leolin6 commited on
Commit
8d1dc67
·
verified ·
1 Parent(s): eac88c5

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 sha256:013551dc1d5ece2b627cf5d79b2e6714ae298b2c824dc8e9b5d9ef89236a0658
3
+ size 95756
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["ZBot teleoperation recording"], "length": 1511}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [3.251953125, -4.21875, -29.443359375, -92.197265625, -9.31640625, -23.642578125, -18.193359375, -18.369140625, 1.845703125, -8.525390625], "max": [12.83203125, 3.603515625, 13.974609375, -10.810546875, -7.20703125, 4.5703125, 3.1640625, 49.306640625, 100.283203125, 5.009765625], "mean": [3.5256879329681396, 2.676912307739258, 13.712508201599121, -11.974762916564941, -7.244665622711182, -4.705783843994141, -4.307745933532715, 1.3103904724121094, 21.720792770385742, -1.9990317821502686], "std": [0.9823510050773621, 0.6883814334869385, 2.723653554916382, 8.931533813476562, 0.256745845079422, 4.720419883728027, 3.502950429916382, 9.651079177856445, 28.0872745513916, 4.025228500366211], "count": [1511]}, "observation.state": {"min": [0.07693525403738022, -15.125099182128906, -1.175502896308899, -11.38302993774414, -19.083494186401367, -79.74469757080078, -87.1064453125, -146.06398010253906, -8.778159141540527, -15.65654182434082, -10.118624687194824, -39.25511932373047, -10.140536308288574, -27.120113372802734, -17.32567596435547, -151.83412170410156, -0.054914720356464386, -143.2171630859375, -8.33873176574707, -52.35509490966797], "max": [6.471085071563721, 27.81952476501465, -0.2087305784225464, 14.18067455291748, 13.634260177612305, 17.656858444213867, -10.552490234375, 14.34864330291748, -8.690240859985352, 17.887664794921875, 4.229799747467041, 32.295867919921875, 0.362546443939209, 30.75705337524414, 49.23052978515625, 142.60166931152344, 89.37521362304688, 212.38304138183594, 4.537431240081787, 35.58320999145508], "mean": [0.21118193864822388, -0.022994177415966988, -0.2279175966978073, -0.21222232282161713, 13.477336883544922, -0.4377593696117401, -11.489367485046387, -1.242967963218689, -8.71313762664795, -0.23261703550815582, 1.1686975955963135, 0.0014470821479335427, -1.6791263818740845, 0.10339752584695816, 0.9268359541893005, 0.4558815658092499, 16.533313751220703, 1.3183271884918213, -2.711501121520996, 0.3565019965171814], "std": [0.6546576023101807, 4.803714752197266, 0.09213244915008545, 3.8848466873168945, 1.6800686120986938, 7.399974346160889, 7.656724452972412, 12.294179916381836, 0.006319805514067411, 4.954537868499756, 2.5085248947143555, 5.947337627410889, 2.129328489303589, 5.641075611114502, 9.675501823425293, 25.03727149963379, 25.512300491333008, 34.53641128540039, 3.631585121154785, 6.73105001449585], "count": [1511]}, "observation.images.front": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3614190720709771]], [[0.3339497363339275]], [[0.34959634952465835]]], "std": [[[0.2483873683247507]], [[0.29485737022787456]], [[0.23953960860402798]]], "count": [242]}, "timestamp": {"min": [0.0], "max": [25.166666666666668], "mean": [12.583333333333332], "std": [7.269800547470337], "count": [1511]}, "frame_index": {"min": [0], "max": [1510], "mean": [755.0], "std": [436.1880328482202], "count": [1511]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1511]}, "index": {"min": [0], "max": [1510], "mean": [755.0], "std": [436.1880328482202], "count": [1511]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1511]}}}
meta/info.json ADDED
@@ -0,0 +1,122 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "zbot",
4
+ "total_episodes": 1,
5
+ "total_frames": 1511,
6
+ "total_tasks": 1,
7
+ "total_videos": 1,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 60,
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
+ 10
21
+ ],
22
+ "names": [
23
+ "left_shoulder_pitch.pos",
24
+ "left_shoulder_roll.pos",
25
+ "left_shoulder_yaw.pos",
26
+ "left_elbow.pos",
27
+ "left_wrist.pos",
28
+ "right_shoulder_pitch.pos",
29
+ "right_shoulder_roll.pos",
30
+ "right_shoulder_yaw.pos",
31
+ "right_elbow.pos",
32
+ "right_wrist.pos"
33
+ ]
34
+ },
35
+ "observation.state": {
36
+ "dtype": "float32",
37
+ "shape": [
38
+ 20
39
+ ],
40
+ "names": [
41
+ "left_shoulder_pitch.pos",
42
+ "left_shoulder_pitch.vel",
43
+ "left_shoulder_roll.pos",
44
+ "left_shoulder_roll.vel",
45
+ "left_shoulder_yaw.pos",
46
+ "left_shoulder_yaw.vel",
47
+ "left_elbow.pos",
48
+ "left_elbow.vel",
49
+ "left_wrist.pos",
50
+ "left_wrist.vel",
51
+ "right_shoulder_pitch.pos",
52
+ "right_shoulder_pitch.vel",
53
+ "right_shoulder_roll.pos",
54
+ "right_shoulder_roll.vel",
55
+ "right_shoulder_yaw.pos",
56
+ "right_shoulder_yaw.vel",
57
+ "right_elbow.pos",
58
+ "right_elbow.vel",
59
+ "right_wrist.pos",
60
+ "right_wrist.vel"
61
+ ]
62
+ },
63
+ "observation.images.front": {
64
+ "dtype": "video",
65
+ "shape": [
66
+ 240,
67
+ 320,
68
+ 3
69
+ ],
70
+ "names": [
71
+ "height",
72
+ "width",
73
+ "channels"
74
+ ],
75
+ "info": {
76
+ "video.height": 240,
77
+ "video.width": 320,
78
+ "video.codec": "libdav1d",
79
+ "video.pix_fmt": "yuv420p",
80
+ "video.is_depth_map": false,
81
+ "video.fps": 60,
82
+ "video.channels": 3,
83
+ "has_audio": false
84
+ }
85
+ },
86
+ "timestamp": {
87
+ "dtype": "float32",
88
+ "shape": [
89
+ 1
90
+ ],
91
+ "names": null
92
+ },
93
+ "frame_index": {
94
+ "dtype": "int64",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "episode_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "task_index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ }
121
+ }
122
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "ZBot teleoperation recording"}
videos/chunk-000/observation.images.front/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:69da26c269a98947638ad337078f8f27d6ba9250b374d4e27a9cb8c8bcdeb906
3
+ size 7725129