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 sha256:4eb3fd0f0422007730464632607a669739bc18dd9ced993181bc141108e05d1e
|
| 3 |
+
size 68496
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["pick up bottle"], "length": 553}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [2.2061917781829834, 1.0259339809417725, 33.900001525878906, 2.143141746520996, -59.19999694824219, -9.557408332824707, -12.148929595947266, -3.088855504989624, 84.84260559082031, 17.620132446289062, 231.240478515625, 237.04522705078125, 240.30453491210938, 316.1014404296875, 324.8917236328125, 341.16064453125], "max": [2.287712812423706, 1.136388897895813, 33.90000534057617, 2.163572311401367, -59.19999313354492, -1.9946250915527344, -5.582655906677246, -0.5409321784973145, 91.43563079833984, 23.717885971069336, 529.8465576171875, 573.3875122070312, 583.041015625, 648.7114868164062, 564.1126708984375, 640.787841796875], "mean": [2.2369160652160645, 1.0583078861236572, 33.90018844604492, 2.1490373611450195, -59.199676513671875, -6.026953220367432, -8.70663833618164, -1.3912718296051025, 88.26309967041016, 20.515901565551758, 327.4368591308594, 331.7970275878906, 340.4148254394531, 428.02215576171875, 407.51934814453125, 434.9360656738281], "std": [0.030519433319568634, 0.03382226824760437, 0.00018609217659104615, 0.005245514214038849, 0.0003194456221535802, 2.207453966140747, 2.4864814281463623, 0.6812378168106079, 1.634135127067566, 1.4752615690231323, 68.9063949584961, 77.3423843383789, 83.28358459472656, 76.72505950927734, 53.72323226928711, 72.9849624633789], "count": [553]}, "observation.state": {"min": [0.27462825179100037, 0.07693525403738022, 33.45388412475586, 0.8459053039550781, -22.950746536254883, 0.9338234663009644, -4.317663192749023, -7.459877967834473, 53.16362380981445, 2.076486825942993, 0.23000000417232513, 0.2370000034570694, 0.2409999966621399, 0.31700000166893005, 0.3269999921321869, 0.3319999873638153], "max": [0.45041000843048096, 0.1428329199552536, 33.51978302001953, 1.0437076091766357, -18.490251541137695, 3.7024543285369873, 8.250814437866211, 0.31856003403663635, 79.39942169189453, 23.214447021484375, 0.5260000228881836, 0.5699999928474426, 0.5789999961853027, 0.6449999809265137, 0.5640000104904175, 0.6230000257492065], "mean": [0.4406796097755432, 0.12062932550907135, 33.49114990234375, 1.0132781267166138, -21.324047088623047, 3.243154287338257, -3.0304408073425293, -0.15785248577594757, 77.20951080322266, 20.394363403320312, 0.3281393051147461, 0.3329150080680847, 0.3416169583797455, 0.4290035665035248, 0.4114534854888916, 0.42174291610717773], "std": [0.014725706540048122, 0.003486866829916835, 0.011215773411095142, 0.022254103794693947, 2.1203255653381348, 0.5001697540283203, 1.5341120958328247, 0.7177196741104126, 2.07344913482666, 1.750940203666687, 0.06879658252000809, 0.07773158699274063, 0.08319662511348724, 0.07643454521894455, 0.051892466843128204, 0.07233364880084991], "count": [553]}, "observation.images.left": {"min": [[[0.027450980392156862]], [[0.03137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5769927836823618]], [[0.5792682044994619]], [[0.4882600662851861]]], "std": [[[0.32257873854097213]], [[0.329904353445791]], [[0.255278475014322]]], "count": [114]}, "observation.images.right": {"min": [[[0.0]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6377712144984402]], [[0.6341388415197085]], [[0.5156705688172352]]], "std": [[[0.2795642454496138]], [[0.26608490245687255]], [[0.2126568844973213]]], "count": [114]}, "timestamp": {"min": [0.0], "max": [36.8], "mean": [18.400000000000002], "std": [10.642472561497268], "count": [553]}, "frame_index": {"min": [0], "max": [552], "mean": [276.0], "std": [159.63708842245902], "count": [553]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [553]}, "index": {"min": [0], "max": [552], "mean": [276.0], "std": [159.63708842245902], "count": [553]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [553]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,147 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "zbot_inspire",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 553,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 15,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 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 |
