maxdoesch commited on
Commit
352da97
·
verified ·
1 Parent(s): f923fec

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 sha256:288f7966ebc3dcdb4d81c657e8d2e91f90f78c572ff6d4cb448aa163ef1fa34b
3
+ size 18943736
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1aac69ebb815048c40ae1b5f453a2c71335ff487785abcc7e7ee9de0b99e0ac3
3
+ size 20849042
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cbd50c4608b0c11ec42657a5d035ca1857f4665c280862f2074fcfc61a0050bd
3
+ size 24119776
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["clean up the lego blocks"], "length": 112}
2
+ {"episode_index": 1, "tasks": ["clean up the lego blocks"], "length": 123}
3
+ {"episode_index": 2, "tasks": ["clean up the lego blocks"], "length": 143}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"observation.images.primary": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.5599719848632811]], [[0.5926399925082337]], [[0.538439848058364]]], "std": [[[0.16636718435521874]], [[0.16896284202935968]], [[0.16126800508341174]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4380971332624847]], [[0.44475202612783393]], [[0.41913632082471663]]], "std": [[[0.20546429664589277]], [[0.20096225877423332]], [[0.2141342856168604]]], "count": [100]}, "observation.state": {"min": [-0.04472140222787857, -0.7847775816917419, -0.10075872391462326, -2.3529961109161377, -0.004146290011703968, 1.5671466588974, 0.7775498628616333, 0.002518891589716077], "max": [0.11984904110431671, 0.1746658831834793, 0.06779073178768158, -2.0857200622558594, -0.00405134866014123, 2.453911542892456, 1.0702978372573853, 0.6284634470939636], "mean": [0.012874790467321873, -0.18479733169078827, -0.024159694090485573, -2.2638437747955322, -0.004118381068110466, 2.0880942344665527, 0.8832646608352661, 0.31470394134521484], "std": [0.05713985487818718, 0.32944682240486145, 0.050712838768959045, 0.09365066140890121, 1.179208356916206e-05, 0.30549919605255127, 0.1074291542172432, 0.24958790838718414], "count": [112]}, "action": {"min": [-0.023631712421774864, -0.05914539471268654, -0.01581002213060856, -0.0019197168294340372, -0.0035205723252147436, -0.07179173827171326, -0.032088495790958405, 0.009727626107633114], "max": [0.029610106721520424, 0.04679034650325775, 0.030513279139995575, 0.023613430559635162, 7.407138036796823e-05, 0.04768553748726845, 0.044703323394060135, 0.9844357967376709], "mean": [-0.00011496090155560523, 0.0038641265127807856, -3.3659260225249454e-05, 0.002333614509552717, -3.9687136450083926e-05, 0.0015393563080579042, 0.001108321244828403, 0.6392965912818909], "std": [0.0068556200712919235, 0.02255242131650448, 0.007053019944578409, 0.004813281819224358, 0.000337878504069522, 0.022870203480124474, 0.012057975865900517, 0.3417125344276428], "count": [112]}, "timestamp": {"min": [0.0], "max": [5.55], "mean": [2.775], "std": [1.616516316032721], "count": [112]}, "frame_index": {"min": [0], "max": [111], "mean": [55.5], "std": [32.33032632065442], "count": [112]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [112]}, "index": {"min": [0], "max": [111], "mean": [55.5], "std": [32.33032632065442], "count": [112]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [112]}}}
2
+ {"episode_index": 1, "stats": {"observation.images.primary": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.984313725490196]], [[1.0]], [[1.0]]], "mean": [[[0.5537820039636949]], [[0.5863561892041973]], [[0.5324675538306143]]], "std": [[[0.16732083821532193]], [[0.16926267121203067]], [[0.16152715358437944]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42954920869715074]], [[0.4448241702809054]], [[0.42037705185834096]]], "std": [[[0.20460835440191302]], [[0.19895516997343188]], [[0.2107231260258803]]], "count": [100]}, "observation.state": {"min": [-0.040004465728998184, -0.7847834825515747, -0.07093726098537445, -2.353736639022827, -0.004580690059810877, 1.5772634744644165, 0.796184241771698, 0.05415617302060127], "max": [0.13815344870090485, 0.3548795282840729, 0.0012744078412652016, -2.0485892295837402, -0.004057638812810183, 2.3982231616973877, 0.9309958815574646, 0.5277078151702881], "mean": [0.02251003123819828, -0.10443241149187088, -0.026741590350866318, -2.139493465423584, -0.004170314408838749, 2.0559799671173096, 0.8723429441452026, 0.20205380022525787], "std": [0.05996011570096016, 0.38929635286331177, 0.030974186956882477, 0.12800341844558716, 0.00015230309509206563, 0.2830831706523895, 0.05276363343000412, 0.17569075524806976], "count": [123]}, "action": {"min": [-0.015704957768321037, -0.059837017208337784, -0.013653764501214027, -0.009297391399741173, -0.0059345983900129795, -0.06896550953388214, -0.015299388207495213, 0.3657587468624115], "max": [0.027320317924022675, 0.0588451623916626, 0.01588110253214836, 0.03524498641490936, 5.367236735764891e-05, 0.05494672805070877, 0.025141362100839615, 