87.12017822265625, 40.54997634887695, -58.1212272644043, 0.0], "max": [65.80118560791016, 46.61016845703125, 99.90929412841797, 100.0, -38.96615219116211, 52.47524642944336], "mean": [16.467939376831055, -30.95806884765625, 19.700313568115234, 76.59806060791016, -48.520084381103516, 12.14040470123291], "std": [29.38619041442871, 54.2623176574707, 63.8103141784668, 12.038270950317383, 6.907315731048584, 17.6402587890625], "count": [494]}, "observation.state": {"min": [-10.446659088134766, -98.8836441040039, -81.06884002685547, 43.78001022338867, -57.69828796386719, 0.6276150345802307], "max": [65.15319061279297, 48.13224411010742, 99.81884002685547, 99.388916015625, -39.19129180908203, 51.53417205810547], "mean": [16.47529411315918, -28.863162994384766, 22.565507888793945, 77.08297729492188, -48.474769592285156, 14.524349212646484], "std": [29.18998146057129, 55.463104248046875, 62.44038772583008, 11.512182235717773, 6.811254501342773, 17.26535415649414], "count": [494]}, "observation.images.entorno": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9764705882352941]], [[0.9568627450980393]]], "mean": [[[0.4865498719519859]], [[0.49757425606460537]], [[0.4707244041446707]]], "std": [[[0.17500980960608967]], [[0.18347277244210583]], [[0.17388726542104768]]], "count": [104]}, "observation.images.pinza": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5690391764077426]], [[0.5879134909973605]], [[0.573059002246732]]], "std": [[[0.2536087489950304]], [[0.22175980991954444]], [[0.18367796741006306]]], "count": [104]}, "timestamp": {"min": [0.0], "max": [16.433333333333334], "mean": [8.216666666666667], "std": [4.753507476940931], "count": [494]}, "frame_index": {"min": [0], "max": [493], "mean": [246.5], "std": [142.60522430822792], "count": [494]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [494]}, "index": {"min": [453], "max": [946], "mean": [699.5], "std": [142.60522430822792], "count": [494]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [494]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-13.056380271911621, -99.83050537109375, -96.09976959228516, 27.280662536621094, -59.065860748291016, 0.0], "max": [67.50741577148438, 43.305084228515625, 99.72789001464844, 100.0, -43.37444305419922, 65.26402282714844], "mean": [17.267715454101562, -28.0693416595459, 13.453591346740723, 73.39116668701172, -50.22332000732422, 15.787631034851074], "std": [30.849178314208984, 53.172332763671875, 61.56989288330078, 15.277359962463379, 5.098971843719482, 24.492128372192383], "count": [454]}, "observation.state": {"min": [-12.809154510498047, -99.3130111694336, -90.30796813964844, 31.558271408081055, -58.68325424194336, 0.4184100329875946], "max": [66.70358276367188, 44.954917907714844, 99.54710388183594, 99.388916015625, -43.753238677978516, 64.5048828125], "mean": [17.08710479736328, -26.07610511779785, 16.702388763427734, 74.04443359375, -50.22739791870117, 19.452133178710938], "std": [30.764530181884766, 54.19908142089844, 60.22035217285156, 14.477185249328613, 5.127978324890137, 22.601900100708008], "count": [454]}, "observation.images.entorno": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9686274509803922]], [[0.9725490196078431]]], "mean": [[[0.49040985702614376]], [[0.5002755698529412]], [[0.47143841503267975]]], "std": [[[0.17635652882328923]], [[0.1847725324671471]], [[0.17476614574760846]]], "count": [100]}, "observation.images.pinza": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5646924550653595]], [[0.5706624632352941]], [[0.5448418096405229]]], "std": [[[0.2545718552168738]], [[0.2353317443722422]], [[0.20235913541369224]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [15.1], "mean": [7.55], "std": [4.368606439383413], "count": [454]}, "frame_index": {"min": [0], "max": [453], "mean": [226.5], "std": [131.0581931815024], "count": [454]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [454]}, "index": {"min": [947], "max": [1400], "mean": [1173.5], "std": [131.0581931815024], "count": [454]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [454]}}}
+{"episode_index": 3, "stats": {"action": {"min": [-11.572700500488281, -99.74576568603516, -86.12245178222656, 26.320384979248047, -53.607975006103516, 0.0], "max": [66.98812866210938, 59.915252685546875, 99.72789001464844, 100.0, -43.5843620300293, 58.82838439941406], "mean": [16.231935501098633, -24.496259689331055, 6.947317600250244, 75.61114501953125, -48.53997039794922, 13.703737258911133], "std": [29.410459518432617, 56.729190826416016, 68.7325668334961, 16.14120101928711, 2.975703477859497, 22.686965942382812], "count": [393]}, "observation.state": {"min": [-11.554079055786133, -99.39888000488281, -81.61231994628906, 30.42339515686035, -53.70658493041992, 0.4184100329875946], "max": [66.18678283691406, 61.35680389404297, 99.63768005371094, 99.388916015625, -43.8569221496582, 58.15899658203125], "mean": [16.08651351928711, -22.161455154418945, 10.073723793029785, 76.18071746826172, -48.49504470825195, 17.336349487304688], "std": [29.395395278930664, 58.00139617919922, 67.18485260009766, 15.466602325439453, 3.025360107421875, 20.832429885864258], "count": [393]}, "observation.images.entorno": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.984313725490196]], [[0.9607843137254902]]], "mean": [[[0.47418690767973853]], [[0.4932402553104575]], [[0.4726168954248366]]], "std": [[[0.17178242050918566]], [[0.18266033167791854]], [[0.17517900624932203]]], "count": [100]}, "observation.images.pinza": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5655983884803921]], [[0.5701835927287582]], [[0.5433905065359478]]], "std": [[[0.25566349618697953]], [[0.24047861630676473]], [[0.21031985290333022]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.066666666666666], "mean": [6.533333333333334], "std": [3.7816320208001124], "count": [393]}, "frame_index": {"min": [0], "max": [392], "mean": [196.0], "std": [113.44896062400336], "count": [393]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [393]}, "index": {"min": [1401], "max": [1793], "mean": [1597.0], "std": [113.44896062400336], "count": [393]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [393]}}}
+{"episode_index": 4, "stats": {"action": {"min": [-6.824925899505615, -99.91525268554688, -96.37187957763672, 59.05717849731445, -53.922855377197266, 0.0], "max": [65.43026733398438, 46.01694869995117, 99.72789001464844, 100.0, -42.63972854614258, 53.87788772583008], "mean": [18.28520965576172, -23.912620544433594, 8.808595657348633, 76.45829010009766, -47.83843231201172, 9.852073669433594], "std": [26.910165786743164, 54.26900100708008, 63.490318298339844, 11.05944538116455, 4.140284061431885, 17.06193733215332], "count": [361]}, "observation.state": {"min": [-6.312292575836182, -99.05538940429688, -92.11956787109375, 60.89044189453125, -53.49922180175781, 0.4184100329875946], "max": [64.48873901367188, 47.35938262939453, 99.63768005371094, 99.388916015625, -42.97563552856445, 53.20780944824219], "mean": [18.182254791259766, -21.48807144165039, 12.238041877746582, 77.15032196044922, -47.65590286254883, 13.115202903747559], "std": [26.680448532104492, 55.40677261352539, 62.217674255371094, 10.379541397094727, 4.064626216888428, 16.35134506225586], "count": [361]}, "observation.images.entorno": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9215686274509803]], [[0.8901960784313725]], [[0.8784313725490196]]], "mean": [[[0.474502175245098]], [[0.49298398488562095]], [[0.4657205065359477]]], "std": [[[0.17496685603032472]], [[0.18560620227312405]], [[0.17892009775783563]]], "count": [100]}, "observation.images.pinza": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5665727430555556]], [[0.5770669178921568]], [[0.5548182557189542]]], "std": [[[0.25755785621298294]], [[0.23745791299525262]], [[0.20347107595956873]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [12.0], "mean": [6.0], "std": [3.4737107920301407], "count": [361]}, "frame_index": {"min": [0], "max": [360], "mean": [180.0], "std": [104.21132376090422], "count": [361]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [361]}, "index": {"min": [1794], "max": [2154], "mean": [1974.0], "std": [104.21132376090422], "count": [361]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [361]}}}

