Upload folder using huggingface_hub

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:809d38e556bc3164facbdd4a5b8560e57fa1accd1bcda6b7d37cdc9caef50214
+size 17330779

data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ada0dcd4547c4ab20902f84f9b34ba08334e2d8e6e1d1b2a651d28bfab0299bd
+size 21819627

data/chunk-000/episode_000005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a7e37886f10b2c63020a3e69e99ba3af3bbcc04576a3ab95e74ffc8b310767
+size 17730809

meta/episodes.jsonl

@@ -1,3 +1,6 @@
 {"episode_index": 0, "tasks": ["clean up the lego blocks"], "length": 112}
 {"episode_index": 1, "tasks": ["clean up the lego blocks"], "length": 123}
 {"episode_index": 2, "tasks": ["clean up the lego blocks"], "length": 143}
+{"episode_index": 3, "tasks": ["clean up the lego blocks"], "length": 103}
+{"episode_index": 4, "tasks": ["clean up the lego blocks"], "length": 129}
+{"episode_index": 5, "tasks": ["clean up the lego blocks"], "length": 106}

meta/episodes_stats.jsonl

@@ -1,3 +1,6 @@
 {"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]}}}
 {"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]}}}
 {"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]}}}
+{"episode_index": 3, "stats": {"observation.images.primary": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[1.0]], [[1.0]]], "mean": [[[0.5610523693608302]], [[0.5935648965274586]], [[0.5395950712316177]]], "std": [[[0.16539119663399932]], [[0.16824032036752254]], [[0.16034765510692753]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4359949825511259]], [[0.44315320302925854]], [[0.41642795996572457]]], "std": [[[0.20439715534142988]], [[0.2004401593916694]], [[0.20779870380148965]]], "count": [100]}, "observation.state": {"min": [-0.059911202639341354, -0.7846259474754333, -0.1496734321117401, -2.352794647216797, -0.02407793141901493, 1.5780366659164429, 0.6246097087860107, 0.010075566358864307], "max": [0.219560906291008, 0.17234152555465698, 0.022711969912052155, -2.295196533203125, -0.004480476025491953, 2.5080764293670654, 1.095060110092163, 0.6335012316703796], "mean": [0.039503734558820724, -0.21799476444721222, -0.048752859234809875, -2.3180134296417236, -0.01999051682651043, 2.1330819129943848, 0.8143501877784729, 0.32128092646598816], "std": [0.09938005357980728, 0.3099808692932129, 0.06602274626493454, 0.022684389725327492, 0.007540665101259947, 0.30051323771476746, 0.1702764332294464, 0.20191825926303864], "count": [103]}, "action": {"min": [-0.028782010078430176, -0.054742224514484406, -0.02376488596200943, -0.002974149538204074, -0.015925828367471695, -0.05778452008962631, -0.05918309837579727, 0.0], "max": [0.0486581027507782, 0.05432921648025513, 0.02374795638024807, 0.007513080723583698, 0.0009081652387976646, 0.05664316192269325, 0.053078923374414444, 0.881322979927063], "mean": [9.532136027701199e-05, 0.0028197462670505047, -0.0005921768606640399, 0.0004615595971699804, -0.0004103320825379342, 0.0023588738404214382, -0.0011432813480496407, 0.5918179750442505], "std": [0.011723728850483894, 0.02375638484954834, 0.008251531049609184, 0.0014628194039687514, 0.0020476272329688072, 0.023663295432925224, 0.01987694576382637, 0.3471509516239166], "count": [103]}, "timestamp": {"min": [0.0], "max": [5.1], "mean": [2.5500000000000003], "std": [1.4866068747318506], "count": [103]}, "frame_index": {"min": [0], "max": [102], "mean": [51.0], "std": [29.732137494637012], "count": [103]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [103]}, "index": {"min": [378], "max": [480], "mean": [429.0], "std": [29.732137494637012], "count": [103]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [103]}}}
+{"episode_index": 4, "stats": {"observation.images.primary": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[1.0]], [[1.0]]], "mean": [[[0.554364070518344]], [[0.5876129096536076]], [[0.5353815953871783]]], "std": [[[0.1697492743452732]], [[0.17244175853856347]], [[0.1637222915769838]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45737237429151345]], [[0.4637942504882812]], [[0.44150285788143384]]], "std": [[[0.20578556780239615]], [[0.1987673484419637]], [[0.2130982216207204]]], "count": [100]}, "observation.state": {"min": [-0.1308802366256714, -0.7846826910972595, -0.10147495567798615, -2.3533663749694824, -0.004807057324796915, 1.5776766538619995, 0.5170725584030151, 0.13350126147270203], "max": [0.1357285976409912, 0.390979528427124, 0.0217868871986866, -1.9239658117294312, -0.004563859198242426, 2.402034044265747, 0.9331470727920532, 