liyitenga commited on
Commit
180087e
·
verified ·
1 Parent(s): 265e68f

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 sha256:4305e1270253074709ca45b2e55541e7e277982b8f51f4d2dbff6b6a288af385
3
+ size 8851
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:42dec92a3ea5bc943e24a147686dd614d70b5f36d13dbb9559bd89667426b319
3
+ size 13735
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:71346a6b700bb20afd72f3914d0ff9ec42b51ba827f48fd6f14c0a4fb79e97cd
3
+ size 11872
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["My task description4"], "length": 247}
2
+ {"episode_index": 1, "tasks": ["My task description4"], "length": 465}
3
+ {"episode_index": 2, "tasks": ["My task description4"], "length": 189}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [6.620892524719238, 95.080322265625, -100.0, -8.699999809265137, -14.3706636428833, -0.7570207715034485, 0.3205128312110901, -5.653206825256348, 98.66028594970703, -100.0, -18.213748931884766, -5.347326278686523, 1.4407814741134644, 0.8759124279022217, 0.0, 0.0, 0.0], "max": [6.620892524719238, 95.080322265625, -100.0, -8.699999809265137, -14.3706636428833, -0.7570207715034485, 0.3205128312110901, -5.653206825256348, 98.66028594970703, -100.0, -18.213748931884766, -5.347326278686523, 1.4407814741134644, 0.8759124279022217, 0.0, 0.0, 0.0], "mean": [6.620880126953125, 95.08012390136719, -100.0, -8.699978828430176, -14.370623588562012, -0.7570194005966187, 0.32051318883895874, -5.653200626373291, 98.66018676757812, -100.0, -18.21381187438965, -5.347326278686523, 1.4407850503921509, 0.875914454460144, 0.0, 0.0, 0.0], "std": [1.239776611328125e-05, 0.0001983642578125, 0.0, 2.09808349609375e-05, 4.00543212890625e-05, 1.3709068298339844e-06, 3.5762786865234375e-07, 6.198883056640625e-06, 9.918212890625e-05, 0.0, 6.29425048828125e-05, 0.0, 3.5762786865234375e-06, 2.0265579223632812e-06, 0.0, 0.0, 0.0], "count": [247]}, "observation.state": {"min": [-13.121272087097168, 79.89418029785156, -100.0, -47.264198303222656, -14.064765930175781, -0.5109149813652039, 0.7648183703422546, -5.791962146759033, 98.4000015258789, -99.62808227539062, -18.953603744506836, -4.871923446655273, 0.7194244861602783, 3.288201093673706, -0.00221411045640707, -0.0012783173006027937, -0.5859375], "max": [6.461232662200928, 94.42039489746094, -100.0, -10.161542892456055, -3.238279342651367, 63.0283317565918, 0.7648183703422546, -5.55555534362793, 98.4000015258789, -99.62808227539062, -18.953603744506836, 4.671019554138184, 1.1690647602081299, 89.55512237548828, 0.00221411045640707, 0.0012783173006027937, 0.5859375], "mean": [5.682495594024658, 93.92000579833984, -100.0, -11.585204124450684, -13.715662956237793, 2.2269937992095947, 0.7648172974586487, -5.678055763244629, 98.40023040771484, -99.62828826904297, -18.953611373901367, -4.561224460601807, 1.15668785572052, 6.602250099182129, 0.0, 0.0, 0.0], "std": [3.3759360313415527, 2.487478733062744, 0.0, 6.6708984375, 1.789839506149292, 11.928383827209473, 1.0728836059570312e-06, 0.024569999426603317, 0.0002288818359375, 0.00020599365234375, 7.62939453125e-06, 1.5811372995376587, 0.06606842577457428, 15.588175773620605, 0.00028176093474030495, 0.0001626747689442709, 0.0745646208524704], "count": [247]}, "observation.images.front1": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46214497140522875]], [[0.45319913194444444]], [[0.44056290236928103]]], "std": [[[0.2245789250873231]], [[0.24337897457136212]], [[0.24701752457523976]]], "count": [100]}, "observation.images.wrist1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[0.9921568627450981]]], "mean": [[[0.545427824754902]], [[0.48642412377450983]], [[0.37415343545751634]]], "std": [[[0.25796972253558464]], [[0.24602247531851063]], [[0.22279705712329753]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.2], "mean": [4.1000000000000005], "std": [2.3767391293301183], "count": [247]}, "frame_index": {"min": [0], "max": [246], "mean": [123.0], "std": [71.30217387990355], "count": [247]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [247]}, "index": {"min": [0], "max": [246], "mean": [123.0], "std": [71.30217387990355], "count": [247]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [247]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [6.620892524719238, 