Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b39cbf92e6004b768b475aacc2c6dd7a3c8604548dd70f4b7b303adbac811446
+size 98763927

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5278902f8bcd8e3ff29fa369b835d517c5c8d77364f102eac7daf7a4e8d0fcf0
+size 121839743

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d993b2f55ef7b9048ad083fba21c09ea7de35480c5e67f83daeb39647cb01ddd
+size 116342204

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25048ccbe48dcb49d6ed454b65d6d5b0244ec7285d958996347b9ce446a0af90
+size 91717679

data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:694e82cfef70c68d02bd5eb1e2c0d843975728926a2f747c570295e5a0de5a3a
+size 98071149

data/chunk-000/episode_000005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:348e10d05b9c8a187c6a848bcc26ca6b932b9a993f909b336ce8bde816153b26
+size 63865632

data/chunk-000/episode_000006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fb2aa79f419a24a98c3568c24898e9e55bf9703bf20e9e13d969a4bdb72c3c3
+size 61374371

data/chunk-000/episode_000007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37c05c35c8271c2d9ac7db8cdd837f95bdb9bc19899503b67d8b9e5e6dd69011
+size 114718380

data/chunk-000/episode_000008.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b829598aa87b8d96b7965fe3132957935b3070733b2eebd42e7a79859828701
+size 92099972

data/chunk-000/episode_000009.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7bbec8a8eead2347439658e0d142a100670cb0bd658c451c2580ae394e5bffc
+size 111450161

data/chunk-000/episode_000010.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03d766d65860a50b657c8e39e32ba3617bc5ea0c7e701e1a1845b26ed675d999
+size 130102953

data/chunk-000/episode_000011.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ccea85caf52b9fb1f72a3fe364adfa0fc4cd5eae5ae0a962533cbca02a53872
+size 117397052

data/chunk-000/episode_000012.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2720c12867e77658d4269ca98124099cc720bc379441f0cda5c42ed9c309fe6f
+size 110552725

data/chunk-000/episode_000013.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa2dfe05c46156a3a3a3886f70a374afb2b725bbc98ef18395659b699b4fbfd3
+size 62544182

data/chunk-000/episode_000014.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecf732f9af612f3a7d812e9d3c8678d3b375defd29d348ce34668c7cf2e99105
+size 97687647

meta/episodes.jsonl

@@ -0,0 +1,15 @@
+{"episode_index": 0, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 593}
+{"episode_index": 1, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 726}
+{"episode_index": 2, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 694}
+{"episode_index": 3, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 547}
+{"episode_index": 4, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 586}
+{"episode_index": 5, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 378}
+{"episode_index": 6, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 365}
+{"episode_index": 7, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 683}
+{"episode_index": 8, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 553}
+{"episode_index": 9, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 655}
+{"episode_index": 10, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 771}
+{"episode_index": 11, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 691}
+{"episode_index": 12, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 658}
+{"episode_index": 13, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 376}
+{"episode_index": 14, "tasks": ["Stack the cubes so that the order from bottom to top is blue, green, then purple."], "length": 579}

meta/info.json

@@ -0,0 +1,119 @@
+{
+    "codebase_version": "v2.0",
+    "robot_type": "panda",
+    "total_episodes": 15,
+    "total_frames": 8855,
+    "total_tasks": 1,
+    "total_videos": 0,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:15"
+    },
+    "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": {
+        "wrist_image_left": {
+            "dtype": "image",
+            "shape": [
+                180,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
+        "exterior_image_2_left": {
+            "dtype": "image",
+            "shape": [
+                180,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
+        "exterior_image_1_left": {
+            "dtype": "image",
+            "shape": [
+                180,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
+        "joint_position": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "joint_position"
+            ]
+        },
+        "gripper_position": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "gripper_position"
+            ]
+        },
+        "actions": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "names": [
+                "actions"
+            ]
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "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
+        }
+    }
+}

