leodong commited on
Commit
19be038
·
verified ·
1 Parent(s): 23c4070

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4fdf0b20896958c05b4692007d33c4171a41ffb26d5a6de80b11cd56a0deb6a5
3
+ size 35037
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ed37010f73717648f2da47599a73d9178f7c8dfa8461dc6a4a106a6b65c8328e
3
+ size 29992
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 861}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 706}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "so100",
4
+ "total_episodes": 2,
5
+ "total_frames": 1567,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "main_shoulder_pan",
24
+ "main_shoulder_lift",
25
+ "main_elbow_flex",
26
+ "main_wrist_flex",
27
+ "main_wrist_roll",
28
+ "main_gripper"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "main_shoulder_pan",
38
+ "main_shoulder_lift",
39
+ "main_elbow_flex",
40
+ "main_wrist_flex",
41
+ "main_wrist_roll",
42
+ "main_gripper"
43
+ ]
44
+ },
45
+ "observation.images.laptop": {
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.fps": 30.0,
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.channels": 3,
62
+ "video.codec": "h264",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
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 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 11.942188262939453,
5
+ -6.795624732971191,
6
+ 70.12013244628906,
7
+ 78.95317840576172,
8
+ 94.70548248291016,
9
+ 12.321684837341309
10
+ ],
11
+ "std": [
12
+ 13.655258178710938,
13
+ 6.1551690101623535,
14
+ 22.603715896606445,
15
+ 55.84284210205078,
16
+ 45.545448303222656,
17
+ 14.132633209228516
18
+ ],
19
+ "max": [
20
+ 29.8828125,
21
+ 4.130859375,
22
+ 104.23828125,
23
+ 179.12109375,
24
+ 177.099609375,
25
+ 39.92210388183594
26
+ ],
27
+ "min": [
28
+ -10.107421875,
29
+ -22.412109375,
30
+ 36.5625,
31
+ -9.4921875,
32
+ 38.232421875,
33
+ -0.9737098217010498
34
+ ]
35
+ },
36
+ "observation.state": {
37
+ "mean": [
38
+ 13.92463207244873,
39
+ -6.412200927734375,
40
+ 69.1814956665039,
41
+ 79.6358642578125,
42
+ 92.82465362548828,
43
+ 11.97992992401123
44
+ ],
45
+ "std": [
46
+ 12.214277267456055,
47
+ 5.709525108337402,
48
+ 21.921615600585938,
49
+ 55.686431884765625,
50
+ 46.27247619628906,
51
+ 13.949385643005371
52
+ ],
53
+ "max": [
54
+ 29.00390625,
55
+ 3.427734375,
56
+ 100.1953125,
57
+ 181.0546875,
58
+ 177.275390625,
59
+ 39.02195739746094
60
+ ],
61
+ "min": [
62
+ -9.580078125,
63
+ -21.708984375,
64
+ 36.298828125,
65
+ -7.119140625,
66
+ 37.177734375,
67
+ 0.19960080087184906
68
+ ]
69
+ },
70
+ "observation.images.laptop": {
71
+ "mean": [
72
+ [
73
+ [
74
+ 0.3558950424194336
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.4360588490962982
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.4478839635848999
85
+ ]
86
+ ]
87
+ ],
88
+ "std": [
89
+ [
90
+ [
91
+ 0.21179388463497162
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.24685314297676086
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.259563684463501
102
+ ]
103
+ ]
104
+ ],
105
+ "max": [
106
+ [
107
+ [
108
+ 1.0
109
+ ]
110
+ ],
111
+ [
112
+ [
113
+ 1.0
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 1.0
119
+ ]
120
+ ]
121
+ ],
122
+ "min": [
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ],
128
+ [
129
+ [
130
+ 0.0
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 0.0
136
+ ]
137
+ ]
138
+ ]
139
+ },
140
+ "timestamp": {
141
+ "mean": [
142
+ 13.169432640075684
143
+ ],
144
+ "std": [
145
+ 7.756313800811768
146
+ ],
147
+ "max": [
148
+ 28.66666603088379
149
+ ],
150
+ "min": [
151
+ 0.0
152
+ ]
153
+ },
154
+ "frame_index": {
155
+ "mean": [
156
+ 395.08306884765625
157
+ ],
158
+ "std": [
159
+ 232.6894073486328
160
+ ],
161
+ "max": [
162
+ 860.0
163
+ ],
164
+ "min": [
165
+ 0.0
166
+ ]
167
+ },
168
+ "episode_index": {
169
+ "mean": [
170
+ 0.4505425691604614
171
+ ],
172
+ "std": [
173
+ 0.4975479245185852
174
+ ],
175
+ "max": [
176
+ 1.0
177
+ ],
178
+ "min": [
179
+ 0.0
180
+ ]
181
+ },
182
+ "index": {
183
+ "mean": [
184
+ 782.9998779296875
185
+ ],
186
+ "std": [
187
+ 452.3538818359375
188
+ ],
189
+ "max": [
190
+ 1566.0
191
+ ],
192
+ "min": [
193
+ 0.0
194
+ ]
195
+ },
196
+ "task_index": {
197
+ "mean": [
198
+ 0.0
199
+ ],
200
+ "std": [
201
+ 0.0
202
+ ],
203
+ "max": [
204
+ 0.0
205
+ ],
206
+ "min": [
207
+ 0.0
208
+ ]
209
+ }
210
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
videos/chunk-000/observation.images.laptop/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1bfe005cd4f9f2e236021b399dca7650ec533cb936722bd18e2bb87b1413c954
3
+ size 15991452
videos/chunk-000/observation.images.laptop/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4975bf7f57a966c08e819302b3308ccf8545c077e3887db3ae2bf7c5fb905ec6
3
+ size 13099123