Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +241 -0
- meta/stats.json +289 -0
- meta/tasks.json +6 -0
- meta/tasks.jsonl +1 -0
- meta/tasks.parquet +3 -0
- videos/chunk-000/observation.images.exterior_image_1_left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.exterior_image_2_left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist_image_left/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 sha256:705a13327f2a9b18b1d42f140de016e0ff118794c5842d598e135ac8c04a4ee2
|
| 3 |
+
size 30320
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "data/chunk_index": 0, "data/file_index": 0, "dataset_from_index": 0, "dataset_to_index": 166, "videos/observation.images.exterior_image_1_left/chunk_index": 0, "videos/observation.images.exterior_image_1_left/file_index": 0, "videos/observation.images.exterior_image_1_left/from_timestamp": 0.0, "videos/observation.images.exterior_image_1_left/to_timestamp": 16.6, "videos/observation.images.exterior_image_2_left/chunk_index": 0, "videos/observation.images.exterior_image_2_left/file_index": 0, "videos/observation.images.exterior_image_2_left/from_timestamp": 0.0, "videos/observation.images.exterior_image_2_left/to_timestamp": 16.6, "videos/observation.images.wrist_image_left/chunk_index": 0, "videos/observation.images.wrist_image_left/file_index": 0, "videos/observation.images.wrist_image_left/from_timestamp": 0.0, "videos/observation.images.wrist_image_left/to_timestamp": 16.6, "tasks": ["Put the marker in the pot"], "length": 166, "action_config": {"file_path": "/nfs/kun2/datasets/r2d2/r2d2-data-full/RAIL/success/2023-04-17/Mon_Apr_17_14:48:05_2023/trajectory.h5", "recording_folder": "/nfs/kun2/datasets/r2d2/r2d2-data-full/RAIL/success/2023-04-17/Mon_Apr_17_14:48:05_2023/recordings/MP4", "task_name": "RAIL_success_2023-04-17_Mon_Apr_17_14:48:05_2023", "trajectory_path": "RAIL/success/2023-04-17/Mon_Apr_17_14:48:05_2023"}, "stats/observation.state.gripper_position/min": [0.0], "stats/observation.state.gripper_position/max": [0.8061674237251282], "stats/observation.state.gripper_position/mean": [0.3667799234390259], "stats/observation.state.gripper_position/std": [0.38352274894714355], "stats/observation.state.gripper_position/count": [166], "stats/observation.state.cartesian_position/min": [0.3829106390476227, 0.03418167680501938, 0.1416463702917099, -3.139416217803955, -0.5160428285598755, -0.13357476890087128], "stats/observation.state.cartesian_position/max": [0.6367883086204529, 0.15063539147377014, 0.5530181527137756, 3.136382818222046, 0.12378854304552078, 0.23307400941848755], "stats/observation.state.cartesian_position/mean": [0.5403820872306824, 0.09329322725534439, 0.26084935665130615, 1.716844081878662, -0.20828750729560852, 0.03837337717413902], "stats/observation.state.cartesian_position/std": [0.07004586607217789, 0.04445416480302811, 0.1040053516626358, 2.4811158180236816, 0.21523848176002502, 