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
- data/chunk-000/episode_000005.parquet +3 -0
- data/chunk-000/episode_000006.parquet +3 -0
- meta/episodes.jsonl +7 -0
- meta/episodes_stats.jsonl +7 -0
- meta/info.json +150 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.above/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.above/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.above/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.above/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.above/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.above/episode_000005.mp4 +3 -0
- videos/chunk-000/observation.images.above/episode_000006.mp4 +3 -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
- videos/chunk-000/observation.images.front/episode_000005.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000006.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 sha256:879908555acac8c806aa1662e010a53c4382d1c26346e5b69f11a3d19defaee5
|
| 3 |
+
size 37581
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:72247ca023f15969992d9a463c67330eee251e5e60790b54d0789a61d7247d29
|
| 3 |
+
size 65402
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:58a2a6128ecbd00f43ab1f529f544d5951c25fdf21da3835e39f2c4b14597cc6
|
| 3 |
+
size 50691
|
data/chunk-000/episode_000003.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8eae573b9c9e1865f799c58c96d37a4610ccf7613c732716c0518adb3698accf
|
| 3 |
+
size 42460
|
data/chunk-000/episode_000004.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2d4354dddb50b2bff29af143b434a44df9514153db00a953ab07ca88ecd2b89f
|
| 3 |
+
size 39478
|
data/chunk-000/episode_000005.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:34f9d496b70fb59d16150933d7ca0c28cf18a69d05d3d3ced067e3680022e820
|
| 3 |
+
size 38342
|
data/chunk-000/episode_000006.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ad953d66527a90e815df50f982801ece49c639cf9af85f9d4eb2ab6eaf6e8789
|
| 3 |
+
size 41134
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grasp a green dice and put it in the bin."], "length": 376}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grasp a green dice and put it in the bin."], "length": 708}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Grasp a green dice and put it in the bin."], "length": 556}
|
| 4 |
+
{"episode_index": 3, "tasks": ["Grasp a green dice and put it in the bin."], "length": 429}
|
| 5 |
+
{"episode_index": 4, "tasks": ["Grasp a green dice and put it in the bin."], "length": 394}
|
| 6 |
+
{"episode_index": 5, "tasks": ["Grasp a green dice and put it in the bin."], "length": 386}
|
| 7 |
+
{"episode_index": 6, "tasks": ["Grasp a green dice and put it in the bin."], "length": 416}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-5.154000282287598, 69.04105377197266, 60.91813659667969, -91.63955688476562, -35.489601135253906, 11.054956436157227], "max": [110.7781753540039, 136.64892578125, 177.8775177001953, 84.40469360351562, 9.608165740966797, 44.656402587890625], "mean": [16.64910316467285, 99.94117736816406, 100.68611145019531, 32.226505279541016, -6.409935474395752, 37.05812454223633], "std": [32.8818359375, 24.217649459838867, 34.037010192871094, 44.8693733215332, 10.101407051086426, 12.429902076721191], "count": [376]}, "observation.state": {"min": [-5.185546875, 68.291015625, 63.369140625, -84.0234375, -31.11328125, 12.48046875], "max": [110.390625, 129.462890625, 176.484375, 77.431640625, 7.119140625, 44.296875], "mean": [16.552656173706055, 97.7336654663086, 102.77498626708984, 32.7472038269043, -5.539680480957031, 37.315879821777344], "std": [32.88920593261719, 22.27496910095215, 33.76139831542969, 43.322235107421875, 9.335006713867188, 11.930039405822754], "count": [376]}, "observation.ee_pos": {"min": [-0.06186142936348915, -0.0050484295934438705, 