95.080322265625, -100.0, -8.699999809265137, -14.3706636428833, -0.7570207715034485, 0.3205128312110901, -5.653206825256348, 98.66028594970703, -100.0, -18.213748931884766, -5.347326278686523, 1.4407814741134644, 0.8759124279022217, -0.10000000149011612, -0.10000000149011612, 0.0], "max": [6.620892524719238, 95.080322265625, -100.0, -8.699999809265137, -14.3706636428833, -0.7570207715034485, 0.3205128312110901, -5.653206825256348, 98.66028594970703, -100.0, -18.213748931884766, -5.347326278686523, 1.4407814741134644, 0.8759124279022217, 0.10000000149011612, 0.0, 0.0], "mean": [6.620865821838379, 95.08061218261719, -100.0, -8.699965476989746, -14.370615005493164, -0.7570192217826843, 0.3205121159553528, -5.653226375579834, 98.66017150878906, -100.0, -18.213838577270508, -5.347330570220947, 1.4407901763916016, 0.8759149312973022, -0.0010752686066552997, -0.010537629947066307, 0.0], "std": [2.6702880859375e-05, 0.0002899169921875, 0.0, 3.4332275390625e-05, 4.863739013671875e-05, 1.5497207641601562e-06, 7.152557373046875e-07, 1.9550323486328125e-05, 0.00011444091796875, 0.0, 8.96453857421875e-05, 4.291534423828125e-06, 8.702278137207031e-06, 2.5033950805664062e-06, 0.027414096519351006, 0.030703773722052574, 0.0], "count": [465]}, "observation.state": {"min": [5.96421480178833, 94.42039489746094, -100.0, -10.161542892456055, -14.934751510620117, -1.161170482635498, 0.7648183703422546, -6.264775276184082, 98.4000015258789, -99.62808227539062, -18.953603744506836, -4.871923446655273, 1.1690647602081299, 3.288201093673706, -0.11513374745845795, -0.11121360957622528, -4.1015625], "max": [7.355865001678467, 94.42039489746094, -100.0, -10.161542892456055, -14.064765930175781, -0.5109149813652039, 0.7648183703422546, -5.55555534362793, 98.4000015258789, -99.62808227539062, -18.953603744506836, -4.871923446655273, 1.1690647602081299, 3.288201093673706, 0.10184908658266068, 0.006391586735844612, 4.6875], "mean": [6.54439115524292, 94.4205093383789, -100.0, -10.161579132080078, -14.268125534057617, -0.6181908249855042, 0.7648211121559143, -6.021241664886475, 98.3997573852539, -99.62857818603516, -18.95357894897461, -4.871930122375488, 1.1690670251846313, 3.2882072925567627, -0.000671375310048461, -0.01069663092494011, 0.011340726166963577], "std": [0.16308148205280304, 0.00011444091796875, 0.0, 3.62396240234375e-05, 0.0721491277217865, 0.07570672035217285, 2.7418136596679688e-06, 0.11837019771337509, 0.000244140625, 0.00049591064453125, 2.47955322265625e-05, 6.67572021484375e-06, 2.2649765014648438e-06, 6.198883056640625e-06, 0.025641337037086487, 0.030505485832691193, 0.8808261752128601], "count": [465]}, "observation.images.front1": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46327793913398696]], [[0.45265830269607843]], [[0.4381472998366013]]], "std": [[[0.22841567599093687]], [[0.2436326354632758]], [[0.24543936168924896]]], "count": [100]}, "observation.images.wrist1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9882352941176471]], [[0.9647058823529412]]], "mean": [[[0.5460436580882353]], [[0.4863677491830065]], [[0.36942181168300653]]], "std": [[[0.25775559770689477]], [[0.2463662348865348]], [[0.22357524535831513]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [15.466666666666667], "mean": [7.733333333333333], "std": [4.474454239428619], "count": [465]}, "frame_index": {"min": [0], "max": [464], "mean": [232.0], "std": [134.23362718285858], "count": [465]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [465]}, "index": {"min": [247], "max": [711], "mean": [479.0], "std": [134.23362718285858], "count": [465]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [465]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-91.66258239746094, 