0.12631161510944366], "stats/observation.state.cartesian_position/count": [166], "stats/observation.state.joint_position/min": [0.14317353069782257, -0.5981100797653198, -0.41947999596595764, -2.5450451374053955, -0.5435150265693665, 1.981839656829834, -0.08347627520561218], "stats/observation.state.joint_position/max": [0.409128338098526, 0.7111097574234009, 0.12092116475105286, -1.7608075141906738, 0.26069679856300354, 3.131185293197632, 0.4673788845539093], "stats/observation.state.joint_position/mean": [0.28459271788597107, 0.2876453697681427, -0.15405350923538208, -2.208477735519409, -0.22151878476142883, 2.693920850753784, 0.3505329191684723], "stats/observation.state.joint_position/std": [0.10205892473459244, 0.3442240357398987, 0.20324023067951202, 0.2686120271682739, 0.2796700596809387, 0.3929368257522583, 0.1523236185312271], "stats/observation.state.joint_position/count": [166], "stats/action/min": [0.38265907764434814, 0.033758390694856644, 0.13877126574516296, -3.1414527893066406, -0.5451038479804993, -0.13227832317352295, 0.0], "stats/action/max": [0.6280504465103149, 0.1514109969139099, 0.5525535941123962, 3.1361780166625977, 0.12838782370090485, 0.2359699010848999, 0.9944933652877808], "stats/action/mean": [0.5426782369613647, 0.09466296434402466, 0.2579383850097656, 1.9592804908752441, -0.2174023538827896, 0.04694891721010208, 0.4249250590801239], "stats/action/std": [0.06637956947088242, 0.045728664845228195, 0.09698901325464249, 2.2832190990448, 0.22251838445663452, 0.1322282999753952, 0.4520756006240845], "stats/action/count": [166], "stats/next.reward/min": [0.0], "stats/next.reward/max": [1.0], "stats/next.reward/mean": [0.0060240961611270905], "stats/next.reward/std": [0.07738091796636581], "stats/next.reward/count": [166], "stats/discount/min": [1.0], "stats/discount/max": [1.0], "stats/discount/mean": [1.0], "stats/discount/std": [0.0], "stats/discount/count": [166], "meta/episodes/chunk_index": 0, "meta/episodes/file_index": 0}
|
meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d1fcf008e568a885664355eab990ce28e3357b657b8785aeb8cb4d0bd8461e0c
|
| 3 |
+
size 39463
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"observation.state.gripper_position": {"min": [0.0], "max": [0.8061674237251282], "mean": [0.3667799234390259], "std": [0.38352274894714355], "count": [166]}, "observation.state.cartesian_position": {"min": [0.3829106390476227, 0.03418167680501938, 0.1416463702917099, -3.139416217803955, -0.5160428285598755, -0.13357476890087128], "max": [0.6367883086204529, 0.15063539147377014, 0.5530181527137756, 3.136382818222046, 0.12378854304552078, 0.23307400941848755], "mean": [0.5403820872306824, 0.09329322725534439, 0.26084935665130615, 1.716844081878662, -0.20828750729560852, 0.03837337717413902], "std": [0.07004586607217789, 0.04445416480302811, 0.1040053516626358, 2.4811158180236816, 0.21523848176002502, 