+
16
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"zbot_left_shoulder_pitch.pos",
|
| 24 |
+
"zbot_left_shoulder_roll.pos",
|
| 25 |
+
"zbot_left_shoulder_yaw.pos",
|
| 26 |
+
"zbot_left_elbow.pos",
|
| 27 |
+
"zbot_left_wrist.pos",
|
| 28 |
+
"zbot_right_shoulder_pitch.pos",
|
| 29 |
+
"zbot_right_shoulder_roll.pos",
|
| 30 |
+
"zbot_right_shoulder_yaw.pos",
|
| 31 |
+
"zbot_right_elbow.pos",
|
| 32 |
+
"zbot_right_wrist.pos",
|
| 33 |
+
"hand_pinky.pos",
|
| 34 |
+
"hand_ring.pos",
|
| 35 |
+
"hand_middle.pos",
|
| 36 |
+
"hand_index.pos",
|
| 37 |
+
"hand_thumb.pos",
|
| 38 |
+
"hand_extra.pos"
|
| 39 |
+
]
|
| 40 |
+
},
|
| 41 |
+
"observation.state": {
|
| 42 |
+
"dtype": "float32",
|
| 43 |
+
"shape": [
|
| 44 |
+
16
|
| 45 |
+
],
|
| 46 |
+
"names": [
|
| 47 |
+
"zbot_left_shoulder_pitch.pos",
|
| 48 |
+
"zbot_left_shoulder_roll.pos",
|
| 49 |
+
"zbot_left_shoulder_yaw.pos",
|
| 50 |
+
"zbot_left_elbow.pos",
|
| 51 |
+
"zbot_left_wrist.pos",
|
| 52 |
+
"zbot_right_shoulder_pitch.pos",
|
| 53 |
+
"zbot_right_shoulder_roll.pos",
|
| 54 |
+
"zbot_right_shoulder_yaw.pos",
|
| 55 |
+
"zbot_right_elbow.pos",
|
| 56 |
+
"zbot_right_wrist.pos",
|
| 57 |
+
"hand_pinky.pos",
|
| 58 |
+
"hand_ring.pos",
|
| 59 |
+
"hand_middle.pos",
|
| 60 |
+
"hand_index.pos",
|
| 61 |
+
"hand_thumb.pos",
|
| 62 |
+
"hand_extra.pos"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
"observation.images.left": {
|
| 66 |
+
"dtype": "video",
|
| 67 |
+
"shape": [
|
| 68 |
+
400,
|
| 69 |
+
500,
|
| 70 |
+
3
|
| 71 |
+
],
|
| 72 |
+
"names": [
|
| 73 |
+
"height",
|
| 74 |
+
"width",
|
| 75 |
+
"channels"
|
| 76 |
+
],
|
| 77 |
+
"info": {
|
| 78 |
+
"video.height": 400,
|
| 79 |
+
"video.width": 500,
|
| 80 |
+
"video.codec": "libdav1d",
|
| 81 |
+
"video.pix_fmt": "yuv420p",
|
| 82 |
+
"video.is_depth_map": false,
|
| 83 |
+
"video.fps": 15,
|
| 84 |
+
"video.channels": 3,
|
| 85 |
+
"has_audio": false
|
| 86 |
+
}
|
| 87 |
+
},
|
| 88 |
+
"observation.images.right": {
|
| 89 |
+
"dtype": "video",
|
| 90 |
+
"shape": [
|
| 91 |
+
400,
|
| 92 |
+
500,
|
| 93 |
+
3
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
+
"height",
|
| 97 |
+
"width",
|
| 98 |
+
"channels"
|
| 99 |
+
],
|
| 100 |
+
"info": {
|
| 101 |
+
"video.height": 400,
|
| 102 |
+
"video.width": 500,
|
| 103 |
+
"video.codec": "libdav1d",
|
| 104 |
+
"video.pix_fmt": "yuv420p",
|
| 105 |
+
"video.is_depth_map": false,
|
| 106 |
+
"video.fps": 15,
|
| 107 |
+
"video.channels": 3,
|
| 108 |
+
"has_audio": false
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"timestamp": {
|
| 112 |
+
"dtype": "float32",
|
| 113 |
+
"shape": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"names": null
|
| 117 |
+
},
|
| 118 |
+
"frame_index": {
|
| 119 |
+
"dtype": "int64",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"episode_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
|
| 131 |
+
},
|
| 132 |
+
"index": {
|
| 133 |
+
"dtype": "int64",
|
| 134 |
+
"shape": [
|
| 135 |
+
1
|
| 136 |
+
],
|
| 137 |
+
"names": null
|
| 138 |
+
},
|
| 139 |
+
"task_index": {
|
| 140 |
+
"dtype": "int64",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
],
|
| 144 |
+
"names": null
|
| 145 |
+
}
|
| 146 |
+
}
|
| 147 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pick up bottle"}
|
videos/chunk-000/observation.images.left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c575f05d34a508c0ac07d92116ecafb4930b0b69595fb63ce242d45b7c8a556d
|
| 3 |
+
size 5865341
|
videos/chunk-000/observation.images.right/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5c19b5a8b233cc1c0ffdedaf55e64feeca74f20dec2ed361ee210059b0b56684
|
| 3 |
+
size 6582264
|