0.026136072352528572, -160.53977966308594], "max": [0.135154128074646, 0.17241720855236053, 0.17690695822238922, 80.5512924194336], "mean": [0.08855786174535751, 0.029031874611973763, 0.08087410032749176, -3.6219687461853027], "std": [0.05248063802719116, 0.05330275371670723, 0.03494251146912575, 50.89856719970703], "count": [376]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.11790050566196442, -0.009200031869113445, 6.400392055511475], "std": [5.066394805908203e-07, 3.166496753692627e-08, 8.106231689453125e-06], "count": [376]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33874927287581696]], [[0.3507905555555556]], [[0.3408262527233116]]], "std": [[[0.3029901087225149]], [[0.28780581521854565]], [[0.29104275953472036]]], "count": [100]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.8588235294117647]], [[0.796078431372549]]], "mean": [[[0.4943221786492375]], [[0.4833579030501089]], [[0.4657715005446623]]], "std": [[[0.17175703532719078]], [[0.1760942350432731]], [[0.1918008541403031]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [12.5], "mean": [6.25], "std": [3.6180488910154014], "count": [376]}, "frame_index": {"min": [0], "max": [375], "mean": [187.5], "std": [108.54146673046205], "count": [376]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [376]}, "index": {"min": [0], "max": [375], "mean": [187.5], "std": [108.54146673046205], "count": [376]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [376]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-0.48577880859375, 71.90364074707031, 66.34751892089844, -110.849609375, -34.56824493408203, 11.563438415527344], "max": [107.82249450683594, 136.07281494140625, 182.04708862304688, 60.9559211730957, 3.656466007232666, 44.87378692626953], "mean": [25.63254165649414, 96.16455078125, 107.9545669555664, 17.06163787841797, -18.330059051513672, 39.11795425415039], "std": [24.652801513671875, 22.8231143951416, 34.22010803222656, 51.79316711425781, 9.328544616699219, 8.073599815368652], "count": [708]}, "observation.state": {"min": [-0.17578125, 71.455078125, 70.13671875, -120.849609375, -30.234375, 12.919921875], "max": [107.490234375, 129.462890625, 177.099609375, 60.1171875, 4.921875, 43.59375], "mean": [25.627193450927734, 94.38004302978516, 109.10527038574219, 17.77637481689453, -17.729326248168945, 38.86677551269531], "std": [24.602678298950195, 21.279191970825195, 32.875511169433594, 51.00813674926758, 8.897248268127441, 7.5945892333984375], "count": [708]}, "observation.ee_pos": {"min": [-0.05325589329004288, -0.00011207894567633048, 0.026982948184013367, -179.38482666015625], "max": [0.12797322869300842, 0.17056669294834137, 0.15450246632099152, 179.82421875], "mean": [0.0904664695262909, 0.052070967853069305, 0.07086263597011566, -21.26885223388672], "std": [0.0433819405734539, 0.04452434182167053, 0.027465350925922394, 69.33767700195312], "count": [708]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.11789976805448532, -0.009200061671435833, 6.400391101837158], "std": [2.3096799850463867e-07, 6.146728992462158e-08, 9.059906005859375e-06], "count": [708]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34118002083233945]], [[0.35366211853760154]], [[0.3438222910007474]]], "std": [[[0.3051068855240712]], [[0.28891074705340875]], [[0.2928293398560161]]], "count": [137]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.796078431372549]], [[0.788235294117647]]], "mean": [[[0.4896715706152696]], [[0.4787797516816946]], [[0.4627081584052924]]], "std": [[[0.16966133464001767]], [[0.17486374515809638]], [[0.19119566542772032]]], "count": [137]}, "timestamp": {"min": [0.0], "max": [23.566666666666666], "mean": [11.783333333333331], "std": [6.812726380880179], "count": [708]}, "frame_index": {"min": [0], "max": [707], "mean": [353.5], "std": [204.38179142640536], "count": [708]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [708]}, "index": {"min": [376], "max": [1083], "mean": [729.5], "std": [204.38179142640536], "count": [708]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [708]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"action": {"min": [-14.8599214553833, 