Upload 6 files
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +104 -0
- meta/stats.json +234 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.front/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:383ee0915d71d315399a8d20e610fb718951e704a53f9fb5eb8d79773c9a0b49
|
| 3 |
+
size 264082
|
meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d5501d8daeb17fea603e8c8e0e8a53b13a12e73fa01df5f3905a757a912b49da
|
| 3 |
+
size 45284
|
meta/info.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "so101_follower",
|
| 4 |
+
"total_episodes": 5,
|
| 5 |
+
"total_frames": 8858,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 500,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:5"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"names": [
|
| 20 |
+
"shoulder_pan.pos",
|
| 21 |
+
"shoulder_lift.pos",
|
| 22 |
+
"elbow_flex.pos",
|
| 23 |
+
"wrist_flex.pos",
|
| 24 |
+
"wrist_roll.pos",
|
| 25 |
+
"gripper.pos"
|
| 26 |
+
],
|
| 27 |
+
"shape": [
|
| 28 |
+
6
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"names": [
|
| 34 |
+
"shoulder_pan.pos",
|
| 35 |
+
"shoulder_lift.pos",
|
| 36 |
+
"elbow_flex.pos",
|
| 37 |
+
"wrist_flex.pos",
|
| 38 |
+
"wrist_roll.pos",
|
| 39 |
+
"gripper.pos"
|
| 40 |
+
],
|
| 41 |
+
"shape": [
|
| 42 |
+
6
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.front": {
|
| 46 |
+
"dtype": "video",
|
| 47 |
+
"shape": [
|
| 48 |
+
480,
|
| 49 |
+
640,
|
| 50 |
+
3
|
| 51 |
+
],
|
| 52 |
+
"names": [
|
| 53 |
+
"height",
|
| 54 |
+
"width",
|
| 55 |
+
"channels"
|
| 56 |
+
],
|
| 57 |
+
"info": {
|
| 58 |
+
"video.height": 480,
|
| 59 |
+
"video.width": 640,
|
| 60 |
+
"video.codec": "av1",
|
| 61 |
+
"video.pix_fmt": "yuv420p",
|
| 62 |
+
"video.is_depth_map": false,
|
| 63 |
+
"video.fps": 30,
|
| 64 |
+
"video.channels": 3,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"timestamp": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"names": null
|
| 74 |
+
},
|
| 75 |
+
"frame_index": {
|
| 76 |
+
"dtype": "int64",
|
| 77 |
+
"shape": [
|
| 78 |
+
1
|
| 79 |
+
],
|
| 80 |
+
"names": null
|
| 81 |
+
},
|
| 82 |
+
"episode_index": {
|
| 83 |
+
"dtype": "int64",
|
| 84 |
+
"shape": [
|
| 85 |
+
1
|
| 86 |
+
],
|
| 87 |
+
"names": null
|
| 88 |
+
},
|
| 89 |
+
"index": {
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"task_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,234 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"timestamp": {
|
| 3 |
+
"min": [
|
| 4 |
+
0.0
|
| 5 |
+
],
|
| 6 |
+
"max": [
|
| 7 |
+
59.03333333333333
|
| 8 |
+
],
|
| 9 |
+
"mean": [
|
| 10 |
+
29.51000225784601
|
| 11 |
+
],
|
| 12 |
+
"std": [
|
| 13 |
+
17.04723014291517
|
| 14 |
+
],
|
| 15 |
+
"count": [
|
| 16 |
+
8858
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"episode_index": {
|
| 20 |
+
"min": [
|
| 21 |
+
0
|
| 22 |
+
],
|
| 23 |
+
"max": [
|
| 24 |
+
4
|
| 25 |
+
],
|
| 26 |
+
"mean": [
|
| 27 |
+
2.0003386769022353
|
| 28 |
+
],
|
| 29 |
+
"std": [
|
| 30 |
+
1.414173607799697
|
| 31 |
+
],
|
| 32 |
+
"count": [
|
| 33 |
+
8858
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
"observation.images.front": {
|
| 37 |
+
"min": [
|
| 38 |
+
[
|
| 39 |
+
[
|
| 40 |
+
0.0
|
| 41 |
+
]
|
| 42 |
+
],
|
| 43 |
+
[
|
| 44 |
+
[
|
| 45 |
+
0.0
|
| 46 |
+
]
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
[
|
| 50 |
+
0.0
|
| 51 |
+
]
|
| 52 |
+
]
|
| 53 |
+
],
|
| 54 |
+
"max": [
|
| 55 |
+
[
|
| 56 |
+
[
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
[
|
| 62 |
+
1.0
|
| 63 |
+
]
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
[
|
| 67 |
+
1.0
|
| 68 |
+
]
|
| 69 |
+
]
|
| 70 |
+
],
|
| 71 |
+
"mean": [
|
| 72 |
+
[
|
| 73 |
+
[
|
| 74 |
+
0.30660253806650867
|
| 75 |
+
]
|
| 76 |
+
],
|
| 77 |
+
[
|
| 78 |
+
[
|
| 79 |
+
0.314308485958486