0.5403022766113281], "mean": [-0.033405713737010956, -0.07914116233587265, -0.045986104756593704, -2.1715524196624756, -0.004755252040922642, 2.1130383014678955, 0.6920474767684937, 0.24464477598667145], "std": [0.08331219106912613, 0.39805305004119873, 0.05164271593093872, 0.16182656586170197, 6.155604205559939e-05, 0.2584868371486664, 0.1320091187953949, 0.15911611914634705], "count": [129]}, "action": {"min": [-0.02966739982366562, -0.05921395495533943, -0.018530987203121185, -0.03232086822390556, -0.0030149498488754034, -0.06514285504817963, -0.04216523841023445, 0.3599221706390381], "max": [0.03620123863220215, 0.057266414165496826, 0.025308968499302864, 0.054590534418821335, 0.0005790580180473626, 0.054624129086732864, 0.05717941001057625, 0.881322979927063], "mean": [-0.00029727810760959983, 0.0023545988369733095, -6.843938899692148e-05, 5.539725680137053e-05, -9.087598300538957e-05, 0.0022962153889238834, -0.0007587501313537359, 0.7454390525817871], "std": [0.009264656342566013, 0.02405305951833725, 0.005249127745628357, 0.012634831480681896, 0.00037712606717832386, 0.02124885655939579, 0.013994506560266018, 0.20150479674339294], "count": [129]}, "timestamp": {"min": [0.0], "max": [6.4], "mean": [3.2], "std": [1.8618986725025257], "count": [129]}, "frame_index": {"min": [0], "max": [128], "mean": [64.0], "std": [37.23797345005051], "count": [129]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [129]}, "index": {"min": [481], "max": [609], "mean": [545.0], "std": [37.23797345005051], "count": [129]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [129]}}}
+{"episode_index": 5, "stats": {"observation.images.primary": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5588177585975797]], [[0.5923029462028953]], [[0.540236863080193]]], "std": [[[0.16659136848584127]], [[0.1693056778349977]], [[0.16047934406292538]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44350985358743106]], [[0.45244066006529565]], [[0.42878899727615655]]], "std": [[[0.21048242101896816]], [[0.2009385246309471]], [[0.21184084451775986]]], "count": [100]}, "observation.state": {"min": [-0.009390600956976414, -0.7846020460128784, -0.04981449246406555, -2.353344202041626, -0.0047506364062428474, 1.5776066780090332, 0.6757286190986633, 0.2191435694694519], "max": [0.16432452201843262, 0.2762492597103119, 0.014374597929418087, -2.136061429977417, -0.004612363409250975, 2.4093008041381836, 1.2263902425765991, 0.741813600063324], "mean": [0.022815626114606857, -0.14217597246170044, -0.011771777644753456, -2.2086758613586426, -0.0046945493668317795, 2.088031053543091, 0.9129357933998108, 0.3545936346054077], "std": [0.053174685686826706, 0.37225162982940674, 0.022807516157627106, 0.0891408920288086, 3.3856038498925045e-05, 0.2838922441005707, 0.17295795679092407, 0.20451007783412933], "count": [106]}, "action": {"min": [-0.027299033477902412, -0.0593477338552475, -0.009614449925720692, -0.01982252486050129, -0.0025587996933609247, -0.041384126991033554, -0.04448273777961731, 0.046692606061697006], "max": [0.01564148999750614, 0.06121112033724785, 0.018636442720890045, 0.021840840578079224, 7.46714576962404e-05, 0.06831785291433334, 0.05501014366745949, 0.7976653575897217], "mean": [-4.448354593478143e-05, 0.003001987701281905, -8.893934864317998e-05, 0.0007156932260841131, -7.956999615998939e-05, 0.0022677083034068346, -0.0011775027960538864, 0.6134642958641052], "std": [0.00730168865993619, 0.025097854435443878, 0.0038045921828597784, 0.006951028481125832, 0.0003324180142953992, 0.021534789353609085, 0.017961906269192696, 0.2861122190952301], "count": [106]}, "timestamp": {"min": [0.0], "max": [5.25], "mean": [2.6249999999999996], "std": [1.529910128079424], "count": [106]}, "frame_index": {"min": [0], "max": [105], "mean": [52.5], "std": [30.598202561588483], "count": [106]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [106]}, "index": {"min": [610], "max": [715], "mean": [662.5], "std": [30.598202561588483], "count": [106]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [106]}}}

meta/info.json

@@ -1,15 +1,15 @@
 {
     "codebase_version": "v2.1",
     "robot_type": "franka",
-    "total_episodes": 3,
-    "total_frames": 378,
+    "total_episodes": 6,
+    "total_frames": 716,
     "total_tasks": 1,
     "total_videos": 0,
     "total_chunks": 1,
     "chunks_size": 1000,
     "fps": 20,
     "splits": {
-        "train": "0:3"
+        "train": "0:6"
     },
     "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "video_path": null,