66.92515563964844, 55.804603576660156, -95.56770324707031, -35.6646842956543, 10.881196975708008], "max": [107.77384948730469, 136.21136474609375, 182.0240478515625, 77.02847290039062, 13.97750186920166, 45.163490295410156], "mean": [8.773850440979004, 109.34515380859375, 127.03729248046875, -10.790796279907227, -2.3198301792144775, 39.688114166259766], "std": [29.191537857055664, 26.90177345275879, 46.007381439208984, 67.54450225830078, 11.15682315826416, 10.422026634216309], "count": [556]}, "observation.state": {"min": [-18.720703125, 66.533203125, 58.271484375, -92.021484375, -31.11328125, 12.568359375], "max": [107.40234375, 129.7265625, 177.099609375, 73.037109375, 11.337890625, 43.857421875], "mean": [8.698801040649414, 106.26602172851562, 127.4634780883789, -9.602683067321777, -1.959518313407898, 39.601524353027344], "std": [29.115306854248047, 24.88117790222168, 44.16969680786133, 66.38761901855469, 10.633691787719727, 9.87716293334961], "count": [556]}, "observation.ee_pos": {"min": [-0.05419608950614929, -0.03288179263472557, 0.025653965771198273, -179.5532989501953], "max": [0.14949171245098114, 0.17360825836658478, 0.12211445719003677, 179.67477416992188], "mean": [0.07409562915563583, 0.01403032336384058, 0.07704886794090271, -56.876888275146484], "std": [0.04971262812614441, 0.052652955055236816, 0.019638463854789734, 92.7841796875], "count": [556]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.11790052056312561, -0.009200052358210087, 6.400391578674316], "std": [5.21540641784668e-07, 5.21540641784668e-08, 8.58306884765625e-06], "count": [556]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9372549019607843]], [[0.9490196078431372]], [[0.9803921568627451]]], "mean": [[[0.3500125702327715]], [[0.3593035895157283]], [[0.3502740009746589]]], "std": [[[0.3023166072295581]], [[0.29008635671751515]], [[0.29367987393562095]]], "count": [114]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.7490196078431373]], [[0.7294117647058823]]], "mean": [[[0.49573428601460073]], [[0.4853501891984864]], [[0.46998073854298056]]], "std": [[[0.16870255802913034]], [[0.1756009600100049]], [[0.19254541030065983]]], "count": [114]}, "timestamp": {"min": [0.0], "max": [18.5], "mean": [9.25], "std": [5.350103841152162], "count": [556]}, "frame_index": {"min": [0], "max": [555], "mean": [277.5], "std": [160.50311523456483], "count": [556]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [556]}, "index": {"min": [1084], "max": [1639], "mean": [1361.5], "std": [160.50311523456483], "count": [556]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [556]}}}
|
| 4 |
+
{"episode_index": 3, "stats": {"action": {"min": [1.7631635665893555, 71.98868560791016, 69.4974136352539, -92.33244323730469, -33.376670837402344, 11.15932846069336], "max": [108.04850006103516, 135.625732421875, 179.35684204101562, 75.45243835449219, 3.7723798751831055, 45.42974853515625], "mean": [22.623308181762695, 98.6018295288086, 107.79838562011719, 22.206134796142578, -13.596765518188477, 38.5710563659668], "std": [26.185564041137695, 22.417713165283203, 32.90142059326172, 48.930545806884766, 10.138603210449219, 11.017942428588867], "count": [429]}, "observation.state": {"min": [-2.373046875, 71.806640625, 72.509765625, -88.154296875, -29.8828125, 12.83203125], "max": [107.578125, 129.7265625, 176.923828125, 72.24609375, 1.318359375, 43.9453125], "mean": [22.553062438964844, 97.08631896972656, 109.69084167480469, 