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:c171062e50fdf167f638a6c18f86d1fa8b5e79f379701977e0ab40d8f77739fe
|
| 3 |
+
size 43309
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d3238886d3541950f0392b5e47ecbeae123611ffcae2189e97677c2cfbf4e713
|
| 3 |
+
size 44428
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d87ce9a39af7296e504aa1fd2041a339922eb6e7c6da7afee4126a6d2077c399
|
| 3 |
+
size 47441
|
data/chunk-000/episode_000003.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:22b760a970ea8d4c2507c35362a5b0a6f2858d2042837e3f7880fee140cf574b
|
| 3 |
+
size 42396
|
data/chunk-000/episode_000004.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ef07a05a5f962e79164623e3db47d82363759c6b8ed7ec7d6b418263001c7f37
|
| 3 |
+
size 45695
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,5 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grab the yellow cube"], "length": 1501}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grab the yellow cube"], "length": 1502}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Grab the yellow cube"], "length": 1502}
|
| 4 |
+
{"episode_index": 3, "tasks": ["Grab the yellow cube"], "length": 1502}
|
| 5 |
+
{"episode_index": 4, "tasks": ["Grab the yellow cube"], "length": 1502}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,5 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-13.551230430603027, -99.9160385131836, -2.085222005844116, 55.14834213256836, -2.5545504093170166, 0.5640612244606018], "max": [32.57436752319336, 8.228379249572754, 98.00543975830078, 99.4764404296875, 12.50665283203125, 33.92425537109375], "mean": [-6.898821830749512, -77.69464111328125, 76.21473693847656, 75.15567016601562, -0.1170758306980133, 22.455982208251953], "std": [8.657572746276855, 39.23691177368164, 28.562877655029297, 8.104385375976562, 3.109161853790283, 9.388132095336914], "count": [1501]}, "observation.state": {"min": [-13.404333114624023, -99.2430648803711, 0.408905029296875, 55.64236068725586, -2.334120035171509, 1.4647136926651], "max": [31.839881896972656, 8.242219924926758, 98.0917739868164, 98.69791412353516, 11.827957153320312, 33.155792236328125], "mean": [-6.674254894256592, -77.35932922363281, 77.9215316772461, 75.00199127197266, -0.14597487449645996, 22.9350528717041], "std": [8.598103523254395, 39.3772087097168, 29.03805923461914, 7.992498397827148, 3.105335235595703, 8.872978210449219], "count": [1501]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176470588235]], [[0.7647058823529411]], [[0.7333333333333333]]], "mean": [[[0.32030450719361053]], [[0.3566450621050633]], [[0.3168108473679928]]], "std": [[[0.10533871007556118]], [[0.11765823686998529]], [[0.11965241220545925]]], "count": [241]}, "timestamp": {"min": [0.0], "max": [50.0], "mean": [25.0], "std": [14.443376028862199], "count": [1501]}, "frame_index": {"min": [0], "max": [1500], "mean": [750.0], "std": [433.3012808658659], "count": [1501]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1501]}, "index": {"min": [0], "max": [1500], "mean": [750.0], "std": [433.3012808658659], "count": [1501]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1501]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-12.008813858032227, -99.66414642333984, -56.482322692871094, 65.18324279785156, -13.624268531799316, 7.5745368003845215], "max": [27.139184951782227, 48.950462341308594, 95.10426330566406, 100.0, 3.885045289993286, 42.7880744934082], "mean": [-6.951393127441406, -71.86885070800781, 66.74763488769531, 73.82408142089844, -1.672279715538025, 13.815711975097656], "std": [8.384787559509277, 49.431846618652344, 48.611873626708984, 11.987859725952148, 2.826895236968994, 10.47574520111084], "count": [1502]}, "observation.state": {"min": [-12.08226203918457, -99.1589584350586, -53.65742874145508, 65.88541412353516, -13.24416446685791, 