0.9688715934753418], "mean": [-0.00040103806531988084, 0.003468797542154789, -0.00015616865130141377, 0.0020995326340198517, -6.471245433203876e-05, 0.0013097544433549047, 0.00019471958512440324, 0.7939167618751526], "std": [0.006143523845821619, 0.02394832856953144, 0.0036310586147010326, 0.007259729318320751, 0.0005460886750370264, 0.02213752456009388, 0.005642592441290617, 0.2225153148174286], "count": [123]}, "timestamp": {"min": [0.0], "max": [6.1], "mean": [3.0500000000000003], "std": [1.7752934029806642], "count": [123]}, "frame_index": {"min": [0], "max": [122], "mean": [61.0], "std": [35.505868059613285], "count": [123]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [123]}, "index": {"min": [112], "max": [234], "mean": [173.0], "std": [35.505868059613285], "count": [123]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [123]}}}
3
+ {"episode_index": 2, "stats": {"observation.images.primary": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.984313725490196]], [[1.0]], [[1.0]]], "mean": [[[0.5519719992244945]], [[0.5851538181678921]], [[0.5332893814386106]]], "std": [[[0.17122158937670523]], [[0.17373363830324068]], [[0.16484603754149038]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4422627850700827]], [[0.45102694043926167]], [[0.4252953317679611]]], "std": [[[0.20245158507957048]], [[0.19742836201988062]], [[0.20949248353021963]]], "count": [100]}, "observation.state": {"min": [-0.18318934738636017, -0.7847244143486023, -0.10174059867858887, -2.353374719619751, -0.004573466721922159, 1.578086256980896, 0.5270823240280151, 0.04282115772366524], "max": [0.16233788430690765, 0.3960466682910919, 0.01650088280439377, -1.9021834135055542, -0.004473923705518246, 2.411482334136963, 0.8929726481437683, 0.6108312606811523], "mean": [-0.03912469372153282, -0.05669471248984337, -0.043727654963731766, -2.1368138790130615, -0.004540182184427977, 2.102916955947876, 0.7339133620262146, 0.23040829598903656], "std": [0.10805696249008179, 0.39845266938209534, 0.044063277542591095, 0.15281593799591064, 2.0295232388889417e-05, 0.25254321098327637, 0.13523948192596436, 0.21857690811157227], "count": [143]}, "action": {"min": [-0.019893895834684372, -0.061281897127628326, -0.01792212948203087, -0.027504565194249153, -0.0017105946317315102, -0.06378970295190811, -0.03510071337223053, 0.0], "max": [0.04227019473910332, 0.06637570261955261, 0.019293610006570816, 0.04402520880103111, 0.00041934402543120086, 0.06610795855522156, 0.04560891166329384, 0.9785992503166199], "mean": [-8.023373084142804e-05, 0.002032502554357052, -0.00015557886217720807, 0.0006473370594903827, -4.9472761020297185e-05, 0.001382197136990726, 0.00014305117656476796, 0.6995740532875061], "std": [0.009959924034774303, 0.023490557447075844, 0.004711647983640432, 0.011272028088569641, 0.00023844456882216036, 0.0218643955886364, 0.01144692488014698, 0.3676144480705261], "count": [143]}, "timestamp": {"min": [0.0], "max": [7.1], "mean": [3.5500000000000003], "std": [2.0639767440550294], "count": [143]}, "frame_index": {"min": [0], "max": [142], "mean": [71.0], "std": [41.27953488110059], "count": [143]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [143]}, "index": {"min": [235], "max": [377], "mean": [306.0], "std": [41.27953488110059], "count": [143]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [143]}}}
meta/info.json ADDED
@@ -0,0 +1,111 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "franka",
4
+ "total_episodes": 3,
5
+ "total_frames": 378,
6
+ "total_tasks": 1,
7
+ "total_videos": 0,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:3"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": null,
16
+ "features": {
17
+ "observation.images.primary": {
18
+ "dtype": "image",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channels"
28
+ ]
29
+ },
30
+ "observation.images.wrist": {
31
+ "dtype": "image",
32
+ "shape": [
33
+ 256,
34
+ 256,
35
+ 3
36
+ ],
37
+ "names": [
38
+ "height",
39
+ "width",
40
+ "channels"
41
+ ]
42
+ },
43
+ "observation.state": {
44
+ "dtype": "float32",
45
+ "shape": [
46
+ 8
47
+ ],
48
+ "names": [
49
+ "joint_0",
50
+ "joint_1",
51
+ "joint_2",
52
+ "joint_3",
53
+ "joint_4",
54
+ "joint_5",
55
+ "joint_6",
56
+ "gripper"
57
+ ]
58
+ },
59
+ "action": {
60
+ "dtype": "float32",
61
+ "shape": [
62
+ 8
63
+ ],
64
+ "names": [
65
+ "joint_0",
66
+ "joint_1",
67
+ "joint_2",
68
+ "joint_3",
69
+ "joint_4",
70
+ "joint_5",
71
+ "joint_6",
72
+ "gripper"
73
+ ]
74
+ },
75
+ "timestamp": {
76
+ "dtype": "float32",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "frame_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "episode_index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ },
103
+ "task_index": {
104
+ "dtype": "int64",
105
+ "shape": [
106
+ 1
107
+ ],
108
+ "names": null
109
+ }
110
+ }
111
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "clean up the lego blocks"}