miketangmk commited on
Commit
c18cd2e
·
verified ·
1 Parent(s): b8bd486

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:f179dd0bfb26d95f361c0b13c237d61f3391129efffe66cb0c34dbd6537fd597
3
+ size 54015
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5066ea60d782fc9250e549a3b05735fdbc2af4bf48dffab3ef81c946985b6130
3
+ size 54427
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1e0b82acbc9f660bb8a12f7255ae2ec6ef8250f99cf7558bf71b099beea14f9a
3
+ size 52100
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:820c4f4a1459fd126e9f88dcb1f0ed8dff013055f3ea93555ae297bef21f6e57
3
+ size 53906
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9cc479abd4a0d8750c066742833baa2896330fc5588651cf7747933fe63bdc69
3
+ size 54041
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the yellow cube"], "length": 1502}
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": [-25.83363914489746, -99.49853515625, -35.02492141723633, 40.561553955078125, -55.59632873535156, 0.6436041593551636], "max": [8.611212730407715, 45.340576171875, 100.0, 82.72138214111328, -46.73656463623047, 23.572002410888672], "mean": [0.7459889650344849, -19.66246223449707, 28.77529525756836, 64.26983642578125, -51.30765151977539, 11.401138305664062], "std": [9.108603477478027, 57.597713470458984, 53.73832702636719, 8.224647521972656, 1.8548706769943237, 9.529009819030762], "count": [1502]}, "observation.state": {"min": [-25.817113876342773, -98.82254028320312, -32.39436721801758, 41.57986068725586, -55.41568374633789, 1.5978695154190063], "max": [8.189496994018555, 45.92094039916992, 100.0, 82.20486450195312, -47.18069839477539, 23.235685348510742], "mean": [0.5938345193862915, -18.908132553100586, 29.758399963378906, 64.44866180419922, -51.37921905517578, 13.188776969909668], "std": [9.123970985412598, 58.07967758178711, 53.27322006225586, 8.234370231628418, 1.860447883605957, 8.439207077026367], "count": [1502]}, "observation.images.up": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.28778044402408265]], [[0.31260182840425244]], [[0.2851937672890733]]], "std": [[[0.18860662274323722]], [[0.18983205002415487]], [[0.17824581196596434]]], "count": [241]}, "observation.images.top": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[0.8274509803921568]], [[0.8862745098039215]]], "mean": [[[0.4117970508569956]], [[0.43426709584248635]], [[0.3693681182708215]]], "std": [[[0.06699418019022713]], [[0.07206902891272661]], [[0.10342615106909715]]], "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": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1502]}, "index": {"min": [0], "max": [1501], "mean": [750.5], "std": [433.58995606448264], "count": [1502]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1502]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-25.83363914489746, -99.41496276855469, -1.5858631134033203, 38.401729583740234, -53.60419464111328, 0.24135157465934753], "max": [15.646757125854492, 31.466777801513672, 99.90937805175781, 93.08855438232422, -38.45347213745117, 23.97425651550293], "mean": [0.1173541471362114, -47.17021179199219, 56.61375427246094, 65.69511413574219, -48.04498291015625, 6.283827304840088], "std": [12.703929901123047, 51.41494369506836, 42.542137145996094, 12.003768920898438, 4.440974235534668, 9.073782920837402], "count": [1502]}, "observation.state": {"min": [-25.74366569519043, -98.90664672851562, 0.6815084218978882, 39.32291793823242, -53.63230895996094, 1.398135781288147], "max": [15.093647003173828, 31.875526428222656, 100.0, 93.22916412353516, -38.78835678100586, 23.701730728149414], "mean": [-0.1414637714624405, -46.68367004394531, 57.62022399902344, 65.67153930664062, -48.104896545410156, 9.238607406616211], "std": [12.674042701721191, 51.70273971557617, 41.95037841796875, 11.844626426696777, 4.462978363037109, 8.874089241027832], "count": [1502]}, "observation.images.up": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2795967586377566]], [[0.3096919053236786]], [[0.28054592452472]]], "std": [[[0.17908152947954808]], [[0.18319508196381867]], [[0.16974059152992382]]], "count": [241]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9333333333333333]], [[0.8196078431372549]], [[0.9019607843137255]]], "mean": [[[0.41385620745531965]], [[0.44010748210072415]], [[0.3768243947129336]]], "std": [[[0.06296533019795272]], [[0.0703424397417124]], [[0.09875105474276975]]], "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": [1502], "max": [3003], "mean": [2252.5], "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": [-28.91168975830078, -99.08065032958984, -9.922972679138184, 48.50971984863281, -61.363040924072266, 0.3218020796775818], "max": [5.679736137390137, 27.03719139099121, 99.63751983642578, 99.22246551513672, -48.047183990478516, 25.905067443847656], "mean": [-3.194047212600708, -40.982479095458984, 52.82848358154297, 68.39344024658203, -54.64348602294922, 5.991304397583008], "std": [10.68009090423584, 52.73013687133789, 43.930503845214844, 9.66806697845459, 3.197075843811035, 9.435391426086426], "count": [1502]}, "observation.state": {"min": [-28.82849884033203, -98.90664672851562, -7.314857006072998, 49.13194274902344, -61.02806091308594, 1.398135781288147], "max": [5.325009346008301, 27.333894729614258, 99.81826782226562, 98.26388549804688, -48.33464431762695, 25.49933433532715], "mean": [-3.399587392807007, -40.3064079284668, 53.81610107421875, 68.29043579101562, -54.665863037109375, 8.970017433166504], "std": [10.611361503601074, 53.09196090698242, 43.211883544921875, 9.472679138183594, 3.233095169067383, 