0.12631161510944366], "count": [166]}, "observation.state.joint_position": {"min": [0.14317353069782257, -0.5981100797653198, -0.41947999596595764, -2.5450451374053955, -0.5435150265693665, 1.981839656829834, -0.08347627520561218], "max": [0.409128338098526, 0.7111097574234009, 0.12092116475105286, -1.7608075141906738, 0.26069679856300354, 3.131185293197632, 0.4673788845539093], "mean": [0.28459271788597107, 0.2876453697681427, -0.15405350923538208, -2.208477735519409, -0.22151878476142883, 2.693920850753784, 0.3505329191684723], "std": [0.10205892473459244, 0.3442240357398987, 0.20324023067951202, 0.2686120271682739, 0.2796700596809387, 0.3929368257522583, 0.1523236185312271], "count": [166]}, "action": {"min": [0.38265907764434814, 0.033758390694856644, 0.13877126574516296, -3.1414527893066406, -0.5451038479804993, -0.13227832317352295, 0.0], "max": [0.6280504465103149, 0.1514109969139099, 0.5525535941123962, 3.1361780166625977, 0.12838782370090485, 0.2359699010848999, 0.9944933652877808], "mean": [0.5426782369613647, 0.09466296434402466, 0.2579383850097656, 1.9592804908752441, -0.2174023538827896, 0.04694891721010208, 0.4249250590801239], "std": [0.06637956947088242, 0.045728664845228195, 0.09698901325464249, 2.2832190990448, 0.22251838445663452, 0.1322282999753952, 0.4520756006240845], "count": [166]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0060240961611270905], "std": [0.07738091796636581], "count": [166]}, "discount": {"min": [1.0], "max": [1.0], "mean": [1.0], "std": [0.0], "count": [166]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "droid",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 166,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"fps": 10,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:1"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 13 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 14 |
+
"features": {
|
| 15 |
+
"observation.images.wrist_image_left": {
|
| 16 |
+
"dtype": "video",
|
| 17 |
+
"shape": [
|
| 18 |
+
180,
|
| 19 |
+
320,
|
| 20 |
+
3
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"height",
|
| 24 |
+
"width",
|
| 25 |
+
"channels"
|
| 26 |
+
],
|
| 27 |
+
"info": {
|
| 28 |
+
"video.height": 180,
|
| 29 |
+
"video.width": 320,
|
| 30 |
+
"video.codec": "av1",
|
| 31 |
+
"video.pix_fmt": "yuv420p",
|
| 32 |
+
"video.is_depth_map": false,
|
| 33 |
+
"video.fps": 10,
|
| 34 |
+
"video.channels": 3,
|
| 35 |
+
"has_audio": false
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"observation.images.exterior_image_1_left": {
|
| 39 |
+
"dtype": "video",
|
| 40 |
+
"shape": [
|
| 41 |
+
180,
|
| 42 |
+
320,
|
| 43 |
+
3
|
| 44 |
+
],
|
| 45 |
+
"names": [
|
| 46 |
+
"height",
|
| 47 |
+
"width",
|
| 48 |
+
"channels"
|
| 49 |
+
],
|
| 50 |
+
"info": {
|
| 51 |
+
"video.height": 180,
|
| 52 |
+
"video.width": 320,
|
| 53 |
+
"video.codec": "av1",
|
| 54 |
+
"video.pix_fmt": "yuv420p",
