Add files using upload-large-folder tool
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +198 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:885d44b3e1944557797fd4758da6672e7f8f99fe19aeb33464564e579d4becbb
|
| 3 |
+
size 743809
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["e.g. pick the red cube on the table."], "length": 2645}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"observation.state": {"min": [-1.3558070659637451, 0.01786676235496998, -0.7372161149978638, -0.05644014850258827, -0.29747211933135986, -1.558815836906433, -0.8787296414375305, -1.3834974765777588, -1.1239477396011353, -1.0432208776474, -0.6367295384407043, -1.0485836267471313, -1.4426425695419312, -1.162919282913208, -0.8257166147232056, 0.7873039245605469, 0.03264812007546425, -1.0590131282806396, -1.7453291416168213, -1.0610285997390747, -1.7453291416168213, -0.826901376247406, -0.922532856464386, -0.9324137568473816, -5.797573976451531e-08, -1.7235137761417718e-08, -4.637217898562085e-08, -1.3949163601978398e-08], "max": [-0.4983627200126648, 0.939407467842102, 0.46680909395217896, 1.3956959247589111, 1.094886064529419, 0.29899489879608154, 1.2687709331512451, 0.09472618252038956, 0.1209745705127716, 1.2515363693237305, 1.3599179983139038, 0.525130033493042, 0.8910995125770569, 1.0649096965789795, 0.2122589349746704, 0.9220254421234131, 1.0606180429458618, 3.4993369979474664e-08, 2.5496026623272883e-08, 5.828139748587091e-08, 3.7028886623602375e-08, -0.03929630666971207, -0.8740155696868896, -0.002720677061006427, 1.0491485595703125, 1.7449899911880493, 0.9374964833259583, 1.7449713945388794], "mean": [-0.8980096578598022, 0.2608943581581116, -0.16921786963939667, 1.0881749391555786, 0.4141319990158081, -0.6584925055503845, 0.2338154911994934, -0.5759885311126709, -0.3459469974040985, 0.12148452550172806, 0.5928702354431152, -0.5023285150527954, -0.5372052788734436, -0.37515392899513245, -0.5649569034576416, 0.9154847860336304, 0.6716650724411011, -0.18819750845432281, -0.26125428080558777, -0.18730154633522034, -0.24699021875858307, -0.6263630986213684, -0.9187344908714294, -0.5610511302947998, 0.3556899130344391, 0.14546780288219452, 0.35198837518692017, 0.207306906580925], "std": [0.23867067694664001, 0.15878018736839294, 0.27158302068710327, 0.26457151770591736, 0.3314007520675659, 0.33474698662757874, 0.4813697934150696, 0.3406248390674591, 0.20347176492214203, 0.295995831489563, 0.44276130199432373, 0.3003491461277008, 0.32955795526504517, 0.40195825695991516, 0.22948290407657623, 0.016199449077248573, 0.20052294433116913, 0.316928893327713, 0.5386592745780945, 0.29730165004730225, 0.5374813675880432, 0.14945541322231293, 0.007334808353334665, 0.23205076158046722, 0.3094097673892975, 0.3926249146461487, 0.26147913932800293, 0.4636659324169159], "count": [2645]}, "action": {"min": [-1.356444001197815, 0.024028515443205833, -0.706530749797821, -0.09095883369445801, -0.2930563986301422, -1.3797729015350342, -0.8785284161567688, -1.4225994348526, -1.1535065174102783, -1.0457355976104736, -0.6381000280380249, -1.0478954315185547, -1.0773173570632935, -1.1650956869125366, -0.8857433795928955, 0.539219856262207, 5.427637370303273e-05, -1.0784469842910767, -1.7463293075561523, -1.0810668468475342, -1.7463293075561523, -0.9577257633209229, -0.9210000038146973, -0.9626336693763733, -0.0010000000474974513, -0.0010000000474974513, -0.0010000000474974513, -0.0010000000474974513], "max": [-0.5247946977615356, 0.9712962508201599, 0.5011910796165466, 1.38933265209198, 1.0869221687316895, 0.28187888860702515, 1.2705224752426147, 0.08005193620920181, 0.12966878712177277, 1.2643746137619019, 1.3780192136764526, 0.52823406457901, 0.3590998947620392, 0.42439714074134827, 0.35081228613853455, 0.9210000038146973, 1.099062204360962, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0012155590811744332, -0.8200987577438354, 1.8394719518255442e-05, 