23.113800048828125, -13.038952827453613, 38.73128890991211], "std": [26.170654296875, 21.551342010498047, 32.40867233276367, 47.399009704589844, 8.323092460632324, 10.510245323181152], "count": [429]}, "observation.ee_pos": {"min": [-0.051634710282087326, -0.001819642260670662, 0.026746822521090508, -170.864013671875], "max": [0.13030306994915009, 0.16298913955688477, 0.15041549503803253, 74.41053771972656], "mean": [0.08867499232292175, 0.04231715202331543, 0.0715152695775032, -15.951552391052246], "std": [0.044215090572834015, 0.04412977769970894, 0.028641732409596443, 61.88311767578125], "count": [429]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.1179005429148674, -0.009200039319694042, 6.400391578674316], "std": [5.438923835754395e-07, 3.91155481338501e-08, 8.58306884765625e-06], "count": [429]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3450410811546841]], [[0.3558924673202614]], [[0.34740887254901964]]], "std": [[[0.30329581446935766]], [[0.2873919866937378]], [[0.29185929470277977]]], "count": [100]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.8901960784313725]], [[0.8549019607843137]]], "mean": [[[0.490469417211329]], [[0.47797869008714594]], [[0.46045784041394333]]], "std": [[[0.16887843895586854]], [[0.17846436750461767]], [[0.19607357477164886]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.266666666666667], "mean": [7.133333333333334], "std": [4.128043209650396], "count": [429]}, "frame_index": {"min": [0], "max": [428], "mean": [214.0], "std": [123.84129628951187], "count": [429]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [429]}, "index": {"min": [1640], "max": [2068], "mean": [1854.0], "std": [123.84129628951187], "count": [429]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [429]}}}
|
| 5 |
+
{"episode_index": 4, "stats": {"action": {"min": [-20.663799285888672, 73.60167694091797, 52.91035461425781, -94.15391540527344, -32.440372467041016, 11.071157455444336], "max": [109.40376281738281, 135.8496551513672, 178.10067749023438, 84.28323364257812, 24.92431640625, 44.99238967895508], "mean": [8.280447006225586, 100.40467071533203, 104.06123352050781, 23.763946533203125, 4.802620887756348, 36.727699279785156], "std": [36.93503189086914, 22.602214813232422, 36.58514404296875, 52.11270523071289, 15.226224899291992, 12.585336685180664], "count": [394]}, "observation.state": {"min": [-20.302734375, 73.4765625, 55.458984375, -89.82421875, -28.65234375, 12.568359375], "max": [108.80859375, 129.287109375, 176.66015625, 77.783203125, 21.796875, 43.9453125], "mean": [8.343809127807617, 98.49284362792969, 106.1729965209961, 24.496723175048828, 4.403231143951416, 37.06486129760742], "std": [36.984619140625, 21.076086044311523, 36.48489761352539, 50.25154113769531, 15.31992244720459, 12.156381607055664], "count": [394]}, "observation.ee_pos": {"min": [-0.05382978543639183, -0.045011360198259354, 0.03018873557448387, -173.0889129638672], "max": [0.1413908302783966, 0.17172247171401978, 0.15281091630458832, 76.84090423583984], "mean": [0.08564765751361847, 0.012138168327510357, 0.08207201957702637, -12.02353572845459], "std": [0.04785427078604698, 0.06598496437072754, 0.03154737874865532, 64.43608856201172], "count": [394]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.11790052056312561, -0.009200034663081169, 6.400392055511475], "std": [5.21540641784668e-07, 3.4458935260772705e-08, 