Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- data/chunk-000/episode_000004.parquet +3 -0
- meta/episodes.jsonl +5 -0
- meta/episodes_stats.jsonl +5 -0
- meta/info.json +104 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000004.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:c95aae2a836596a35688b488bb502856262b5d0695fef35a261bd69b16adfa58
|
| 3 |
+
size 38583
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:447b97c0d26f645d8921b31cd1c91a628313dce514f96ed7150fc273b31f0d62
|
| 3 |
+
size 25844
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6b0aa9bdd2d4c4d197d2dc4626a42ad28b4c8718329fe99f2faf7652b1dc76e0
|
| 3 |
+
size 29573
|
data/chunk-000/episode_000003.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:56f25b7fcae5cc7e96f010b367ed1f31efcdd95b7f363f5505a2f2d061230346
|
| 3 |
+
size 26502
|
data/chunk-000/episode_000004.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:743458a3b2cbc7bb276088a071d483b861438678098f62784c2621571ace61b9
|
| 3 |
+
size 26414
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,5 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["stack two legos"], "length": 841}
|
| 2 |
+
{"episode_index": 1, "tasks": ["stack two legos"], "length": 500}
|
| 3 |
+
{"episode_index": 2, "tasks": ["stack two legos"], "length": 576}
|
| 4 |
+
{"episode_index": 3, "tasks": ["stack two legos"], "length": 486}
|
| 5 |
+
{"episode_index": 4, "tasks": ["stack two legos"], "length": 512}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,5 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-27.123695373535156, -98.89550018310547, -11.971197128295898, -89.43630981445312, -19.34306526184082, 0.07993604987859726], "max": [4.3219075202941895, 34.06966781616211, 99.1899185180664, 90.23524475097656, 5.683002948760986, 36.13109588623047], "mean": [-9.247719764709473, -24.299705505371094, 32.98379898071289, 44.70857238769531, -6.517833232879639, 5.299108028411865], "std": [9.046675682067871, 55.420440673828125, 46.32370376586914, 59.90575408935547, 6.863260746002197, 9.713047981262207], "count": [841]}, "observation.state": {"min": [-26.923076629638672, -98.89736938476562, -10.738558769226074, -89.12855529785156, -19.21976661682129, 0.8350730538368225], "max": [-0.07396449893712997, 29.092451095581055, 99.90937805175781, 89.55996704101562, 5.331599712371826, 35.76896286010742], "mean": [-9.42751693725586, -24.075767517089844, 33.51526641845703, 45.95878601074219, -6.475838661193848, 8.098054885864258], "std": [8.927602767944336, 55.254295349121094, 46.23117446899414, 58.25832748413086, 6.809067249298096, 8.851284980773926], "count": [841]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49679226239106755]], [[0.48200790545919225]], [[0.4577291993987766]]], "std": [[[0.24619196063676171]], [[0.2609690925572009]], [[0.28774164963664084]]], "count": [156]}, "timestamp": {"min": [0.0], "max": [28.0], "mean": [14.0], "std": [8.09252055226855], "count": [841]}, "frame_index": {"min": [0], "max": [840], "mean": [420.0], "std": [242.77561656805653], "count": [841]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [841]}, "index": {"min": [0], "max": [840], "mean": [420.0], "std": [242.77561656805653], "count": [841]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [841]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-24.29210090637207, -98.64060974121094, -2.97029709815979, -91.21171569824219, -17.518247604370117, 0.47961631417274475], "max": [-0.8196721076965332, 27.017841339111328, 99.09990692138672, 94.76253509521484, 4.014598369598389, 19.744205474853516], "mean": [-9.020127296447754, -20.955698013305664, 28.77228546142578, 49.41398620605469, -3.015855550765991, 6.774737358093262], "std": [7.5935845375061035, 45.56513595581055, 36.61934280395508, 50.83079147338867, 6.03604793548584, 8.324338912963867], "count": [500]}, "observation.state": {"min": [-23.890533447265625, -98.81255340576172, -1.6764838695526123, -91.19931030273438, -17.139141082763672, 0.9046624898910522], "max": [-1.7011834383010864, 26.80237579345703, 98.91255187988281, 94.47799682617188, 3.719115734100342, 19.415449142456055], "mean": [-9.061525344848633, -20.556903839111328, 29.219051361083984, 48.51506042480469, -2.9901678562164307, 9.610194206237793], "std": [7.607595443725586, 45.741764068603516, 36.50636291503906, 52.24380874633789, 6.064489364624023, 