7.72303581237793], "max": [26.84539031982422, 49.53742599487305, 95.45661163330078, 99.39236450195312, 3.697875738143921, 42.34354019165039], "mean": [-6.808528900146484, -71.28115844726562, 67.61949920654297, 73.7865219116211, -1.5650465488433838, 14.435882568359375], "std": [8.336268424987793, 49.78335189819336, 48.23814392089844, 11.903243064880371, 2.890967845916748, 10.289261817932129], "count": [1502]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8156862745098039]], [[0.8509803921568627]], [[0.8117647058823529]]], "mean": [[[0.33648535768041654]], [[0.36940612880698614]], [[0.33547802592682996]]], "std": [[[0.11057426791599141]], [[0.12175782923293699]], [[0.12500646324009834]]], "count": [241]}, "timestamp": {"min": [0.0], "max": [50.03333333333333], "mean": [25.016666666666666], "std": [14.452998535482754], "count": [1502]}, "frame_index": {"min": [0], "max": [1501], "mean": [750.5], "std": [433.58995606448264], "count": [1502]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1502]}, "index": {"min": [1501], "max": [3002], "mean": [2251.5], "std": [433.58995606448264], "count": [1502]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1502]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"action": {"min": [-37.715755462646484, -100.0, -25.113327026367188, 62.390926361083984, -2.6077702045440674, 0.6446413993835449], "max": [30.370914459228516, 19.059614181518555, 95.1949234008789, 99.65096282958984, 6.758914470672607, 40.692989349365234], "mean": [-7.785990238189697, -73.23653411865234, 72.0461654663086, 69.25263977050781, 0.5098627805709839, 5.672009468078613], "std": [13.636956214904785, 43.70832443237305, 37.003910064697266, 8.503650665283203, 2.2487194538116455, 8.480069160461426], "count": [1502]}, "observation.state": {"min": [-37.275062561035156, -99.1589584350586, -22.308042526245117, 62.41319274902344, -2.3865723609924316, 1.6644474267959595], "max": [29.93022346496582, 19.34398651123047, 95.3657455444336, 99.04513549804688, 6.5302910804748535, 40.27962875366211], "mean": [-7.755426406860352, -72.81217956542969, 72.62350463867188, 69.40202331542969, 0.5883786082267761, 6.866724014282227], "std": [13.608415603637695, 43.87268829345703, 36.5421257019043, 8.390366554260254, 2.165897846221924, 8.395235061645508], "count": [1502]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6901960784313725]], [[0.7529411764705882]], [[0.7725490196078432]]], "mean": [[[0.3401746026903154]], [[0.37301156588153933]], [[0.3391754823990454]]], "std": [[[0.11098602251092818]], [[0.12256140982602437]], [[0.12635115171580666]]], "count": [241]}, "timestamp": {"min": [0.0], "max": [50.03333333333333], "mean": [25.016666666666666], "std": [14.452998535482754], "count": [1502]}, "frame_index": {"min": [0], "max": [1501], "mean": [750.5], "std": [433.58995606448264], "count": [1502]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1502]}, "index": {"min": [3003], "max": [4504], "mean": [3753.5], "std": [433.58995606448264], "count": [1502]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1502]}}}
|
| 4 |
+
{"episode_index": 3, "stats": {"action": {"min": [-3.6356959342956543, -99.9160385131836, -15.23118782043457, 54.88656234741211, -11.921235084533691, 0.8058017492294312], "max": [24.788835525512695, 10.075566291809082, 95.28558349609375, 99.5636978149414, 4.896221160888672, 31.74859046936035], "mean": [1.089279055595398, -79.41584777832031, 78.3701171875, 72.8716049194336, -2.8394412994384766, 24.63112449645996], "std": [5.99965238571167, 36.88570785522461, 26.658641815185547, 6.688787937164307, 3.3894951343536377, 11.521721839904785], "count": [1502]}, "observation.state": {"min": [-3.341902256011963, -99.1589584350586, -12.130849838256836, 55.46875, -11.670600891113281, 1.6644474267959595], "max": [24.34814453125, 10.344827651977539, 95.54747772216797, 99.13194274902344, 