8.106231689453125e-06], "count": [394]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9725490196078431]], [[0.996078431372549]]], "mean": [[[0.3432550544662309]], [[0.3562927233115468]], [[0.3468506399782135]]], "std": [[[0.30206477516850844]], [[0.28690061739008205]], [[0.29042136719957534]]], "count": [100]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.7529411764705882]], [[0.7333333333333333]]], "mean": [[[0.48388417211328977]], [[0.47077378812636167]], [[0.4527541748366013]]], "std": [[[0.16808293902970353]], [[0.1740321852255025]], [[0.1893438344198373]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.1], "mean": [6.55], "std": [3.7912545563587674], "count": [394]}, "frame_index": {"min": [0], "max": [393], "mean": [196.5], "std": [113.73763669076301], "count": [394]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [394]}, "index": {"min": [2069], "max": [2462], "mean": [2265.5], "std": [113.73763669076301], "count": [394]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [394]}}}
|
| 6 |
+
{"episode_index": 5, "stats": {"action": {"min": [-0.6623449325561523, 66.506103515625, 57.52044677734375, -88.8629150390625, -35.2712287902832, 10.681922912597656], "max": [111.93904876708984, 136.02732849121094, 172.51853942871094, 78.4560546875, 5.538405895233154, 45.142208099365234], "mean": [31.38486671447754, 91.67047119140625, 90.7433853149414, 37.906700134277344, -10.664999008178711, 33.662376403808594], "std": [35.567604064941406, 18.09942626953125, 26.41082000732422, 34.398433685302734, 11.758399963378906, 14.062332153320312], "count": [386]}, "observation.state": {"min": [-2.28515625, 66.09375, 60.732421875, -82.529296875, -31.11328125, 12.3046875], "max": [111.533203125, 129.90234375, 176.923828125, 74.794921875, 3.69140625, 43.59375], "mean": [31.368301391601562, 90.25979614257812, 92.68954467773438, 38.60060501098633, -10.056418418884277, 33.28071975708008], "std": [35.558311462402344, 16.858203887939453, 26.039705276489258, 32.950775146484375, 11.16756534576416, 13.103687286376953], "count": [386]}, "observation.ee_pos": {"min": [-0.06677190214395523, -0.001751712872646749, 0.02687622234225273, -170.9460906982422], "max": [0.13715554773807526, 0.17433913052082062, 0.16529467701911926, 77.21793365478516], "mean": [0.08644282072782516, 0.05799846351146698, 0.08306799083948135, 10.451204299926758], "std": [0.056535445153713226, 0.05975109711289406, 0.03643631935119629, 49.73223876953125], "count": [386]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.11790051311254501, -0.00920003280043602, 6.400392055511475], "std": [5.140900611877441e-07, 3.259629011154175e-08, 8.106231689453125e-06], "count": [386]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3429494308278867]], [[0.35470175381263613]], [[0.34559855664488015]]], "std": [[[0.3059019931254069]], [[0.2888571274425697]], [[0.2934742059127659]]], "count": [100]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.7607843137254902]], [[0.7333333333333333]]], "mean": [[[0.4910079575163399]], [[0.47656487472766884]], [[0.4577817401960784]]], "std": [[[0.17017982519713182]], [[0.17716343165410006]], [[0.19329989081363333]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [12.833333333333334], "mean": [6.416666666666666], "std": [3.714274267381629], "count": [386]}, "frame_index": {"min": [0], "max": [385], "mean": [192.5], "std": [111.42822802144886], "count": [386]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [386]}, "index": {"min": [2463], "max": [2848], "mean": [2655.5], "std": [111.42822802144886], "count": [386]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [386]}}}
|
| 7 |
+
{"episode_index": 6, "stats": {"action": {"min": [-4.359274864196777, 70.78653717041016, 65.3141860961914, -114.98046875, -33.45895767211914, 18.618146896362305], "max": [77.35023498535156, 135.58395385742188, 168.59353637695312, 75.34628295898438, 11.72012996673584, 44.66996383666992], "mean": [18.374086380004883, 89.30921173095703, 93.24356842041016, 42.29496765136719, -10.336750030517578, 38.529293060302734], "std": [22.05316734313965, 17.582881927490234, 18.340627670288086, 28.989782333374023, 11.61464786529541, 7.1917290687561035], "count": [416]}, "observation.state": {"min": [-4.39453125, 