95.080322265625, -100.0, -55.5, -25.173439025878906, -0.7570207715034485, 0.3205128312110901, -72.35154724121094, 95.9808578491211, -100.0, -55.845458984375, -41.029483795166016, 1.4407814741134644, 0.8759124279022217, 0.0, 0.0, 0.0], "max": [6.620892524719238, 96.28514099121094, -100.0, -8.699999809265137, -0.5946481823921204, 60.53723907470703, 0.6410256624221802, -3.7529690265655518, 98.66028594970703, -100.0, -18.1133975982666, -1.849075436592102, 47.838829040527344, 87.15328216552734, 0.0, 0.0, 0.0], "mean": [-10.537116050720215, 95.2756576538086, -100.0, -17.015342712402344, -13.785431861877441, 10.024999618530273, 0.32729700207710266, -20.320228576660156, 98.0991439819336, -100.0, -27.608041763305664, -9.59282398223877, 13.344064712524414, 9.036419868469238, 0.0, 0.0, 0.0], "std": [33.626773834228516, 0.43522483110427856, 0.0, 17.25448226928711, 3.0238001346588135, 22.27593231201172, 0.03623298555612564, 26.45785140991211, 0.8642594814300537, 0.0, 15.902883529663086, 10.368743896484375, 18.64542007446289, 16.10901641845703, 0.0, 0.0, 0.0], "count": [189]}, "observation.state": {"min": [-50.29821014404297, 94.3241958618164, -100.0, -54.35122299194336, -20.347993850708008, -0.5109149813652039, 0.7648183703422546, -72.34042358398438, 96.70587921142578, -99.62808227539062, -55.67620849609375, -37.9206428527832, 0.35971224308013916, 3.675048351287842, -0.006642331834882498, -0.005113269202411175, -1.171875], "max": [6.858847141265869, 94.51659393310547, -100.0, -10.161542892456055, -2.7549540996551514, 58.94101333618164, 0.7648183703422546, -4.137115955352783, 98.4000015258789, -99.62808227539062, -18.953603744506836, -2.1597187519073486, 46.942447662353516, 77.5628662109375, 0.00442822091281414, 0.008948220871388912, 4.1015625], "mean": [-2.568195104598999, 94.40901184082031, -100.0, -16.262601852416992, -13.753785133361816, 7.491701126098633, 0.7648175954818726, -17.754261016845703, 98.1221694946289, -99.62809753417969, -26.63575553894043, -9.06698989868164, 11.23101806640625, 10.43054485321045, -0.00024601229233667254, -8.792658627498895e-05, -0.0031001984607428312], "std": [20.023223876953125, 0.03387795388698578, 0.0, 14.639481544494629, 2.525087833404541, 19.059799194335938, 7.748603820800781e-07, 24.215490341186523, 0.5803658962249756, 1.52587890625e-05, 14.371045112609863, 10.066840171813965, 17.483436584472656, 14.860072135925293, 0.0017395700560882688, 0.001583747798576951, 0.6725358963012695], "count": [189]}, "observation.images.front1": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[0.9764705882352941]], [[1.0]], [[1.0]]], "mean": [[[0.4614066013071895]], [[0.45000219566993466]], [[0.4384721548202614]]], "std": [[[0.22485139324070724]], [[0.24157938045539262]], [[0.24327964327247564]]], "count": [100]}, "observation.images.wrist1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9764705882352941]]], "mean": [[[0.5455871772875818]], [[0.48583908292483663]], [[0.36833519812091503]]], "std": [[[0.2575387598278429]], [[0.24623125589766556]], [[0.22319203651852762]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [6.266666666666667], "mean": [3.1333333333333337], "std": [1.8186278914080822], "count": [189]}, "frame_index": {"min": [0], "max": [188], "mean": [94.0], "std": [54.55883674224247], "count": [189]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [189]}, "index": {"min": [712], "max": [900], "mean": [806.0], "std": [54.55883674224247], "count": [189]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [189]}}}
meta/info.json ADDED
