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:d7f792dd97d923c1622b4a3800f7f90b6c0f0daf8dbc8de567d04306070242a7
+size 34101

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df84e228244ca58fc3b3ba4e369752d58eb3a5f6e2da7407f2b018b30d85917
+size 33828

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1037c7fd6d8e3bfc6d46892057c5827e1c2eb74e65f51ce3a463de7b70c932e
+size 32530

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da31d1118f4b1586be43fbaeb0f420d8eb482ae6e43a31c637ea2b14c7e5950e
+size 26466

data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad8026d3ed0a9ec7a19f2add34bf047252058fc4bde12b08b6905b2757486567
+size 33338

meta/episodes.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "tasks": ["Put a bottlecap into a cup"], "length": 581}
+{"episode_index": 1, "tasks": ["Put a bottlecap into a cup"], "length": 591}
+{"episode_index": 2, "tasks": ["Put a bottlecap into a cup"], "length": 587}
+{"episode_index": 3, "tasks": ["Put a bottlecap into a cup"], "length": 605}
+{"episode_index": 4, "tasks": ["Put a bottlecap into a cup"], "length": 607}

meta/episodes_stats.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "stats": {"action": {"min": [-34.27734375, 72.0703125, 78.662109375, 47.4609375, -100.634765625, 0.10101010650396347], "max": [58.447265625, 189.580078125, 179.296875, 99.052734375, -43.505859375, 53.03030014038086], "mean": [-0.055517829954624176, 142.36007690429688, 130.5611572265625, 72.98072052001953, -76.6633529663086, 11.461590766906738], "std": [26.94348907470703, 36.02814865112305, 31.446626663208008, 11.825181007385254, 18.886333465576172, 17.641815185546875], "count": [581]}, "observation.state": {"min": [-34.453125, 71.806640625, 82.08984375, 48.427734375, -100.546875, 0.7528231143951416], "max": [58.095703125, 188.0859375, 178.2421875, 98.701171875, -43.9453125, 52.32120132446289], "mean": [-0.12480166554450989, 141.49020385742188, 131.60073852539062, 73.15979766845703, -76.69268035888672, 17.401756286621094], "std": [26.98343849182129, 35.97938919067383, 30.486787796020508, 11.639423370361328, 18.84775733947754, 16.08350944519043], "count": [581]}, "observation.images.airial": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5974005950897309]], [[0.6052417677522987]], [[0.7401533126315498]]], "std": [[[0.22909552974750494]], [[0.24273216699457817]], [[0.2188551180988237]]], "count": [118]}, "observation.images.right_follower": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6053705376924781]], [[0.61141793716074]], [[0.6301253479145896]]], "std": [[[0.3255033643328111]], [[0.24585494982964398]], [[0.2439597446089169]]], "count": [118]}, "timestamp": {"min": [0.0], "max": [19.333333333333332], "mean": [9.666666666666668], "std": [5.590666825661815], "count": [581]}, "frame_index": {"min": [0], "max": [580], "mean": [290.0], "std": [167.72000476985446], "count": [581]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [581]}, "index": {"min": [0], "max": [580], "mean": [290.0], "std": [167.72000476985446], "count": [581]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [581]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-70.13671875, 104.58984375, 89.12109375, 18.80859375, -141.50390625, -0.10101010650396347], "max": [82.177734375, 191.513671875, 179.384765625, 105.029296875, -79.27734375, 89.29293060302734], "mean": [11.197504043579102, 145.94825744628906, 138.61878967285156, 64.5530776977539, -99.15937805175781, 18.327152252197266], "std": [52.28514862060547, 32.59696578979492, 27.392486572265625, 18.576148986816406, 10.351264953613281, 26.534883499145508], "count": [591]}, "observation.state": {"min": [-70.3125, 104.4140625, 92.197265625, 19.86328125, -141.064453125, 0.8782936334609985], "max": [82.265625, 191.25, 178.154296875, 104.677734375, -82.79296875, 88.58218383789062], "mean": [11.132366180419922, 145.25743103027344, 139.83082580566406, 64.81096649169922, -99.21246337890625, 23.810232162475586], "std": [52.303001403808594, 32.518165588378906, 26.657033920288086, 18.31048583984375, 10.200678825378418, 23.747196197509766], "count": [591]}, "observation.images.airial": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.601643986516175]], [[0.6090753470505849]], [[0.740492816979733]]], "std": [[[0.23083585496942757]], [[0.24525296677622718]], [[0.22065978777685552]]], "count": [119]}, "observation.images.right_follower": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6141846542538584]], [[0.6219730992887351]], [[0.6348138593672763]]], "std": [[[0.31736585746410484]], [[0.24321194117314654]], [[0.2455251486308028]]], "count": [119]}, "timestamp": {"min": [0.0], "max": [19.666666666666668], "mean": [9.833333333333334], "std": [5.686892010645247], "count": [591]}, "frame_index": {"min": [0], "max": [590], "mean": [295.0], "std": [170.60676031935742], "count": [591]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [591]}, "index": {"min": [581], "max": [1171], "mean": [876.0], "std": [170.60676031935742], "count": [591]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [591]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-39.111328125, 55.8984375, 53.876953125, 6.240234375, -104.23828125, 0.0], "max": [79.716796875, 189.580078125, 179.560546875, 104.94140625, -65.390625, 61.11111068725586], "mean": [5.485602855682373, 130.74765014648438, 119.76744842529297, 75.4634780883789, -88.2004165649414, 15.926305770874023], "std": [31.952327728271484, 