70.576171875, 68.90625, -124.98046875, -29.8828125, 19.951171875], "max": [76.81640625, 129.287109375, 173.935546875, 72.509765625, 9.31640625, 43.857421875], "mean": [18.323081970214844, 88.15933227539062, 95.29431915283203, 41.93671417236328, -9.57120418548584, 38.4246826171875], "std": [22.100793838500977, 16.79355812072754, 19.05375862121582, 30.85174560546875, 11.299489974975586, 7.160696029663086], "count": [416]}, "observation.ee_pos": {"min": [0.017985114827752113, -0.010068091563880444, 0.029839564114809036, -178.6875457763672], "max": [0.13681042194366455, 0.14348679780960083, 0.11770030856132507, 44.634437561035156], "mean": [0.11058594286441803, 0.03967968001961708, 0.06963466107845306, 1.8790762424468994], "std": [0.0267332810908556, 0.04655564948916435, 0.024417446926236153, 34.546653747558594], "count": [416]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.1179005354642868, -0.009200037457048893, 6.400391578674316], "std": [5.364418029785156e-07, 3.725290298461914e-08, 8.58306884765625e-06], "count": [416]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3423579765795207]], [[0.35452516612200435]], [[0.3461761846405229]]], "std": [[[0.306266815065906]], [[0.28916657664552675]], [[0.29369143026063016]]], "count": [100]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8901960784313725]], [[0.8862745098039215]], [[0.796078431372549]]], "mean": [[[0.4931924074074074]], [[0.47997418300653594]], [[0.4620972467320262]]], "std": [[[0.1702313373082053]], [[0.17744338810627708]], [[0.19363139498234114]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.833333333333334], "mean": [6.916666666666666], "std": [4.002950300854497], "count": [416]}, "frame_index": {"min": [0], "max": [415], "mean": [207.5], "std": [120.08850902563492], "count": [416]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [416]}, "index": {"min": [2849], "max": [3264], "mean": [3056.5], "std": [120.08850902563492], "count": [416]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [416]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,150 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "koch",
|
| 4 |
+
"total_episodes": 7,
|
| 5 |
+
"total_frames": 3265,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 14,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:7"
|
| 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 |
+
"main_shoulder_pan",
|
| 24 |
+
"main_shoulder_lift",
|
| 25 |
+
"main_elbow_flex",
|
| 26 |
+
"main_wrist_flex",
|
| 27 |
+
"main_wrist_roll",
|
| 28 |
+
"main_gripper"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"main_shoulder_pan",
|
| 38 |
+
"main_shoulder_lift",
|
| 39 |
+
"main_elbow_flex",
|
| 40 |
+
"main_wrist_flex",
|
| 41 |
+
"main_wrist_roll",
|
| 42 |
+
"main_gripper"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.ee_pos": {
|
| 46 |
+
"dtype": "float32",
|
| 47 |
+
"shape": [
|
| 48 |
+
4
|
| 49 |
+
],
|
| 50 |
+
"names": [
|
| 51 |
+
"x",
|
| 52 |
+
"y",
|
| 53 |
+
"z",
|
| 54 |
+
"yaw"
|
| 55 |
+
]
|
| 56 |
+
},
|
| 57 |
+
"observation.d_pos": {
|
| 58 |
+
"dtype": "float32",
|
| 59 |
+
"shape": [
|
| 60 |
+
3
|
| 61 |
+
],
|
| 62 |
+
"names": [
|
| 63 |
+
"x",
|
| 64 |
+
"y",
|
| 65 |
+
"yaw"
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
"observation.images.front": {
|
| 69 |
+
"dtype": "video",
|
| 70 |
+
"shape": [
|
| 71 |
+
720,
|
| 72 |
+
1280,
|
| 73 |
+
3
|
| 74 |
+
],
|
| 75 |
+
"names": [
|
| 76 |
+
"height",
|
| 77 |
+
"width",
|
| 78 |
+
"channels"
|
| 79 |
+
],
|
| 80 |
+
"info": {
|
| 81 |
+
"video.height": 720,
|
| 82 |
+
"video.width": 1280,
|
| 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 |
+
"observation.images.above": {
|
| 92 |
+
"dtype": "video",
|
| 93 |
+
"shape": [
|
| 94 |
+
720,
|
| 95 |
+
1280,
|
| 96 |
+
3
|
| 97 |
+
],
|
| 98 |