@@ -0,0 +1,149 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "lekiwi_client",
4
+ "total_episodes": 3,
5
+ "total_frames": 901,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:3"
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
+ 17
21
+ ],
22
+ "names": [
23
+ "left_shoulder_pan.pos",
24
+ "left_shoulder_lift.pos",
25
+ "left_elbow_flex.pos",
26
+ "left_wrist_flex.pos",
27
+ "left_wrist_yaw.pos",
28
+ "left_wrist_roll.pos",
29
+ "left_gripper.pos",
30
+ "right_shoulder_pan.pos",
31
+ "right_shoulder_lift.pos",
32
+ "right_elbow_flex.pos",
33
+ "right_wrist_flex.pos",
34
+ "right_wrist_yaw.pos",
35
+ "right_wrist_roll.pos",
36
+ "right_gripper.pos",
37
+ "x.vel",
38
+ "y.vel",
39
+ "theta.vel"
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "dtype": "float32",
44
+ "shape": [
45
+ 17
46
+ ],
47
+ "names": [
48
+ "left_shoulder_pan.pos",
49
+ "left_shoulder_lift.pos",
50
+ "left_elbow_flex.pos",
51
+ "left_wrist_flex.pos",
52
+ "left_wrist_yaw.pos",
53
+ "left_wrist_roll.pos",
54
+ "left_gripper.pos",
55
+ "right_shoulder_pan.pos",
56
+ "right_shoulder_lift.pos",
57
+ "right_elbow_flex.pos",
58
+ "right_wrist_flex.pos",
59
+ "right_wrist_yaw.pos",
60
+ "right_wrist_roll.pos",
61
+ "right_gripper.pos",
62
+ "x.vel",
63
+ "y.vel",
64
+ "theta.vel"
65
+ ]
66
+ },
67
+ "observation.images.front1": {
68
+ "dtype": "video",
69
+ "shape": [
70
+ 480,
71
+ 640,
72
+ 3
73
+ ],
74
+ "names": [
75
+ "height",
76
+ "width",
77
+ "channels"
78
+ ],
79
+ "info": {
80
+ "video.height": 480,
81
+ "video.width": 640,
82
+ "video.codec": "av1",
83
+ "video.pix_fmt": "yuv420p",
84
+ "video.is_depth_map": false,
85
+ "video.fps": 30,
86
+ "video.channels": 3,
87
+ "has_audio": false
88
+ }
89
+ },
90
+ "observation.images.wrist1": {
91
+ "dtype": "video",
92
+ "shape": [
93
+ 640,
94
+ 480,
95
+ 3
96
+ ],
97
+ "names": [
98
+ "height",
99
+ "width",
100
+ "channels"
101
+ ],
102
+ "info": {
103
+ "video.height": 640,
104
+ "video.width": 480,
105
+ "video.codec": "av1",
106
+ "video.pix_fmt": "yuv420p",
107
+ "video.is_depth_map": false,
108
+ "video.fps": 30,
109
+ "video.channels": 3,
110
+ "has_audio": false
111
+ }
112
+ },
113
+ "timestamp": {
114
+ "dtype": "float32",
115
+ "shape": [
116
+ 1
117
+ ],
118
+ "names": null
119
+ },
120
+ "frame_index": {
121
+ "dtype": "int64",
122
+ "shape": [
123
+ 1
124
+ ],
125
+ "names": null
126
+ },
127
+ "episode_index": {
128
+ "dtype": "int64",
129
+ "shape": [
130
+ 1
131
+ ],
132
+ "names": null
133
+ },
134
+ "index": {
135
+ "dtype": "int64",
136
+ "shape": [
137
+ 1
138
+ ],
139
+ "names": null
140
+ },
141
+ "task_index": {
142
+ "dtype": "int64",
143
+ "shape": [
144
+ 1
145
+ ],
146
+ "names": null
147
+ }
148
+ }
149
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "My task description4"}
videos/chunk-000/observation.images.front1/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd8d2332c06db4bdca6428718a691ee9c6c24d33e692a9cda785d041155c3fd4
3
+ size 2307187
videos/chunk-000/observation.images.front1/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b2f925e3751310456cbbdd4519dd621db0af25e033bbd8b7bbcf44fc12eb2138
3
+ size 3376881
videos/chunk-000/observation.images.front1/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e9ccd9f5f75ffc8bbb30b7abd386f7eda3e2b65752495bc502412e0922ab9ab8
3
+ size 1364253
videos/chunk-000/observation.images.wrist1/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6b9152806c6f166bad6391416d2b9d837e4e79973beab37edb26af26632e09a
3
+ size 4268505
videos/chunk-000/observation.images.wrist1/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:88b7b2c8c1a4b046b3b7ecedc09f9a3dc0e5d96d1082c57ab5fc545d6f883f13
3
+ size 5976600
videos/chunk-000/observation.images.wrist1/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cc415dc85782f007e77182c60ad8c5c4a255a1d4c30daecac29c6ab8f4cb40cb
3
+ size 2221790