|
| 80 |
+
]
|
| 81 |
+
],
|
| 82 |
+
[
|
| 83 |
+
[
|
| 84 |
+
0.30882764340779045
|
| 85 |
+
]
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"std": [
|
| 89 |
+
[
|
| 90 |
+
[
|
| 91 |
+
0.26271377854896
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
[
|
| 95 |
+
[
|
| 96 |
+
0.24508311446337447
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
[
|
| 100 |
+
[
|
| 101 |
+
0.25164462097827894
|
| 102 |
+
]
|
| 103 |
+
]
|
| 104 |
+
],
|
| 105 |
+
"count": [
|
| 106 |
+
1365
|
| 107 |
+
]
|
| 108 |
+
},
|
| 109 |
+
"action": {
|
| 110 |
+
"min": [
|
| 111 |
+
-94.88777923583984,
|
| 112 |
+
-98.90202331542969,
|
| 113 |
+
-4.948805332183838,
|
| 114 |
+
35.867191314697266,
|
| 115 |
+
-82.7442855834961,
|
| 116 |
+
0.0
|
| 117 |
+
],
|
| 118 |
+
"max": [
|
| 119 |
+
54.738155364990234,
|
| 120 |
+
4.054054260253906,
|
| 121 |
+
99.48805236816406,
|
| 122 |
+
100.0,
|
| 123 |
+
58.367984771728516,
|
| 124 |
+
54.35126495361328
|
| 125 |
+
],
|
| 126 |
+
"mean": [
|
| 127 |
+
-9.006005034971032,
|
| 128 |
+
-70.96048526242829,
|
| 129 |
+
71.13374012343957,
|
| 130 |
+
74.920961668971,
|
| 131 |
+
-8.84493439093646,
|
| 132 |
+
9.116120148577144
|
| 133 |
+
],
|
| 134 |
+
"std": [
|
| 135 |
+
25.783695414382848,
|
| 136 |
+
34.18527309112867,
|
| 137 |
+
27.43113371287221,
|
| 138 |
+
12.979670356687919,
|
| 139 |
+
33.087954655076636,
|
| 140 |
+
16.37917278757015
|
| 141 |
+
],
|
| 142 |
+
"count": [
|
| 143 |
+
8858
|
| 144 |
+
]
|
| 145 |
+
},
|
| 146 |
+
"index": {
|
| 147 |
+
"min": [
|
| 148 |
+
0
|
| 149 |
+
],
|
| 150 |
+
"max": [
|
| 151 |
+
8857
|
| 152 |
+
],
|
| 153 |
+
"mean": [
|
| 154 |
+
4428.5
|
| 155 |
+
],
|
| 156 |
+
"std": [
|
| 157 |
+
2557.084325946252
|
| 158 |
+
],
|
| 159 |
+
"count": [
|
| 160 |
+
8858
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"task_index": {
|
| 164 |
+
"min": [
|
| 165 |
+
0
|
| 166 |
+
],
|
| 167 |
+
"max": [
|
| 168 |
+
0
|
| 169 |
+
],
|
| 170 |
+
"mean": [
|
| 171 |
+
0.0
|
| 172 |
+
],
|
| 173 |
+
"std": [
|
| 174 |
+
0.0
|
| 175 |
+
],
|
| 176 |
+
"count": [
|
| 177 |
+
8858
|
| 178 |
+
]
|
| 179 |
+
},
|
| 180 |
+
"observation.state": {
|
| 181 |
+
"min": [
|
| 182 |
+
-94.1972885131836,
|
| 183 |
+
-97.6341323852539,
|
| 184 |
+
-2.5884382724761963,
|
| 185 |
+
35.900726318359375,
|
| 186 |
+
-82.89786529541016,
|
| 187 |
+
1.0631228685379028
|
| 188 |
+
],
|
| 189 |
+
"max": [
|
| 190 |
+
54.506771087646484,
|
| 191 |
+
3.7600338459014893,
|
| 192 |
+
98.9646224975586,
|
| 193 |
+
99.31536102294922,
|
| 194 |
+
58.03642272949219,
|
| 195 |
+
54.01993179321289
|
| 196 |
+
],
|
| 197 |
+
"mean": [
|
| 198 |
+
-9.136276180142875,
|
| 199 |
+
-71.11258058511369,
|
| 200 |
+
71.1846765796819,
|
| 201 |
+
74.76820268801089,
|
| 202 |
+
-8.79942969665971,
|
| 203 |
+
11.0500834178214
|
| 204 |
+
],
|
| 205 |
+
"std": [
|
| 206 |
+
25.751575412737918,
|
| 207 |
+
34.54165476940803,
|
| 208 |
+
26.877320928899866,
|
| 209 |
+
12.761684212568316,
|
| 210 |
+
33.102056443208,
|
| 211 |
+
15.958764425393204
|
| 212 |
+
],
|
| 213 |
+
"count": [
|
| 214 |
+
8858
|
| 215 |
+
]
|
| 216 |
+
},
|
| 217 |
+
"frame_index": {
|
| 218 |
+
"min": [
|
| 219 |
+
0
|
| 220 |
+
],
|
| 221 |
+
"max": [
|
| 222 |
+
1771
|
| 223 |
+
],
|
| 224 |
+
"mean": [
|
| 225 |
+
885.3000677353805
|
| 226 |
+
],
|
| 227 |
+
"std": [
|
| 228 |
+
511.41690428745505
|
| 229 |
+
],
|
| 230 |
+
"count": [
|
| 231 |
+
8858
|
| 232 |
+
]
|
| 233 |
+
}
|
| 234 |
+
}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:76638f728744e7c549b26ec340295cca35ea297074c40262eff87aab481def0a
|
| 3 |
+
size 2309
|
videos/observation.images.front/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a46f90ebfd2f628e797651b9c051d8ed83f0ea21621c87d35498bb1b0113bbad
|
| 3 |
+
size 165708182
|