6.9168381690979], "count": [500]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.50031046529723]], [[0.47742729925303456]], [[0.45343124999999995]]], "std": [[[0.24466563972118496]], [[0.2586677189586221]], [[0.286998948381136]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.633333333333333], "mean": [8.316666666666668], "std": [4.811242620732772], "count": [500]}, "frame_index": {"min": [0], "max": [499], "mean": [249.5], "std": [144.33727862198316], "count": [500]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [500]}, "index": {"min": [841], "max": [1340], "mean": [1090.5], "std": [144.33727862198316], "count": [500]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [500]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"action": {"min": [-25.484352111816406, -99.66015625, -26.462646484375, -91.65557098388672, -15.067778587341309, 0.3996802568435669], "max": [1.3412816524505615, 23.789295196533203, 99.36993408203125, 93.1646728515625, 4.3274245262146, 23.581134796142578], "mean": [-7.791147708892822, -19.847902297973633, 30.67275619506836, 41.298091888427734, -2.1302175521850586, 11.905661582946777], "std": [7.498863697052002, 46.10014724731445, 38.22766876220703, 59.1837272644043, 5.048473358154297, 10.237411499023438], "count": [576]}, "observation.state": {"min": [-25.073965072631836, -99.15182495117188, -24.422292709350586, -91.54443359375, -14.850455284118652, 8.768267631530762], "max": [0.7396449446678162, 19.083969116210938, 99.09379577636719, 92.83865356445312, 4.031209468841553, 23.103687286376953], "mean": [-7.817232608795166, -19.742185592651367, 30.876197814941406, 44.20836639404297, -2.099404811859131, 15.456401824951172], "std": [7.546334266662598, 46.007850646972656, 37.974334716796875, 55.594913482666016, 5.012126922607422, 6.175790309906006], "count": [576]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4888949220713927]], [[0.46571726963577453]], [[0.43989349582425563]]], "std": [[[0.24704645881867854]], [[0.2634700771507738]], [[0.2934767315049983]]], "count": [117]}, "timestamp": {"min": [0.0], "max": [19.166666666666668], "mean": [9.583333333333334], "std": [5.542554231345635], "count": [576]}, "frame_index": {"min": [0], "max": [575], "mean": [287.5], "std": [166.27662694036906], "count": [576]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [576]}, "index": {"min": [1341], "max": [1916], "mean": [1628.5], "std": [166.27662694036906], "count": [576]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [576]}}}
|
| 4 |
+
{"episode_index": 3, "stats": {"action": {"min": [-26.97466468811035, -99.06542205810547, -7.200720310211182, -91.1229476928711, -17.67466163635254, 0.31974419951438904], "max": [-0.8196721076965332, 28.037384033203125, 99.2799301147461, 87.83843994140625, 13.607924461364746, 26.458833694458008], "mean": [-8.64857292175293, -23.983013153076172, 34.716251373291016, 39.32791519165039, -0.8187544345855713, 14.41729736328125], "std": [8.592842102050781, 49.34914779663086, 38.97718811035156, 58.130615234375, 6.694808483123779, 11.697565078735352], "count": [486]}, "observation.state": {"min": [-26.331361770629883, -99.15182495117188, -4.666968822479248, -91.19931030273438, -17.399219512939453, 8.350730895996094], "max": [-1.1834319829940796, 25.275657653808594, 99.09379577636719, 87.4029312133789, 13.446033477783203, 26.30480194091797], "mean": [-8.762663841247559, -24.183671951293945, 35.146278381347656, 39.65086364746094, -0.8978579640388489, 17.501171112060547], "std": [8.691805839538574, 49.03693389892578, 38.86304473876953, 58.26955032348633, 6.6710615158081055, 7.879179000854492], "count": [486]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49927604662415126]], [[0.48005632892315503]], [[0.4516454466495336]]], "std": [[[0.2530147453745094]], [[0.269021908816967]], [[0.29622076567075384]]], "count": [103]}, "timestamp": {"min": [0.0], "max": [16.166666666666668], "mean": [8.083333333333334], "std": [4.676527280729516], "count": [486]}, "frame_index": {"min": [0], "max": [485], "mean": [242.5], "std": [140.2958184218855], "count": [486]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [486]}, "index": {"min": [1917], "max": [2402], "mean": [2159.5], "std": [140.2958184218855], "count": [486]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [486]}}}
|
| 5 |
+