|
| 55 |
+
"video.is_depth_map": false,
|
| 56 |
+
"video.fps": 10,
|
| 57 |
+
"video.channels": 3,
|
| 58 |
+
"has_audio": false
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"observation.images.exterior_image_2_left": {
|
| 62 |
+
"dtype": "video",
|
| 63 |
+
"shape": [
|
| 64 |
+
180,
|
| 65 |
+
320,
|
| 66 |
+
3
|
| 67 |
+
],
|
| 68 |
+
"names": [
|
| 69 |
+
"height",
|
| 70 |
+
"width",
|
| 71 |
+
"channels"
|
| 72 |
+
],
|
| 73 |
+
"info": {
|
| 74 |
+
"video.height": 180,
|
| 75 |
+
"video.width": 320,
|
| 76 |
+
"video.codec": "av1",
|
| 77 |
+
"video.pix_fmt": "yuv420p",
|
| 78 |
+
"video.is_depth_map": false,
|
| 79 |
+
"video.fps": 10,
|
| 80 |
+
"video.channels": 3,
|
| 81 |
+
"has_audio": false
|
| 82 |
+
}
|
| 83 |
+
},
|
| 84 |
+
"observation.state.gripper_position": {
|
| 85 |
+
"dtype": "float32",
|
| 86 |
+
"shape": [
|
| 87 |
+
1
|
| 88 |
+
],
|
| 89 |
+
"names": {
|
| 90 |
+
"motors": [
|
| 91 |
+
"gripper"
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"fps": 10
|
| 95 |
+
},
|
| 96 |
+
"observation.state.cartesian_position": {
|
| 97 |
+
"dtype": "float32",
|
| 98 |
+
"shape": [
|
| 99 |
+
6
|
| 100 |
+
],
|
| 101 |
+
"names": {
|
| 102 |
+
"motors": [
|
| 103 |
+
"x",
|
| 104 |
+
"y",
|
| 105 |
+
"z",
|
| 106 |
+
"roll",
|
| 107 |
+
"pitch",
|
| 108 |
+
"yaw"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"fps": 10
|
| 112 |
+
},
|
| 113 |
+
"observation.state.joint_position": {
|
| 114 |
+
"dtype": "float32",
|
| 115 |
+
"shape": [
|
| 116 |
+
7
|
| 117 |
+
],
|
| 118 |
+
"names": {
|
| 119 |
+
"motors": [
|
| 120 |
+
"joint_0",
|
| 121 |
+
"joint_1",
|
| 122 |
+
"joint_2",
|
| 123 |
+
"joint_3",
|
| 124 |
+
"joint_4",
|
| 125 |
+
"joint_5",
|
| 126 |
+
"joint_6"
|
| 127 |
+
]
|
| 128 |
+
},
|
| 129 |
+
"fps": 10
|
| 130 |
+
},
|
| 131 |
+
"action": {
|
| 132 |
+
"dtype": "float32",
|
| 133 |
+
"shape": [
|
| 134 |
+
7
|
| 135 |
+
],
|
| 136 |
+
"names": {
|
| 137 |
+
"motors": [
|
| 138 |
+
"joint_vel_0",
|
| 139 |
+
"joint_vel_1",
|
| 140 |
+
"joint_vel_2",
|
| 141 |
+
"joint_vel_3",
|
| 142 |
+
"joint_vel_4",
|
| 143 |
+
"joint_vel_5",
|
| 144 |
+
"gripper_pos"
|
| 145 |
+
]
|
| 146 |
+
},
|
| 147 |
+
"fps": 10
|
| 148 |
+
},
|
| 149 |
+
"language_instruction": {
|
| 150 |
+
"dtype": "string",
|
| 151 |
+
"shape": [
|
| 152 |
+
1
|
| 153 |
+
],
|
| 154 |
+
"names": null,
|
| 155 |
+
"fps": 10
|
| 156 |
+
},
|
| 157 |
+
"language_instruction_2": {
|
| 158 |
+
"dtype": "string",
|
| 159 |
+
"shape": [
|
| 160 |
+
1
|
| 161 |
+
],
|
| 162 |
+
"names": null,
|
| 163 |
+
"fps": 10
|
| 164 |
+
},
|
| 165 |
+
"language_instruction_3": {
|
| 166 |
+
"dtype": "string",
|
| 167 |
+
"shape": [
|
| 168 |
+
1
|
| 169 |
+
],
|
| 170 |
+
"names": null,
|
| 171 |
+
"fps": 10
|
| 172 |
+
},
|
| 173 |
+
"next.done": {
|
| 174 |
+
"dtype": "bool",
|
| 175 |
+
"shape": [
|
| 176 |
+
1
|
| 177 |
+
],
|
| 178 |
+
"names": null,