1.1658271551132202, 1.7463293075561523, 1.0446211099624634, 1.7463293075561523], "mean": [-0.9195939302444458, 0.2702849805355072, -0.16727344691753387, 1.083251953125, 0.41495609283447266, -0.6567243337631226, 0.2410890907049179, -0.5861411094665527, -0.3539801836013794, 0.11660844832658768, 0.5902083516120911, -0.5019834637641907, -0.5456135272979736, -0.386913925409317, -0.5694757103919983, 0.9157423973083496, 0.675822913646698, -0.18552404642105103, -0.24938660860061646, -0.18675100803375244, -0.23559026420116425, -0.6234502196311951, -0.9190100431442261, -0.5604629516601562, 0.3603340983390808, 0.14526702463626862, 0.35666221380233765, 0.2065974920988083], "std": [0.2516557574272156, 0.16321338713169098, 0.2724170982837677, 0.26706916093826294, 0.3327052593231201, 0.3328419327735901, 0.48355090618133545, 0.3526450991630554, 0.2119079977273941, 0.2968805730342865, 0.44755059480667114, 0.3004032373428345, 0.29502344131469727, 0.38611075282096863, 0.24121743440628052, 0.025156406685709953, 0.2100168615579605, 0.3317016363143921, 0.5788359045982361, 0.31195148825645447, 0.5651652216911316, 0.1637619286775589, 0.009174331091344357, 0.23836025595664978, 0.3217274844646454, 0.42694127559661865, 0.273750901222229, 0.5096796154975891], "count": [2645]}, "observation.images.cam_left_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5954358404820261]], [[0.6163024452081558]], [[0.6263427875905797]]], "std": [[[0.24553886908931746]], [[0.22493292346253824]], [[0.2157300628770756]]], "count": [368]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4339725446904305]], [[0.4111282180218102]], [[0.37077162701584254]]], "std": [[[0.31887110099354776]], [[0.31271453720617154]], [[0.3260090434976819]]], "count": [368]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40041276485684857]], [[0.3738780504049446]], [[0.32754897409597894]]], "std": [[[0.3184969827334943]], [[0.3076179653971242]], [[0.31413860142718136]]], "count": [368]}, "timestamp": {"min": [0.0], "max": [88.13333333333334], "mean": [44.06666666666667], "std": [25.45152254777698], "count": [2645]}, "frame_index": {"min": [0], "max": [2644], "mean": [1322.0], "std": [763.5456764333094], "count": [2645]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2645]}, "index": {"min": [0], "max": [2644], "mean": [1322.0], "std": [763.5456764333094], "count": [2645]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2645]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "Unitree_G1_Dex3_Sim",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 2645,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 3,
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
28
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
[
|
| 24 |
+
"kLeftShoulderPitch",
|
| 25 |
+
"kLeftShoulderRoll",
|
| 26 |
+
"kLeftShoulderYaw",
|
| 27 |
+
"kLeftElbow",
|
| 28 |
+
"kLeftWristRoll",
|
| 29 |
+
"kLeftWristPitch",
|
| 30 |
+
"kLeftWristYaw",
|
| 31 |
+
"kRightShoulderPitch",
|
| 32 |
+
"kRightShoulderRoll",
|
| 33 |
+
"kRightShoulderYaw",
|
| 34 |
+
"kRightElbow",
|
| 35 |
+
"kRightWristRoll",
|
| 36 |
+
"kRightWristPitch",
|
| 37 |
+
"kRightWristYaw",
|
| 38 |
+
"kLeftHandThumb0",
|
| 39 |
+
"kLeftHandThumb1",
|
| 40 |
+
"kLeftHandThumb2",
|
| 41 |
+
"kLeftHandMiddle0",
|
| 42 |
+
"kLeftHandMiddle1",
|
| 43 |
+
"kLeftHandIndex0",
|
| 44 |
+
"kLeftHandIndex1",
|
| 45 |
+
"kRightHandThumb0",
|
| 46 |
+
"kRightHandThumb1",
|
| 47 |
+
"kRightHandThumb2",
|
| 48 |
+
"kRightHandIndex0",
|
| 49 |
+
"kRightHandIndex1",
|
| 50 |
+
"kRightHandMiddle0",
|
| 51 |
+
"kRightHandMiddle1"
|
| 52 |
+
]
|
| 53 |
+
]
|
| 54 |
+
},
|
| 55 |
+
"action": {
|
| 56 |
+
"dtype": "float32",
|
| 57 |
+
"shape": [
|
| 58 |
+
28
|
| 59 |
+
],
|
| 60 |
+
"names": [
|
| 61 |
+
[
|
| 62 |
+
"kLeftShoulderPitch",
|
| 63 |
+
"kLeftShoulderRoll",
|
| 64 |
+
"kLeftShoulderYaw",
|
| 65 |
+
"kLeftElbow",
|
| 66 |
+
