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 sha256:7f4b868e110622dc6fc28a64e5a374aa61a730b82e20165af47bc50ed5008188
|
| 3 |
+
size 55807
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Drive to the red block and pick it up"], "length": 633}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-18.397266387939453, 181.77296447753906, 151.34786987304688, 34.51775360107422, -93.20486450195312, 0.2894606590270996, -57.63486862182617, -4.015704154968262, 1.1942793979371211e-17], "max": [-7.409289836883545, 192.3233184814453, 160.04568481445312, 35.566158294677734, -87.81976318359375, 15.454172134399414, 4.864635467529297, 99.16500854492188, 1.4281976379248693e-17], "mean": [-13.193289756774902, 190.06039428710938, 156.6915740966797, 35.09585189819336, -90.76595306396484, 5.2503275871276855, -7.715181827545166, 22.548524856567383, 1.3175679385421285e-17], "std": [3.2376925945281982, 2.1950268745422363, 1.9668365716934204, 0.22860266268253326, 1.0627566576004028, 4.2426042556762695, 12.933735847473145, 23.790861129760742, 4.245592898856381e-19], "count": [633]}, "observation.state": {"min": [-18.369140625, 181.669921875, 153.28125, 34.27734375, -92.8125, 0.3407154977321625, -46.01942443847656, -33.2116584777832, -14.0625], "max": [-0.17578125, 194.677734375, 183.603515625, 44.912109375, -0.791015625, 15.417376518249512, 21.731393814086914, 101.84908294677734, 9.9609375], "mean": [-12.473665237426758, 189.49722290039062, 157.52464294433594, 34.8914680480957, -88.8836898803711, 4.721583843231201, -6.405729293823242, 22.966533660888672, -0.3480450212955475], "std": [3.464123487472534, 2.228917360305786, 3.1951677799224854, 0.9867945313453674, 9.973294258117676, 4.178130626678467, 12.715635299682617, 22.817745208740234, 2.121293783187866], "count": [633]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5872574255922908]], [[0.5752339535351177]], [[0.5447449064151475]]], "std": [[[0.16864922416330516]], [[0.1841751371261522]], [[0.2240087102475667]]], "count": [126]}, "observation.images.wrist": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38956494611733583]], [[0.4769886901519867]], [[0.4532579219187675]]], "std": [[[0.28811713397126293]], [[0.2621463596393902]], [[0.26999078529401366]]], "count": [126]}, "timestamp": {"min": [0.0], "max": [21.066666666666666], "mean": [10.533333333333333], "std": [6.091037739231365], "count": [633]}, "frame_index": {"min": [0], "max": [632], "mean": [316.0], "std": [182.73113217694095], "count": [633]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [633]}, "index": {"min": [0], "max": [632], "mean": [316.0], "std": [182.73113217694095], "count": [633]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [633]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "lekiwi",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 633,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 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 |
+
9
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"shoulder_pan",
|
| 24 |
+
"shoulder_lift",
|
| 25 |
+
"elbow_flex",
|
| 26 |
+
"wrist_flex",
|
| 27 |
+
"wrist_roll",
|
| 28 |
+
"gripper",
|
| 29 |
+
"x_mm",
|
| 30 |
+
"y_mm",
|
| 31 |
+
"theta"
|
| 32 |
+
]
|
| 33 |
+
},
|
| 34 |
+
"observation.state": {
|
| 35 |
+
"dtype": "float32",
|
| 36 |
+
"shape": [
|
| 37 |
+
9
|
| 38 |
+
],
|
| 39 |
+
"names": [
|
| 40 |
+
"shoulder_pan",
|
| 41 |
+
"shoulder_lift",
|
| 42 |
+
"elbow_flex",
|
| 43 |
+
"wrist_flex",
|
| 44 |
+
"wrist_roll",
|
| 45 |
+
"gripper",
|
| 46 |
+
"x_mm",
|
| 47 |
+
"y_mm",
|
| 48 |
+
"theta"
|
| 49 |
+
]
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front": {
|
| 52 |
+
"dtype": "video",
|
| 53 |
+
"shape": [
|
| 54 |
+
288,
|
| 55 |
+
352,
|
| 56 |
+
3
|
| 57 |
+
],
|
| 58 |
+
"names": [
|
| 59 |
+
"height",
|
| 60 |
+
"width",
|
| 61 |
+
"channels"
|
| 62 |
+
],
|
| 63 |
+
"info": {
|
| 64 |
+
"video.fps": 30.0,
|
| 65 |
+
"video.height": 288,
|
| 66 |
+
"video.width": 352,
|
| 67 |
+
"video.channels": 3,
|
| 68 |
+
"video.codec": "av1",
|
| 69 |
+
"video.pix_fmt": "yuv420p",
|
| 70 |
+
"video.is_depth_map": false,
|
| 71 |
+
"has_audio": false
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"observation.images.wrist": {
|
| 75 |
+
"dtype": "video",
|
| 76 |
+
"shape": [
|
| 77 |
+
640,
|
| 78 |
+
480,
|
| 79 |
+
3
|
| 80 |
+
],
|
| 81 |
+
"names": [
|
| 82 |
+
"height",
|
| 83 |
+
"width",
|
| 84 |
+
"channels"
|
| 85 |
+
],
|
| 86 |
+
"info": {
|
| 87 |
+
"video.fps": 30.0,
|
| 88 |
+
"video.height": 640,
|
| 89 |
+
"video.width": 480,
|
| 90 |
+
"video.channels": 3,
|
| 91 |
+
"video.codec": "av1",
|
| 92 |
+
"video.pix_fmt": "yuv420p",
|
| 93 |
+
"video.is_depth_map": false,
|
| 94 |
+
"has_audio": false
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
"timestamp": {
|
| 98 |
+
"dtype": "float32",
|
| 99 |
+
"shape": [
|
| 100 |
+
1
|
| 101 |
+
],
|
| 102 |
+
"names": null
|
| 103 |
+
},
|
| 104 |
+
"frame_index": {
|
| 105 |
+
"dtype": "int64",
|
| 106 |
+
"shape": [
|
| 107 |
+
1
|
| 108 |
+
],
|
| 109 |
+
"names": null
|
| 110 |
+
},
|
| 111 |
+
"episode_index": {
|
| 112 |
+
"dtype": "int64",
|
| 113 |
+
"shape": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"names": null
|
| 117 |
+
},
|
| 118 |
+
"index": {
|
| 119 |
+
"dtype": "int64",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"task_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
|
| 131 |
+
}
|
| 132 |
+
}
|
| 133 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Drive to the red block and pick it up"}
|
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 sha256:4ad94d948e8304576c5fb93f7f6e0c041381912e1b52fd8371e77d676d214cd0
|
| 3 |
+
size 348095
|
videos/chunk-000/observation.images.wrist/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:904c65d3552fd9f4596c67f978e47a9a5de2ca6e08417dcf895fbf5b8f3890a6
|
| 3 |
+
size 833501
|