|
| 179 |
+
"fps": 10
|
| 180 |
+
},
|
| 181 |
+
"next.reward": {
|
| 182 |
+
"dtype": "float32",
|
| 183 |
+
"shape": [
|
| 184 |
+
1
|
| 185 |
+
],
|
| 186 |
+
"names": null,
|
| 187 |
+
"fps": 10
|
| 188 |
+
},
|
| 189 |
+
"discount": {
|
| 190 |
+
"dtype": "float32",
|
| 191 |
+
"shape": [
|
| 192 |
+
1
|
| 193 |
+
],
|
| 194 |
+
"names": null,
|
| 195 |
+
"fps": 10
|
| 196 |
+
},
|
| 197 |
+
"timestamp": {
|
| 198 |
+
"dtype": "float32",
|
| 199 |
+
"shape": [
|
| 200 |
+
1
|
| 201 |
+
],
|
| 202 |
+
"names": null,
|
| 203 |
+
"fps": 10
|
| 204 |
+
},
|
| 205 |
+
"frame_index": {
|
| 206 |
+
"dtype": "int64",
|
| 207 |
+
"shape": [
|
| 208 |
+
1
|
| 209 |
+
],
|
| 210 |
+
"names": null,
|
| 211 |
+
"fps": 10
|
| 212 |
+
},
|
| 213 |
+
"episode_index": {
|
| 214 |
+
"dtype": "int64",
|
| 215 |
+
"shape": [
|
| 216 |
+
1
|
| 217 |
+
],
|
| 218 |
+
"names": null,
|
| 219 |
+
"fps": 10
|
| 220 |
+
},
|
| 221 |
+
"index": {
|
| 222 |
+
"dtype": "int64",
|
| 223 |
+
"shape": [
|
| 224 |
+
1
|
| 225 |
+
],
|
| 226 |
+
"names": null,
|
| 227 |
+
"fps": 10
|
| 228 |
+
},
|
| 229 |
+
"task_index": {
|
| 230 |
+
"dtype": "int64",
|
| 231 |
+
"shape": [
|
| 232 |
+
1
|
| 233 |
+
],
|
| 234 |
+
"names": null,
|
| 235 |
+
"fps": 10
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"repo_id": "droid_1",
|
| 239 |
+
"data_files_size_in_mb": 100,
|
| 240 |
+
"video_files_size_in_mb": 500
|
| 241 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,289 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state.joint_position": {
|
| 3 |
+
"min": [
|
| 4 |
+
0.14317353069782257,
|
| 5 |
+
-0.5981100797653198,
|
| 6 |
+
-0.41947999596595764,
|
| 7 |
+
-2.5450451374053955,
|
| 8 |
+
-0.5435150265693665,
|
| 9 |
+
1.981839656829834,
|
| 10 |
+
-0.08347627520561218
|
| 11 |
+
],
|
| 12 |
+
"max": [
|
| 13 |
+
0.409128338098526,
|
| 14 |
+
0.7111097574234009,
|
| 15 |
+
0.12092116475105286,
|
| 16 |
+
-1.7608075141906738,
|
| 17 |
+
0.26069679856300354,
|
| 18 |
+
3.131185293197632,
|
| 19 |
+
0.4673788845539093
|
| 20 |
+
],
|
| 21 |
+
"mean": [
|
| 22 |
+
0.28459271788597107,
|
| 23 |
+
0.2876453697681427,
|
| 24 |
+
-0.15405350923538208,
|
| 25 |
+
-2.208477735519409,
|
| 26 |
+
-0.22151878476142883,
|
| 27 |
+
2.693920850753784,
|
| 28 |
+
0.3505329191684723
|
| 29 |
+
],
|
| 30 |
+
"std": [
|
| 31 |
+
0.10205892473459244,
|
| 32 |
+
0.3442240357398987,
|
| 33 |
+
0.20324023067951202,
|
| 34 |
+
0.2686120271682739,
|
| 35 |
+
0.2796700596809387,
|
| 36 |
+
0.3929368257522583,
|
| 37 |
+
0.1523236185312271
|
| 38 |
+
],
|
| 39 |
+
"count": [
|
| 40 |
+
166
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"action": {
|
| 44 |
+
"min": [
|
| 45 |
+
0.38265907764434814,
|
| 46 |
+
0.033758390694856644,
|
| 47 |
+
0.13877126574516296,
|
| 48 |
+
-3.1414527893066406,
|
| 49 |
+
-0.5451038479804993,
|
| 50 |
+
-0.13227832317352295,
|
| 51 |
+
0.0
|
| 52 |
+
],
|
