leolin6 commited on
Commit
f10d699
·
verified ·
1 Parent(s): 171d7b5

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 sha256:22d182c711bb5260fae841a39e549b7f2f31ba15dd78462e1cf1418e13fdd02d
3
+ size 33012
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["move red cube to mat"], "length": 421}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [3.299999952316284, 1.5, 20.799999237060547, 1.0, -52.599998474121094, -2.700000047683716, 3.0999999046325684, -1.100000023841858, 135.89999389648438, 16.299999237060547, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [3.299999952316284, 1.5, 20.799999237060547, 1.0, -52.599998474121094, -2.5999999046325684, 3.0999999046325684, -1.100000023841858, 135.89999389648438, 16.299999237060547, 1000.0, 1000.0, 1000.0, 1000.0, 1000.0, 1000.0], "mean": [3.30000638961792, 1.5, 20.799911499023438, 1.0, -52.59978103637695, -2.600464105606079, 3.0999867916107178, -1.1000040769577026, 135.8994903564453, 16.299942016601562, 212.8843536376953, 336.4834899902344, 343.2084655761719, 302.3105773925781, 749.0233764648438, 609.449462890625], "std": [6.4373016357421875e-06, 0.0, 8.7738037109375e-05, 0.0, 0.000217437744140625, 0.00687611335888505, 1.3113021850585938e-05, 4.0531158447265625e-06, 0.0005035400390625, 5.7220458984375e-05, 343.61932373046875, 421.44390869140625, 423.0790100097656, 397.8636474609375, 380.84564208984375, 435.65716552734375], "count": [421]}, "observation.state": {"min": [-1.1975234746932983, -16.523921966552734, -0.010982944630086422, -11.138235092163086, 13.546341896057129, -12.194456100463867, -0.34052592515945435, -15.041060447692871, -22.33559226989746, -211.9214324951172, -12.579460144042969, -11.208176612854004, -4.097949504852295, -13.726058006286621, -0.6701781749725342, -118.05889129638672, 62.52415466308594, -11.732844352722168, 17.589431762695312, -598.6038818359375, 0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.2240000069141388], "max": [0.6042258739471436, 12.572029113769531, 0.12086702883243561, 8.830178260803223, 19.962512969970703, 57.433040618896484, 0.9557893872261047, 19.503522872924805, -9.393477439880371, 13.963966369628906, 5.6361083984375, 130.24984741210938, 5.921773910522461, 52.75397872924805, 17.08405113220215, 15.733477592468262, 124.42205810546875, 398.26165771484375, 77.50975036621094, 15.041060447692871, 0.9980000257492065, 0.9980000257492065, 0.9919999837875366, 0.996999979019165, 1.0, 0.9879999756813049], "mean": [-0.009212990291416645, 0.07164449989795685, 0.033627383410930634, -0.1256386786699295, 19.880157470703125, 0.5132426619529724, 0.9249549508094788, 0.22450107336044312, -22.107879638671875, -0.7555710673332214, 5.20246696472168, 1.251194953918457, 5.4994096755981445, 0.2399381846189499, -0.23909078538417816, -1.3971964120864868, 123.81666564941406, 3.8639090061187744, 18.15911102294922, -5.619542598724365, 0.2082180678844452, 0.33608317375183105, 0.37239915132522583, 0.3314060866832733, 0.7702261805534363, 0.679331362247467], "std": [0.1262778341770172, 4.484620571136475, 0.007913587614893913, 3.536048412322998, 0.5184802412986755, 6.168035984039307, 0.09915212541818619, 4.961459159851074, 0.9426321983337402, 12.732654571533203, 1.521437168121338, 11.258862495422363, 1.0659466981887817, 6.993967533111572, 1.4770554304122925, 10.706072807312012, 5.287287712097168, 36.637245178222656, 4.823399543762207, 47.99822235107422, 0.3075045049190521, 0.3605349659919739, 0.36793315410614014, 0.3314032256603241, 0.3203681409358978, 