47.89277648925781, 47.395992279052734, 16.625713348388672, 11.997244834899902, 20.461814880371094], "count": [587]}, "observation.state": {"min": [-39.0234375, 55.546875, 56.42578125, 9.052734375, -103.53515625, 0.3764115571975708], "max": [79.716796875, 187.734375, 176.484375, 104.677734375, -65.478515625, 60.47678756713867], "mean": [5.314013957977295, 129.25979614257812, 119.86731719970703, 75.53581237792969, -88.1485824584961, 18.966800689697266], "std": [31.91646385192871, 47.74307632446289, 45.331851959228516, 16.331689834594727, 11.967537879943848, 19.49334716796875], "count": [587]}, "observation.images.airial": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5943832643351458]], [[0.6018122768715329]], [[0.7345604969929148]]], "std": [[[0.23157015076059126]], [[0.2455775947222236]], [[0.22276977896231007]]], "count": [119]}, "observation.images.right_follower": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6094752275910365]], [[0.6240905918740045]], [[0.6375086093260834]]], "std": [[[0.3337949553915392]], [[0.2498079760980504]], [[0.24765120530349904]]], "count": [119]}, "timestamp": {"min": [0.0], "max": [19.533333333333335], "mean": [9.766666666666666], "std": [5.648401937224762], "count": [587]}, "frame_index": {"min": [0], "max": [586], "mean": [293.0], "std": [169.45205811674285], "count": [587]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [587]}, "index": {"min": [1172], "max": [1758], "mean": [1465.0], "std": [169.45205811674285], "count": [587]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [587]}}}
+{"episode_index": 3, "stats": {"action": {"min": [-6.943359375, 66.796875, 76.9921875, 44.736328125, -106.611328125, 0.10101010650396347], "max": [50.009765625, 189.66796875, 179.6484375, 88.76953125, -85.95703125, 44.4444465637207], "mean": [8.888720512390137, 160.58839416503906, 149.38514709472656, 69.97667694091797, -97.4593734741211, 6.517409324645996], "std": [14.075840950012207, 42.10419845581055, 38.29911422729492, 14.110487937927246, 3.771803140640259, 12.995725631713867], "count": [605]}, "observation.state": {"min": [-6.943359375, 66.533203125, 79.892578125, 45.439453125, -106.171875, 0.8782936334609985], "max": [49.921875, 187.998046875, 176.66015625, 88.505859375, -86.1328125, 43.78921127319336], "mean": [8.800394058227539, 159.308837890625, 148.14053344726562, 70.06576538085938, -97.66560363769531, 8.696148872375488], "std": [14.120495796203613, 41.98078536987305, 35.998477935791016, 13.871940612792969, 3.8150646686553955, 13.485817909240723], "count": [605]}, "observation.images.airial": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6055689582995734]], [[0.612827693715227]], [[0.7432413591125155]]], "std": [[[0.2254128297719491]], [[0.2417748018041102]], [[0.21664615618098562]]], "count": [121]}, "observation.images.right_follower": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6128613575595527]], [[0.6310516799006104]], [[0.6465215946226975]]], "std": [[[0.33338336759945847]], [[0.2432444930729139]], [[0.23748364755599544]]], "count": [121]}, "timestamp": {"min": [0.0], "max": [20.133333333333333], "mean": [10.066666666666666], "std": [5.821607261840248], "count": [605]}, "frame_index": {"min": [0], "max": [604], "mean": [302.0], "std": [174.64821785520743], "count": [605]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [605]}, "index": {"min": [1759], "max": [2363], "mean": [2061.0], "std": [174.64821785520743], "count": [605]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [605]}}}
+{"episode_index": 4, "stats": {"action": {"min": [-60.556640625, 52.734375, 54.931640625, -1.318359375, -111.708984375, 0.20202021300792694], "max": [83.583984375, 189.4921875, 179.560546875, 105.029296875, -66.4453125, 53.838382720947266], "mean": [-2.1158907413482666, 129.20826721191406, 113.8786392211914, 82.0198974609375, -89.3707504272461, 11.643609046936035], "std": [42.65618896484375, 43.38393783569336, 44.92858123779297, 21.71820068359375, 11.442134857177734, 18.552799224853516], "count": [607]}, "observation.state": {"min": [-60.556640625, 52.55859375, 59.58984375, 0.087890625, -111.26953125, 0.8782936334609985], "max": [83.583984375, 187.998046875, 176.220703125, 104.94140625, -66.97265625, 53.199501037597656], "mean": [-2.1601979732513428, 127.87625885009766, 114.1794662475586, 82.11617279052734, -89.48377990722656, 16.43875503540039], "std": [42.62158203125, 43.27183532714844, 42.777687072753906, 21.517532348632812, 11.314276695251465, 17.501148223876953], "count": [607]}, "observation.images.airial": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6001744130370728]], [[0.6062056161603986]], [[0.7399868008678882]]], "std": [[[0.2316408323217823]], [[0.2478437117327551]], [[0.21983380795767907]]], "count": [122]}, "observation.images.right_follower": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6074657415220186]], [[0.6133193607360977]], [[0.6314481929042108]]], "std": [[[0.3202301488091298]], [[0.2452059105418529]], [[0.24758160869197063]]], "count": [122]}, "timestamp": {"min": [0.0], "max": [20.2], "mean": [10.1], "std": [5.840852297015869], "count": [607]}, "frame_index": {"min": [0], "max": [606], "mean": [303.0], "std": [175.22556891047608], "count": [607]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [607]}, "index": {"min": [2364], "max": [2970], "mean": [2667.0], "std": [175.22556891047608], "count": [607]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [607]}}}