meta/stats.json

@@ -0,0 +1,376 @@
+{
+    "wrist_image_left": {
+        "mean": [
+            [
+                [
+                    0.42013025283813477
+                ]
+            ],
+            [
+                [
+                    0.41531404852867126
+                ]
+            ],
+            [
+                [
+                    0.4142965078353882
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.2020377814769745
+                ]
+            ],
+            [
+                [
+                    0.21606314182281494
+                ]
+            ],
+            [
+                [
+                    0.20359723269939423
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.027450980618596077
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.003921568859368563
+                ]
+            ]
+        ]
+    },
+    "exterior_image_2_left": {
+        "mean": [
+            [
+                [
+                    0.3953210413455963
+                ]
+            ],
+            [
+                [
+                    0.4257490336894989
+                ]
+            ],
+            [
+                [
+                    0.4498847424983978
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.16389063000679016
+                ]
+            ],
+            [
+                [
+                    0.1852426826953888
+                ]
+            ],
+            [
+                [
+                    0.18797123432159424
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ]
+    },
+    "exterior_image_1_left": {
+        "mean": [
+            [
+                [
+                    0.41718605160713196
+                ]
+            ],
+            [
+                [
+                    0.4289124011993408
+                ]
+            ],
+            [
+                [
+                    0.4373040795326233
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.17789329588413239
+                ]
+            ],
+            [
+                [
+                    0.1938040405511856
+                ]
+            ],
+            [
+                [
+                    0.18886874616146088
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ]
+    },
+    "joint_position": {
+        "mean": [
+            0.12287864089012146,
+            0.3916880786418915,
+            0.056137461215257645,
+            -1.9355692863464355,
+            -0.027540484443306923,
+            2.1065239906311035,
+            0.13263772428035736
+        ],
+        "std": [
+            0.09114674478769302,
+            0.24519363045692444,
+            0.0368964858353138,
+            0.1864931881427765,
+            0.044217076152563095,
+            0.12505896389484406,
+            0.12068309634923935
+        ],
+        "max": [
+            0.3624882102012634,
+            0.7803362607955933,
+            0.19624756276607513,
+            -1.4684815406799316,
+            0.13108012080192566,
+            2.481382369995117,
+            0.47845903038978577
+        ],
+        "min": [
+            -0.0057244133204221725,
+            -0.5863921642303467,
+            -0.013191906735301018,
+            -2.4865386486053467,
+            -0.2733783423900604,
+            1.80582857131958,
+            -0.18621987104415894
+        ]
+    },
+    "gripper_position": {
+        "mean": [
+            0.5436189770698547
+        ],
+        "std": [
+            0.4416577219963074
+        ],
+        "max": [
+            0.9724669456481934
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "actions": {
+        "mean": [
+            0.0015776759246364236,
+            0.008905919268727303,
+            -0.0034449519589543343,
+            0.006839608773589134,
+            0.007155722007155418,
+            0.00875962432473898,
+            -0.029038723558187485,
+            0.5436189770698547
+        ],
+        "std": [
+            0.06453251093626022,
+            0.2146565467119217,
+            0.04824252054095268,
+            0.19696766138076782,
+            0.07120073586702347,
+            0.1399299055337906,
+            0.1381465494632721,
+            0.4416577219963074
+        ],
+        "max": [
+            0.20891593396663666,
+            0.6785687804222107,
+            0.17218393087387085,
+            0.5710380673408508,
+            0.2963655889034271,
+            0.41619986295700073,
+            0.5580650568008423,
+            0.9724669456481934
+        ],
+        "min": [
+            -0.2322247326374054,
+            -0.6474672555923462,
+            -0.18174248933792114,
+            -0.608316957950592,
+            -0.3377966284751892,
+            -0.5462239980697632,
+            -0.472053587436676,
+            0.0
+        ]
+    },
+    "task_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "timestamp": {
+        "mean": [
+            20.527185440063477
+        ],
+        "std": [
+            12.642733573913574
+        ],
+        "max": [
+            51.33333206176758
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "frame_index": {
+        "mean": [
+            307.9076843261719
+        ],
+        "std": [
+            189.64096069335938
+        ],
+        "max": [
+            770.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "episode_index": {
+        "mean": [
+            6.942966461181641
+        ],
+        "std": [
+            4.354974746704102
+        ],
+        "max": [
+            14.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "index": {
+        "mean": [
+            4427.0029296875
+        ],
+        "std": [
+            2556.218017578125
+        ],
+        "max": [
+            8854.0
+        ],
+        "min": [
+            0.0
+        ]
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Stack the cubes so that the order from bottom to top is blue, green, then purple."}

modality.json

@@ -0,0 +1,33 @@
+{
+    "state": {
+        "left_arm": {
+            "joint_position": {
+                "original_key": "joint_position"
+            },
+            "gripper_position": {
+                "original_key": "gripper_position"
+            }
+        }
+    },
+    "action": {
+        "left_arm": {
+            "original_key": "actions"
+        }
+    },
+    "image": {
+        "fixed_left": {
+            "original_key": "exterior_image_1_left"
+        },
+        "fixed_right": {
+            "original_key": "exterior_image_2_left"
+        },
+        "wrist_left": {
+            "original_key": "wrist_image_left"
+        }
+    },
+    "annotation": {
+        "human.coarse_action": {
+            "original_key": "task_index"
+        }
+    }
+}