9.27619457244873], "count": [1502]}, "observation.images.up": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2888137831204404]], [[0.3157076341428688]], [[0.2878343647452065]]], "std": [[[0.18473173528196274]], [[0.18673545038934777]], [[0.1742623933684173]]], "count": [241]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43134760868386085]], [[0.45797201034632384]], [[0.3908855692173135]]], "std": [[[0.0674033110528189]], [[0.07741675526616447]], [[0.11168261434959284]]], "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": [3004], "max": [4505], "mean": [3754.5], "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": [-27.958959579467773, -98.49561309814453, 14.000905990600586, 43.49892044067383, -65.92398071289062, 0.5631536841392517], "max": [15.939905166625977, 9.318846702575684, 99.63751983642578, 78.22894287109375, -37.35255432128906, 24.296058654785156], "mean": [-0.47730809450149536, -48.6263542175293, 63.53105163574219, 60.92823791503906, -50.29047393798828, 6.11420202255249], "std": [13.056544303894043, 46.827579498291016, 32.55659484863281, 12.986372947692871, 6.411379337310791, 9.222833633422852], "count": [1502]}, "observation.state": {"min": [-27.800220489501953, -98.06559753417969, 16.492504119873047, 44.35763931274414, -65.53894805908203, 1.398135781288147], "max": [15.754682540893555, 9.41968059539795, 99.7273941040039, 77.77777862548828, -37.58195495605469, 23.768308639526367], "mean": [-0.5461292266845703, -48.17049789428711, 64.41545104980469, 60.992576599121094, -50.37210464477539, 9.19727611541748], "std": [12.990525245666504, 46.89957046508789, 31.943323135375977, 12.657519340515137, 6.503414630889893, 9.041624069213867], "count": [1502]}, "observation.images.up": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2826987141675481]], [[0.3091803224920674]], [[0.2819680177568953]]], "std": [[[0.18146038891973776]], [[0.1833803245180359]], [[0.17067659429613136]]], "count": [241]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4183870074309115]], [[0.44131995548911124]], [[0.37643942298565347]]], "std": [[[0.06903592413833232]], [[0.07405876430761944]], [[0.10578358847922445]]], "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": [4506], "max": [6007], "mean": [5256.5], "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": [-30.963722229003906, -99.41496276855469, 17.806978225708008, 45.4859619140625, -73.68283081054688, 0.08045051991939545], "max": [5.020153999328613, 4.889260292053223, 99.63751983642578, 82.2030258178711, -50.615989685058594, 25.824617385864258], "mean": [-9.906636238098145, -51.026123046875, 67.7653579711914, 61.23744201660156, -60.187828063964844, 7.550436496734619], "std": [9.783039093017578, 43.596126556396484, 29.791343688964844, 13.485313415527344, 5.215841293334961, 10.631059646606445], "count": [1502]}, "observation.state": {"min": [-30.591259002685547, -98.90664672851562, 20.308950424194336, 46.09375, -73.19696044921875, 1.398135781288147], "max": [4.370180130004883, 5.130361557006836, 99.7273941040039, 82.37847137451172, -50.799896240234375, 25.29960060119629], "mean": [-10.091415405273438, -50.70451736450195, 68.68364715576172, 61.52203369140625, -60.277957916259766, 10.186738967895508], "std": [9.691119194030762, 43.72016906738281, 29.20238494873047, 13.457054138183594, 5.160362720489502, 10.056913375854492], "count": [1502]}, "observation.images.up": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2803946400482738]], [[0.30692135675155263]], [[0.2813682742114827]]], "std": [[[0.1779424449491602]], [[0.17942347866973452]], [[0.16797581696983505]]], "count": [241]}, "observation.images.top": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41875659442546037]], [[0.44026968750847506]], [[0.36999672778862586]]], "std": [[[0.07143089780196443]], [[0.07570319289032204]], [[0.11139794652980267]]], "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": [6008], "max": [7509], "mean": [6758.5], "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 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 7510,
6
+ "total_tasks": 1,
7
+ "total_videos": 10,
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.up": {
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
+ "observation.images.top": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 30,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab the yellow cube"}
videos/chunk-000/observation.images.top/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a3e019a11035d44f9c6e3c31743cabff0070761bb9bb1ad5bf7f5bd5bce7baf0
3
+ size 3823568
videos/chunk-000/observation.images.top/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:96772f86796a6d84de1f4232b3d2d6631fabe347e752d3edbe97e79374e629f8
3
+ size 3690100
videos/chunk-000/observation.images.top/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c8798d0fa126da6ab1afe83012a10f99d917f41e753eee44544fbadefd5fe402
3
+ size 3951657
videos/chunk-000/observation.images.top/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8a4f3a53600b7d542e47e323ecccf02745c3da381e4eb3ed574fa6353ded4542
3
+ size 3878612
videos/chunk-000/observation.images.top/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e6a942f39b02d9ad88749da936eabd74ace4e4c733030224d84d8b6b4fad68fb
3
+ size 4141594
videos/chunk-000/observation.images.up/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:143546db72e803359a6cf01a8d712611ef84f835d6753595d4fcc750e241b587
3
+ size 14958454
videos/chunk-000/observation.images.up/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f2eb31412bfffb35a2af2fcd1094a7f546dd423bea89de446949817af288e30a
3
+ size 14268211
videos/chunk-000/observation.images.up/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9f1b44716f043149b5e09912321414d3a3def75e5d721f6d83c25b31692d060d
3
+ size 14543036
videos/chunk-000/observation.images.up/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:12c10055c1ee70aec9da63fd0e03e9877abcdf408c79d51565b183190cab9265
3
+ size 14172790
videos/chunk-000/observation.images.up/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:50d3381aef1d90c05f67dc1b266b96d63181aa194feea01a990edc24284f276b
3
+ size 13884798