meta/info.json

@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 5,
+    "total_frames": 2971,
+    "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": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.images.airial": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_follower": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "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": "Put a bottlecap into a cup"}

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:645ebab1c7429e663423f377e4c08eb0c7b354389df14ade23ae2ab05b4f3cc4
+size 7082334

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5370bd8ec841aa7011dc0b0cda273c5b9ccdb3890ce74b445bccb0f9fb27987
+size 7263060

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86cb532048be90e441d35a5918c5b695ce2e4bcbf169e37d81a62001d9a19707
+size 7268891

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81e9a133711f3ad00e6b9e60d3149e5f16177c8e5a784a3589e06753066231d1
+size 7445992

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4128db291ff8b583d39c1eca579fddf655323d8a8eee4c8eeb3d9b5923d756ce
+size 7407909

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6d556efc58ee136f3caae06ac588a48f896f4eee85b7143a9abb430135a559c
+size 5752307

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f36e1ef3fd2d384c093509daed5c1b95ef22ff54288791c0b848a0cda47d0016
+size 5493187

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd7ee8ef7a4370aac3c082f743b364a041327a1e87c2a5d3263dfd7107ae0983
+size 4872119

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59152ea4247d33a079791c610667b2b803d95b2cd4702e6a980c130c96d11d47
+size 4524223

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f15ec870dccdfc23c96330cc2ebd3bbaccdd29b525fdab6ae52149d40ef1c3c
+size 5101924