"kLeftWristRoll",
|
| 67 |
+
"kLeftWristPitch",
|
| 68 |
+
"kLeftWristYaw",
|
| 69 |
+
"kRightShoulderPitch",
|
| 70 |
+
"kRightShoulderRoll",
|
| 71 |
+
"kRightShoulderYaw",
|
| 72 |
+
"kRightElbow",
|
| 73 |
+
"kRightWristRoll",
|
| 74 |
+
"kRightWristPitch",
|
| 75 |
+
"kRightWristYaw",
|
| 76 |
+
"kLeftHandThumb0",
|
| 77 |
+
"kLeftHandThumb1",
|
| 78 |
+
"kLeftHandThumb2",
|
| 79 |
+
"kLeftHandMiddle0",
|
| 80 |
+
"kLeftHandMiddle1",
|
| 81 |
+
"kLeftHandIndex0",
|
| 82 |
+
"kLeftHandIndex1",
|
| 83 |
+
"kRightHandThumb0",
|
| 84 |
+
"kRightHandThumb1",
|
| 85 |
+
"kRightHandThumb2",
|
| 86 |
+
"kRightHandIndex0",
|
| 87 |
+
"kRightHandIndex1",
|
| 88 |
+
"kRightHandMiddle0",
|
| 89 |
+
"kRightHandMiddle1"
|
| 90 |
+
]
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"observation.images.cam_left_high": {
|
| 94 |
+
"dtype": "video",
|
| 95 |
+
"shape": [
|
| 96 |
+
480,
|
| 97 |
+
640,
|
| 98 |
+
3
|
| 99 |
+
],
|
| 100 |
+
"names": [
|
| 101 |
+
"height",
|
| 102 |
+
"width",
|
| 103 |
+
"channel"
|
| 104 |
+
],
|
| 105 |
+
"info": {
|
| 106 |
+
"video.height": 480,
|
| 107 |
+
"video.width": 640,
|
| 108 |
+
"video.codec": "av1",
|
| 109 |
+
"video.pix_fmt": "yuv420p",
|
| 110 |
+
"video.is_depth_map": false,
|
| 111 |
+
"video.fps": 30,
|
| 112 |
+
"video.channels": 3,
|
| 113 |
+
"has_audio": false
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
"observation.images.cam_left_wrist": {
|
| 117 |
+
"dtype": "video",
|
| 118 |
+
"shape": [
|
| 119 |
+
480,
|
| 120 |
+
640,
|
| 121 |
+
3
|
| 122 |
+
],
|
| 123 |
+
"names": [
|
| 124 |
+
"height",
|
| 125 |
+
"width",
|
| 126 |
+
"channel"
|
| 127 |
+
],
|
| 128 |
+
"info": {
|
| 129 |
+
"video.height": 480,
|
| 130 |
+
"video.width": 640,
|
| 131 |
+
"video.codec": "av1",
|
| 132 |
+
"video.pix_fmt": "yuv420p",
|
| 133 |
+
"video.is_depth_map": false,
|
| 134 |
+
"video.fps": 30,
|
| 135 |
+
"video.channels": 3,
|
| 136 |
+
"has_audio": false
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"observation.images.cam_right_wrist": {
|
| 140 |
+
"dtype": "video",
|
| 141 |
+
"shape": [
|
| 142 |
+
480,
|
| 143 |
+
640,
|
| 144 |
+
3
|
| 145 |
+
],
|
| 146 |
+
"names": [
|
| 147 |
+
"height",
|
| 148 |
+
"width",
|
| 149 |
+
"channel"
|
| 150 |
+
],
|
| 151 |
+
"info": {
|
| 152 |
+
"video.height": 480,
|
| 153 |
+
"video.width": 640,
|
| 154 |
+
"video.codec": "av1",
|
| 155 |
+
"video.pix_fmt": "yuv420p",
|
| 156 |
+
"video.is_depth_map": false,
|
| 157 |
+
"video.fps": 30,
|
| 158 |
+
"video.channels": 3,
|
| 159 |
+
"has_audio": false
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"timestamp": {
|
| 163 |
+
"dtype": "float32",
|
| 164 |
+
"shape": [
|
| 165 |
+
1
|
| 166 |
+
],
|
| 167 |
+
"names": null
|
| 168 |
+
},
|
| 169 |
+
"frame_index": {
|
| 170 |
+
"dtype": "int64",
|
| 171 |
+
"shape": [
|
| 172 |
+
1
|
| 173 |
+
],
|
| 174 |
+
"names": null
|
| 175 |
+
},
|
| 176 |
+
"episode_index": {
|
| 177 |
+
"dtype": "int64",
|
| 178 |
+
"shape": [
|
| 179 |
+
1
|
| 180 |
+
],
|
| 181 |
+
"names": null
|
| 182 |
+
},
|
| 183 |
+
"index": {
|
| 184 |
+
"dtype": "int64",
|
| 185 |
+
"shape": [
|
| 186 |
+
1
|
| 187 |
+
],
|
| 188 |
+
"names": null
|
| 189 |
+
},
|
| 190 |
+
"task_index": {
|
| 191 |
+
"dtype": "int64",
|
| 192 |
+
"shape": [
|
| 193 |
+
1
|
| 194 |
+
],
|
| 195 |
+
"names": null
|
| 196 |
+
}
|
| 197 |
+
}
|
| 198 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "e.g. pick the red cube on the table."}
|
videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:60290846dc06149c66ceaab7456297eb2ed646d78ecc968806b6c3181ceda7db
|
| 3 |
+
size 32449225
|
videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0e8c7eb71580b7aa2a04490ea5462d4836fa6cee697c789f1cf8e16d38328834
|
| 3 |
+
size 27111676
|
videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:98ce3e6716af528df5a169254570fa4fa6fdac34f65726567e3eb0d87c4e2da7
|
| 3 |
+
size 30478459
|