| 53 |
+
"max": [
|
| 54 |
+
0.6280504465103149,
|
| 55 |
+
0.1514109969139099,
|
| 56 |
+
0.5525535941123962,
|
| 57 |
+
3.1361780166625977,
|
| 58 |
+
0.12838782370090485,
|
| 59 |
+
0.2359699010848999,
|
| 60 |
+
0.9944933652877808
|
| 61 |
+
],
|
| 62 |
+
"mean": [
|
| 63 |
+
0.5426782369613647,
|
| 64 |
+
0.09466296434402466,
|
| 65 |
+
0.2579383850097656,
|
| 66 |
+
1.9592804908752441,
|
| 67 |
+
-0.2174023538827896,
|
| 68 |
+
0.04694891721010208,
|
| 69 |
+
0.4249250590801239
|
| 70 |
+
],
|
| 71 |
+
"std": [
|
| 72 |
+
0.06637956947088242,
|
| 73 |
+
0.045728664845228195,
|
| 74 |
+
0.09698901325464249,
|
| 75 |
+
2.2832190990448,
|
| 76 |
+
0.22251838445663452,
|
| 77 |
+
0.1322282999753952,
|
| 78 |
+
0.4520756006240845
|
| 79 |
+
],
|
| 80 |
+
"count": [
|
| 81 |
+
166
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"observation.state.gripper_position": {
|
| 85 |
+
"min": [
|
| 86 |
+
0.0
|
| 87 |
+
],
|
| 88 |
+
"max": [
|
| 89 |
+
0.8061674237251282
|
| 90 |
+
],
|
| 91 |
+
"mean": [
|
| 92 |
+
0.3667799234390259
|
| 93 |
+
],
|
| 94 |
+
"std": [
|
| 95 |
+
0.38352274894714355
|
| 96 |
+
],
|
| 97 |
+
"count": [
|
| 98 |
+
166
|
| 99 |
+
]
|
| 100 |
+
},
|
| 101 |
+
"observation.state.cartesian_position": {
|
| 102 |
+
"min": [
|
| 103 |
+
0.3829106390476227,
|
| 104 |
+
0.03418167680501938,
|
| 105 |
+
0.1416463702917099,
|
| 106 |
+
-3.139416217803955,
|
| 107 |
+
-0.5160428285598755,
|
| 108 |
+
-0.13357476890087128
|
| 109 |
+
],
|
| 110 |
+
"max": [
|
| 111 |
+
0.6367883086204529,
|
| 112 |
+
0.15063539147377014,
|
| 113 |
+
0.5530181527137756,
|
| 114 |
+
3.136382818222046,
|
| 115 |
+
0.12378854304552078,
|
| 116 |
+
0.23307400941848755
|
| 117 |
+
],
|
| 118 |
+
"mean": [
|
| 119 |
+
0.5403820872306824,
|
| 120 |
+
0.09329322725534439,
|
| 121 |
+
0.26084935665130615,
|
| 122 |
+
1.716844081878662,
|
| 123 |
+
-0.20828750729560852,
|
| 124 |
+
0.03837337717413902
|
| 125 |
+
],
|
| 126 |
+
"std": [
|
| 127 |
+
0.07004586607217789,
|
| 128 |
+
0.04445416480302811,
|
| 129 |
+
0.1040053516626358,
|
| 130 |
+
2.4811158180236816,
|
| 131 |
+
0.21523848176002502,
|
| 132 |
+
0.12631161510944366
|
| 133 |
+
],
|
| 134 |
+
"count": [
|
| 135 |
+
166
|
| 136 |
+
]
|
| 137 |
+
},
|
| 138 |
+
"discount": {
|
| 139 |
+
"min": [
|
| 140 |
+
1.0
|
| 141 |
+
],
|
| 142 |
+
"max": [
|
| 143 |
+
1.0
|
| 144 |
+
],
|
| 145 |
+
"mean": [
|
| 146 |
+
1.0
|
| 147 |
+
],
|
| 148 |
+
"std": [
|
| 149 |
+
0.0
|
| 150 |
+
],
|
| 151 |
+
"count": [
|
| 152 |
+
166
|
| 153 |
+
]
|
| 154 |
+
},
|
| 155 |
+
"next.reward": {
|
| 156 |
+
"min": [
|
| 157 |
+
0.0
|
| 158 |
+
],
|
| 159 |
+
"max": [
|
| 160 |
+
1.0
|
| 161 |
+
],
|
| 162 |
+
"mean": [
|
| 163 |
+
0.0060240961611270905
|
| 164 |
+
],
|
| 165 |
+
"std": [
|
| 166 |
+
0.07738091796636581
|
| 167 |
+
],
|
| 168 |
+
"count": [
|
| 169 |
+
166
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"observation.images.wrist_image_left": {