{"episode_index": 4, "stats": {"action": {"min": [-26.751117706298828, -99.23534393310547, 0.45004501938819885, -90.50155639648438, -15.589155197143555, 0.3996802568435669], "max": [-0.22354695200920105, 28.292268753051758, 99.09990692138672, 81.35819244384766, 8.498435974121094, 26.538768768310547], "mean": [-8.175055503845215, -14.752518653869629, 29.657432556152344, 55.30351638793945, -2.3511834144592285, 9.225321769714355], "std": [8.447851181030273, 45.73183059692383, 34.141578674316406, 42.70441436767578, 5.817270278930664, 11.678397178649902], "count": [512]}, "observation.state": {"min": [-26.405324935913086, -98.81255340576172, 0.8608971238136292, -90.33649444580078, -15.318595886230469, 0.9046624898910522], "max": [-1.4792898893356323, 22.391857147216797, 98.91255187988281, 81.10440063476562, 8.03641128540039, 26.30480194091797], "mean": [-8.152166366577148, -15.150370597839355, 29.979076385498047, 54.156410217285156, -2.32851505279541, 13.421534538269043], "std": [8.428791999816895, 45.14186096191406, 34.2364616394043, 44.3009033203125, 5.704256534576416, 9.072795867919922], "count": [512]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5016323605766294]], [[0.4789899689237066]], [[0.4483143172377986]]], "std": [[[0.2441792208002925]], [[0.2601679250990005]], [[0.2902752487361784]]], "count": [107]}, "timestamp": {"min": [0.0], "max": [17.033333333333335], "mean": [8.516666666666666], "std": [4.926712900098807], "count": [512]}, "frame_index": {"min": [0], "max": [511], "mean": [255.5], "std": [147.80138700296422], "count": [512]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [512]}, "index": {"min": [2403], "max": [2914], "mean": [2658.5], "std": [147.80138700296422], "count": [512]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [512]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "so101_follower",
|
| 4 |
+
"total_episodes": 5,
|
| 5 |
+
"total_frames": 2915,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 5,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:5"
|
| 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 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"shoulder_pan.pos",
|
| 24 |
+
"shoulder_lift.pos",
|
| 25 |
+
"elbow_flex.pos",
|
| 26 |
+
"wrist_flex.pos",
|
| 27 |
+
"wrist_roll.pos",
|
| 28 |
+
"gripper.pos"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"shoulder_pan.pos",
|
| 38 |
+
"shoulder_lift.pos",
|
| 39 |
+
"elbow_flex.pos",
|
| 40 |
+
"wrist_flex.pos",
|
| 41 |
+
"wrist_roll.pos",
|
| 42 |
+
"gripper.pos"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.front": {
|
| 46 |
+
"dtype": "video",
|
| 47 |
+
"shape": [
|
| 48 |
+
480,
|
| 49 |
+
640,
|
| 50 |
+
3
|
| 51 |
+
],
|
| 52 |
+
"names": [
|
| 53 |
+
"height",
|
| 54 |
+
"width",
|
| 55 |
+
"channels"
|
| 56 |
+
],
|
| 57 |
+
"info": {
|
| 58 |
+
"video.height": 480,
|
| 59 |
+
"video.width": 640,
|
| 60 |
+
"video.codec": "av1",
|
| 61 |
+
"video.pix_fmt": "yuv420p",
|
| 62 |
+
"video.is_depth_map": false,
|
| 63 |
+
"video.fps": 30,
|
| 64 |
+
"video.channels": 3,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"timestamp": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"names": null
|
| 74 |
+
},
|
| 75 |
+
"frame_index": {
|
| 76 |
+
"dtype": "int64",
|
| 77 |
+
"shape": [
|
| 78 |
+
1
|
| 79 |
+
],
|
| 80 |
+
"names": null
|
| 81 |
+
},
|
| 82 |
+
"episode_index": {
|
| 83 |
+
"dtype": "int64",
|
| 84 |
+
"shape": [
|
| 85 |
+
1
|
| 86 |
+
],
|
| 87 |
+
"names": null
|
| 88 |
+
},
|
| 89 |
+
"index": {
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"task_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "stack two legos"}
|
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:d2ce441501884f82030d7539b9111c177dee380c384542604db06e3b7cba2f46
|
| 3 |
+
size 4549686
|
videos/chunk-000/observation.images.front/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ed613021e6b7eb2a9ccf3314c32dc735ccfa64a862a329e4d71a51b11a4679c2
|
| 3 |
+
size 2705284
|
videos/chunk-000/observation.images.front/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:59e02f563cb94e409c834c9d36b7cd12c038293209788ea5e2cc3eaa31abcdcc
|
| 3 |
+
size 3207852
|
videos/chunk-000/observation.images.front/episode_000003.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:402c26faa3599c46c0d0d0931fa741d5f2bb7c92dcec1bb21afce7237d4ed5ba
|
| 3 |
+
size 2626253
|
videos/chunk-000/observation.images.front/episode_000004.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:be085249ef0b4b057fe90dea74ded210022b8a0750242f6166cec1e35cb00a97
|
| 3 |
+
size 2698400
|