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:c44e411f36cc8b650d2cca95a29ab193932f31e0ff87b4076f79e9be0d84080e
|
| 3 |
+
size 81556
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["pick up bottle"], "length": 601}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [2.1996729373931885, 0.9161894917488098, 33.900001525878906, 2.098475217819214, -59.20000076293945, -43.682823181152344, -21.132068634033203, -17.713422775268555, 40.5405158996582, 10.61660099029541, -11.3935546875, -16.39385986328125, -3.50445556640625, 97.9892578125, 55.3822021484375, 51.2001953125], "max": [2.3023600578308105, 1.2359261512756348, 33.900001525878906, 2.2018561363220215, -59.19999694824219, 1.3627185821533203, 21.80765151977539, 12.273658752441406, 100.62942504882812, 37.324893951416016, 988.64794921875, 989.3887939453125, 993.2118530273438, 1022.50146484375, 1014.8330078125, 965.96142578125], "mean": [2.2618534564971924, 1.066440463066101, 33.900203704833984, 2.133664846420288, -59.199642181396484, -23.718332290649414, -2.801696538925171, -2.934936046600342, 71.63314056396484, 25.88683319091797, 546.8401489257812, 584.2635498046875, 563.896240234375, 634.1134643554688, 661.4423828125, 570.0261840820312], "std": [0.033879537135362625, 0.11569979041814804, 0.000202178955078125, 0.04651014879345894, 0.00035722157917916775, 14.741686820983887, 9.98893928527832, 8.235630989074707, 19.22633934020996, 7.778650283813477, 401.3583679199219, 402.76123046875, 407.29046630859375, 364.11041259765625, 379.2488708496094, 288.46978759765625], "count": [601]}, "observation.state": {"min": [1.7907663583755493, -1.3733052015304565, 35.58528518676758, 0.45041000843048096, -18.556148529052734, -20.775468826293945, -8.931975364685059, -14.117618560791016, 35.277652740478516, 12.469685554504395, 0.007000000216066837, 0.0020000000949949026, 0.0010000000474974513, 0.164000004529953, 0.23800000548362732, 0.18400000035762787], "max": [1.900705099105835, -1.3293733596801758, 35.62921905517578, 0.4724305272102356, -18.534183502197266, 6.009637832641602, 14.381263732910156, 10.777765274047852, 86.43074798583984, 36.06864547729492, 0.9829999804496765, 0.9850000143051147, 0.9879999756813049, 0.996999979019165, 0.9940000176429749, 0.925000011920929], "mean": [1.847943663597107, -1.3521018028259277, 35.60664367675781, 0.4649549424648285, -18.549808502197266, -7.738602161407471, 1.0384132862091064, -2.8133292198181152, 61.502925872802734, 25.8009033203125, 0.5702269077301025, 0.609064519405365, 0.5946758985519409, 0.6524525880813599, 0.7343429327011108, 0.5658581256866455], "std": [0.024050699546933174, 0.006955821067094803, 0.005174676887691021, 0.010427091270685196, 0.009910772554576397, 8.689605712890625, 5.742979526519775, 8.02971363067627, 17.285194396972656, 7.06299352645874, 0.3712759017944336, 0.36813709139823914, 0.3722088932991028, 0.33328887820243835, 0.29674020409584045, 0.26402369141578674], "count": [601]}, "observation.images.left": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5726176884579689]], [[0.5852889943489333]], [[0.49200029909923076]]], "std": [[[0.34493262128222335]], [[0.34861903232348307]], [[0.2794583854401354]]], "count": [121]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6028425303522646]], [[0.6408143899113592]], [[0.5676982765978212]]], "std": [[[0.30368957556914694]], [[0.29656533202873114]], [[0.2489392012467086]]], "count": [121]}, "timestamp": {"min": [0.0], "max": [40.0], "mean": [20.0], "std": [11.566234381931649], "count": [601]}, "frame_index": {"min": [0], "max": [600], "mean": [300.0], "std": [173.49351572897473], "count": [601]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [601]}, "index": {"min": [0], "max": [600], "mean": [300.0], "std": [173.49351572897473], "count": [601]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [601]}}}
|
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": 601,
|
| 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:cad3371ebae0b6e6dbcd52c5ec8f4f082a26f7d7a59c5d98da5c2c2a975f4861
|
| 3 |
+
size 5963655
|
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 sha256:594802837bc0f9d988d4059b4832579b928f4b2dee80d57fd4f60d5c0c5e97ed
|
| 3 |
+
size 7408995
|