|
| 173 |
+
"mean": [
|
| 174 |
+
[
|
| 175 |
+
[
|
| 176 |
+
0.0
|
| 177 |
+
]
|
| 178 |
+
],
|
| 179 |
+
[
|
| 180 |
+
[
|
| 181 |
+
0.0
|
| 182 |
+
]
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
[
|
| 186 |
+
0.0
|
| 187 |
+
]
|
| 188 |
+
]
|
| 189 |
+
],
|
| 190 |
+
"std": [
|
| 191 |
+
[
|
| 192 |
+
[
|
| 193 |
+
1.0
|
| 194 |
+
]
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
[
|
| 198 |
+
1.0
|
| 199 |
+
]
|
| 200 |
+
],
|
| 201 |
+
[
|
| 202 |
+
[
|
| 203 |
+
1.0
|
| 204 |
+
]
|
| 205 |
+
]
|
| 206 |
+
],
|
| 207 |
+
"count": [
|
| 208 |
+
1
|
| 209 |
+
]
|
| 210 |
+
},
|
| 211 |
+
"observation.images.exterior_image_1_left": {
|
| 212 |
+
"mean": [
|
| 213 |
+
[
|
| 214 |
+
[
|
| 215 |
+
0.0
|
| 216 |
+
]
|
| 217 |
+
],
|
| 218 |
+
[
|
| 219 |
+
[
|
| 220 |
+
0.0
|
| 221 |
+
]
|
| 222 |
+
],
|
| 223 |
+
[
|
| 224 |
+
[
|
| 225 |
+
0.0
|
| 226 |
+
]
|
| 227 |
+
]
|
| 228 |
+
],
|
| 229 |
+
"std": [
|
| 230 |
+
[
|
| 231 |
+
[
|
| 232 |
+
1.0
|
| 233 |
+
]
|
| 234 |
+
],
|
| 235 |
+
[
|
| 236 |
+
[
|
| 237 |
+
1.0
|
| 238 |
+
]
|
| 239 |
+
],
|
| 240 |
+
[
|
| 241 |
+
[
|
| 242 |
+
1.0
|
| 243 |
+
]
|
| 244 |
+
]
|
| 245 |
+
],
|
| 246 |
+
"count": [
|
| 247 |
+
1
|
| 248 |
+
]
|
| 249 |
+
},
|
| 250 |
+
"observation.images.exterior_image_2_left": {
|
| 251 |
+
"mean": [
|
| 252 |
+
[
|
| 253 |
+
[
|
| 254 |
+
0.0
|
| 255 |
+
]
|
| 256 |
+
],
|
| 257 |
+
[
|
| 258 |
+
[
|
| 259 |
+
0.0
|
| 260 |
+
]
|
| 261 |
+
],
|
| 262 |
+
[
|
| 263 |
+
[
|
| 264 |
+
0.0
|
| 265 |
+
]
|
| 266 |
+
]
|
| 267 |
+
],
|
| 268 |
+
"std": [
|
| 269 |
+
[
|
| 270 |
+
[
|
| 271 |
+
1.0
|
| 272 |
+
]
|
| 273 |
+
],
|
| 274 |
+
[
|
| 275 |
+
[
|
| 276 |
+
1.0
|
| 277 |
+
]
|
| 278 |
+
],
|
| 279 |
+
[
|
| 280 |
+
[
|
| 281 |
+
1.0
|
| 282 |
+
]
|
| 283 |
+
]
|
| 284 |
+
],
|
| 285 |
+
"count": [
|
| 286 |
+
1
|
| 287 |
+
]
|
| 288 |
+
}
|
| 289 |
+
}
|
meta/tasks.json
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"task_index": 0,
|
| 4 |
+
"__index_level_0__": "Put the marker in the pot"
|
| 5 |
+
}
|
| 6 |
+
]
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Put the marker in the pot"}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:46acc15b6d663ecf0e4bccea5b538cd207d5f7dea76413aa9a2e225f5f4ab8ae
|
| 3 |
+
size 2171
|
videos/chunk-000/observation.images.exterior_image_1_left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5c29b6165070413ad53032793e7a552a837f6acc0886fabad17bb9bf5f1de959
|
| 3 |
+
size 1439104
|
videos/chunk-000/observation.images.exterior_image_2_left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:75ef6f0e586dd57638723b14d142dc6e62e3ba93fd99a44b1c894349319379b4
|
| 3 |
+
size 1367141
|
videos/chunk-000/observation.images.wrist_image_left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:557537c563226a65f091ee6870ab0f989d9751214082148937fff630b93378ef
|
| 3 |
+
size 641128
|