meta/info.json

@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so101_follower",
+    "total_episodes": 5,
+    "total_frames": 2155,
+    "total_tasks": 1,
+    "total_videos": 10,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:5"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.images.entorno": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.pinza": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Pick the blue ball and place it inside the box"}

videos/chunk-000/observation.images.entorno/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fedce8bfe0df66dab1d36de944e1ced94ca4766c72101be7a9af25261fadebb
+size 2373730

videos/chunk-000/observation.images.entorno/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aae88b51bf2ee4ee104f69257bbef568282d4e2b70d303ea77ffbe3cc4fbe441
+size 2550298

videos/chunk-000/observation.images.entorno/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08346f043d86ffbe91778489142a6d14368a7e508bbb783cadfa58b69692204e
+size 2374640

videos/chunk-000/observation.images.entorno/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51978e403a3acdff3e7c749ffe55f6261bbf8c0dd078d200af1ac6c98f4d64d9
+size 2026953

videos/chunk-000/observation.images.entorno/episode_000004.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bffe6f9a61e1e9e5d313e15fcde01c159190594c8da3f06d77bea9920312b918
+size 1907245

videos/chunk-000/observation.images.pinza/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d086b09a6f5682f4a9246f09db401bb53f09c6d47fe722898a574792cb55db6c
+size 740415

videos/chunk-000/observation.images.pinza/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fab34e4544d35657367f640bbd840f59fabceb11f2d0a1cdb21d3b108cea4da
+size 823023

videos/chunk-000/observation.images.pinza/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34f6604bd49d79646104cdbcfc7f34dbcc245f325e2ad77f65134adcb88d3670
+size 866284

videos/chunk-000/observation.images.pinza/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b70c5d184cbeb674359863978a29680191980580b4680650762bc8e8fb50fdc5
+size 738465

videos/chunk-000/observation.images.pinza/episode_000004.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6281a3b9836de2a5a317719590ffe11d633f62a047dc1e3928ac7dbb325aecf
+size 649724