4.642014026641846, 31.291610717773438], "mean": [1.0469321012496948, -79.10023498535156, 80.17425537109375, 72.86284637451172, -2.737581968307495, 25.174236297607422], "std": [5.912096977233887, 36.97915267944336, 26.984619140625, 6.587936878204346, 3.489778995513916, 10.458244323730469], "count": [1502]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9294117647058824]], [[0.996078431372549]], [[0.9725490196078431]]], "mean": [[[0.33943642367043636]], [[0.37244992864019744]], [[0.3377968059284572]]], "std": [[[0.11124905089190656]], [[0.12294437459419486]], [[0.12633034048035402]]], "count": [241]}, "timestamp": {"min": [0.0], "max": [50.03333333333333], "mean": [25.016666666666666], "std": [14.452998535482754], "count": [1502]}, "frame_index": {"min": [0], "max": [1501], "mean": [750.5], "std": [433.58995606448264], "count": [1502]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1502]}, "index": {"min": [4505], "max": [6006], "mean": [5255.5], "std": [433.58995606448264], "count": [1502]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1502]}}}
|
| 5 |
+
{"episode_index": 4, "stats": {"action": {"min": [-11.421226501464844, -99.49622344970703, -65.18585968017578, 62.129146575927734, -11.229377746582031, 6.688154697418213], "max": [28.314359664916992, 55.66750717163086, 94.19763946533203, 99.9127426147461, 0.5321979522705078, 40.7735710144043], "mean": [-5.037255764007568, -61.114524841308594, 57.22976303100586, 74.4786376953125, -3.136918067932129, 27.79698944091797], "std": [9.17843246459961, 55.4962272644043, 56.96049118041992, 13.806723594665527, 3.336472988128662, 7.490591526031494], "count": [1502]}, "observation.state": {"min": [-11.127432823181152, -99.1589584350586, -62.47160339355469, 63.10763931274414, -11.04117488861084, 16.045272827148438], "max": [28.094013214111328, 56.013458251953125, 95.00227355957031, 99.04513549804688, 0.23603461682796478, 40.412784576416016], "mean": [-4.838319301605225, -60.63077926635742, 58.11082077026367, 74.69532012939453, -3.1306822299957275, 28.644350051879883], "std": [9.019509315490723, 55.84048080444336, 56.716060638427734, 13.56411361694336, 3.307749032974243, 5.617166996002197], "count": [1502]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9294117647058824]], [[1.0]], [[0.984313725490196]]], "mean": [[[0.33487259902231986]], [[0.36682951871965935]], [[0.332374514380441]]], "std": [[[0.11128420356242598]], [[0.12324960004232938]], [[0.1263394377655167]]], "count": [241]}, "timestamp": {"min": [0.0], "max": [50.03333333333333], "mean": [25.016666666666666], "std": [14.452998535482754], "count": [1502]}, "frame_index": {"min": [0], "max": [1501], "mean": [750.5], "std": [433.58995606448264], "count": [1502]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1502]}, "index": {"min": [6007], "max": [7508], "mean": [6757.5], "std": [433.58995606448264], "count": [1502]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1502]}}}
|
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": 7509,
|
| 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": "Grab the yellow cube"}
|
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:ec6456e2c3b77934a8f77317e1032f25686159c7a4140c079b331ac8d36c3f70
|
| 3 |
+
size 8310541
|
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 sha256:68846f5ac7cc3bb312ef5871698702db5e1f9f21f7b3a5d40b797672a42e8d0a
|
| 3 |
+
size 8505286
|
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 sha256:114e8f97dd6ae3ea855753e771e30e2ed9e21f909496bf1da700fba6a4cc9e04
|
| 3 |
+
size 8459211
|
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 sha256:009693769b1554933133b6460e754b8c35e792e104bea0101951f8539660d30f
|
| 3 |
+
size 8550303
|
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 sha256:3fcfb7b7798c7b416d13f3c0bbba36db9c0b59e4b3c79eb685bb625b96e9de38
|
| 3 |
+
size 8757165
|