0.2891022562980652], "count": [421]}, "observation.images.left": {"min": [[[0.0]], [[0.03137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36933859681372544]], [[0.3388085539215686]], [[0.35151622957516343]]], "std": [[[0.2528440886564333]], [[0.30790895834253756]], [[0.24249453738549637]]], "count": [100]}, "observation.images.right": {"min": [[[0.0]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3575726838235294]], [[0.3423897651143791]], [[0.354954381127451]]], "std": [[[0.2472753657147774]], [[0.3002178980650719]], [[0.23749409789389483]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.0], "mean": [6.999999999999999], "std": [4.051062960645158], "count": [421]}, "frame_index": {"min": [0], "max": [420], "mean": [210.0], "std": [121.53188881935473], "count": [421]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [421]}, "index": {"min": [0], "max": [420], "mean": [210.0], "std": [121.53188881935473], "count": [421]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [421]}}}
meta/info.json ADDED
@@ -0,0 +1,157 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "zbot_inspire",
4
+ "total_episodes": 1,
5
+ "total_frames": 421,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
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
+ 26
45
+ ],
46
+ "names": [
47
+ "zbot_left_shoulder_pitch.pos",
48
+ "zbot_left_shoulder_pitch.vel",
49
+ "zbot_left_shoulder_roll.pos",
50
+ "zbot_left_shoulder_roll.vel",
51
+ "zbot_left_shoulder_yaw.pos",
52
+ "zbot_left_shoulder_yaw.vel",
53
+ "zbot_left_elbow.pos",
54
+ "zbot_left_elbow.vel",
55
+ "zbot_left_wrist.pos",
56
+ "zbot_left_wrist.vel",
57
+ "zbot_right_shoulder_pitch.pos",
58
+ "zbot_right_shoulder_pitch.vel",
59
+ "zbot_right_shoulder_roll.pos",
60
+ "zbot_right_shoulder_roll.vel",
61
+ "zbot_right_shoulder_yaw.pos",
62
+ "zbot_right_shoulder_yaw.vel",
63
+ "zbot_right_elbow.pos",
64
+ "zbot_right_elbow.vel",
65
+ "zbot_right_wrist.pos",
66
+ "zbot_right_wrist.vel",
67
+ "hand_pinky.pos",
68
+ "hand_ring.pos",
69
+ "hand_middle.pos",
70
+ "hand_index.pos",
71
+ "hand_thumb.pos",
72
+ "hand_extra.pos"
73
+ ]
74
+ },
75
+ "observation.images.left": {
76
+ "dtype": "video",
77
+ "shape": [
78
+ 480,
79
+ 640,
80
+ 3
81
+ ],
82
+ "names": [
83
+ "height",
84
+ "width",
85
+ "channels"
86
+ ],
87
+ "info": {
88
+ "video.height": 480,
89
+ "video.width": 640,
90
+ "video.codec": "libdav1d",
91
+ "video.pix_fmt": "yuv420p",
92
+ "video.is_depth_map": false,
93
+ "video.fps": 30,
94
+ "video.channels": 3,
95
+ "has_audio": false
96
+ }
97
+ },
98
+ "observation.images.right": {
99
+ "dtype": "video",
100
+ "shape": [
101
+ 480,
102
+ 640,
103
+ 3
104
+ ],
105
+ "names": [
106
+ "height",
107
+ "width",
108
+ "channels"
109
+ ],
110
+ "info": {
111
+ "video.height": 480,
112
+ "video.width": 640,
113
+ "video.codec": "libdav1d",
114
+ "video.pix_fmt": "yuv420p",
115
+ "video.is_depth_map": false,
116
+ "video.fps": 30,
117
+ "video.channels": 3,
118
+ "has_audio": false
119
+ }
120
+ },
121
+ "timestamp": {
122
+ "dtype": "float32",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ },
128
+ "frame_index": {
129
+ "dtype": "int64",
130
+ "shape": [
131
+ 1
132
+ ],
133
+ "names": null
134
+ },
135
+ "episode_index": {
136
+ "dtype": "int64",
137
+ "shape": [
138
+ 1
139
+ ],
140
+ "names": null
141
+ },
142
+ "index": {
143
+ "dtype": "int64",
144
+ "shape": [
145
+ 1
146
+ ],
147
+ "names": null
148
+ },
149
+ "task_index": {
150
+ "dtype": "int64",
151
+ "shape": [
152
+ 1
153
+ ],
154
+ "names": null
155
+ }
156
+ }
157
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "move red cube to mat"}
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 sha256:9533d8c40988a87f4606c6d891d3c4250d4cb0f52c60ae6a4ebb132d157c4ac8
3
+ size 4907455
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 sha256:41aef936473f929d184fe7d8bcabee6bfa2a227b991e0775ee595819df8a054d
3
+ size 5683851