+
"names": [
|
| 99 |
+
"height",
|
| 100 |
+
"width",
|
| 101 |
+
"channels"
|
| 102 |
+
],
|
| 103 |
+
"info": {
|
| 104 |
+
"video.height": 720,
|
| 105 |
+
"video.width": 1280,
|
| 106 |
+
"video.codec": "av1",
|
| 107 |
+
"video.pix_fmt": "yuv420p",
|
| 108 |
+
"video.is_depth_map": false,
|
| 109 |
+
"video.fps": 30,
|
| 110 |
+
"video.channels": 3,
|
| 111 |
+
"has_audio": false
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"timestamp": {
|
| 115 |
+
"dtype": "float32",
|
| 116 |
+
"shape": [
|
| 117 |
+
1
|
| 118 |
+
],
|
| 119 |
+
"names": null
|
| 120 |
+
},
|
| 121 |
+
"frame_index": {
|
| 122 |
+
"dtype": "int64",
|
| 123 |
+
"shape": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"names": null
|
| 127 |
+
},
|
| 128 |
+
"episode_index": {
|
| 129 |
+
"dtype": "int64",
|
| 130 |
+
"shape": [
|
| 131 |
+
1
|
| 132 |
+
],
|
| 133 |
+
"names": null
|
| 134 |
+
},
|
| 135 |
+
"index": {
|
| 136 |
+
"dtype": "int64",
|
| 137 |
+
"shape": [
|
| 138 |
+
1
|
| 139 |
+
],
|
| 140 |
+
"names": null
|
| 141 |
+
},
|
| 142 |
+
"task_index": {
|
| 143 |
+
"dtype": "int64",
|
| 144 |
+
"shape": [
|
| 145 |
+
1
|
| 146 |
+
],
|
| 147 |
+
"names": null
|
| 148 |
+
}
|
| 149 |
+
}
|
| 150 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Grasp a green dice and put it in the bin."}
|
videos/chunk-000/observation.images.above/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e871466c8a202795ba81193e793315518f7dafc3dd92bc650fa7c9f8ea5ef321
|
| 3 |
+
size 5856517
|
videos/chunk-000/observation.images.above/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a38150a06b552a903ff6949dd23b34d3cbaf2c5d0a40cd11cc6856b3c7590f93
|
| 3 |
+
size 11270799
|
videos/chunk-000/observation.images.above/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f2701d219551a24553e0a7504db3f58aa4255da74ea9ae7240fc6396bb0a432f
|
| 3 |
+
size 8744073
|
videos/chunk-000/observation.images.above/episode_000003.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f61e3e24cafce19dcdab238d11253dcce5ec5f2a24fd1ad1c770007c3908dac2
|
| 3 |
+
size 6592856
|
videos/chunk-000/observation.images.above/episode_000004.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b430d8d81df7026345baa864d45370103db98c7ab46aa1d74247e56bd534d8cd
|
| 3 |
+
size 6269190
|
videos/chunk-000/observation.images.above/episode_000005.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6c606b7887599356fd8dac8d215d1809bcd99a384fdbbf25ed4b9dde414e1b10
|
| 3 |
+
size 6216824
|
videos/chunk-000/observation.images.above/episode_000006.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6b45a0d9f8cc2eccf513639634f473b2c6514933569c20062d06aceca246dd62
|
| 3 |
+
size 7040122
|
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:ccb3888f872fd08d18c63636a47172e5699ec976dc20e21f0e2ad1fed70cd065
|
| 3 |
+
size 5755601
|
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:eb4fd9a33375c57e6f89d7306cbaac5a0d0cc171a4ed5c5457e803f07c1b55cd
|
| 3 |
+
size 11243337
|
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 sha256:267a8db7006531dfbbd21ea033bdf5629e02b2aba18003c7a6ffeadb2a6db284
|
| 3 |
+
size 10624116
|
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:ad78358bf6a4d329e69da5c18b78f1700b06cccf839f106a6e11f6d665854618
|
| 3 |
+
size 8428618
|
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 sha256:420e2c616c4726efba2c29be811137a6d33e8f5b27d8952cd7939efbbf2d0574
|
| 3 |
+
size 7269061
|
videos/chunk-000/observation.images.front/episode_000005.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:27804888955861ec34c876e70d869702f8e9fecc230e1f9bbc556eea44fa8783
|
| 3 |
+
size 6252992
|
videos/chunk-000/observation.images.front/episode_000006.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:de8e13c27eefce089791e0f6e7bb0fbe6bfdf93f825880740f78cf1d8adb578e
|
| 3 |
+
size 6297185
|