nduque commited on
Commit
0964aad
·
verified ·
1 Parent(s): 2ca35d9

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 sha256:91a8abeed3b66beccc7eaa46be0df02df157d0b1f01fc5543aff6a75d466b36c
3
+ size 39610
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2bc9d14aa17f474dcc0d2d1506c0dbe491fa74c979f59cd8dd7c71693883b9ee
3
+ size 44757
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:079158021996da78f184d8f00f5893b99c9f4f3e9f009a7215c2ab6f43b6e48c
3
+ size 50945
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a28d70747c371c51a10487db9cbf640d2d516489b7f0be0193c4e4edcaedda2
3
+ size 41918
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b9c396a05b435d7a3e1e11277e98c8a5a56078911212ddf351ad38c1993811d9
3
+ size 70420
data/chunk-000/episode_000005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:546cb943084512e0f5dd73a70a110fa9eb03b4c72464cec38419167f4def0d1d
3
+ size 43831
data/chunk-000/episode_000006.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:324badb9ea7d39504d21b5e391cdf580b7b90c2a326f63faf037dac80697e761
3
+ size 44535
meta/episodes.jsonl ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a green dice and put it in the bin."], "length": 404}
2
+ {"episode_index": 1, "tasks": ["Grasp a green dice and put it in the bin."], "length": 479}
3
+ {"episode_index": 2, "tasks": ["Grasp a green dice and put it in the bin."], "length": 572}
4
+ {"episode_index": 3, "tasks": ["Grasp a green dice and put it in the bin."], "length": 428}
5
+ {"episode_index": 4, "tasks": ["Grasp a green dice and put it in the bin."], "length": 769}
6
+ {"episode_index": 5, "tasks": ["Grasp a green dice and put it in the bin."], "length": 468}
7
+ {"episode_index": 6, "tasks": ["Grasp a green dice and put it in the bin."], "length": 482}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-11.45999813079834, 65.62213897705078, 62.52970886230469, -85.27883911132812, -34.104984283447266, 11.796875], "max": [109.33680725097656, 135.77822875976562, 179.55935668945312, 87.43766784667969, 15.127545356750488, 44.33826446533203], "mean": [13.68114185333252, 98.42158508300781, 100.88273620605469, 31.465185165405273, -1.536779761314392, 37.008705139160156], "std": [34.386756896972656, 23.547807693481445, 32.174720764160156, 44.83544921875, 11.191126823425293, 12.115363121032715], "count": [404]}, "observation.state": {"min": [-10.8984375, 64.951171875, 65.21484375, -86.66015625, -29.970703125, 21.796875], "max": [108.6328125, 129.19921875, 176.923828125, 79.365234375, 12.65625, 43.154296875], "mean": [13.65611457824707, 96.5765609741211, 102.7226333618164, 31.9902286529541, -1.3594765663146973, 38.617488861083984], "std": [34.26921463012695, 21.72242546081543, 31.929079055786133, 43.64678955078125, 10.364288330078125, 8.265108108520508], "count": [404]}, "observation.ee_pos": {"min": [-0.05753134563565254, -0.0249966811388731, 0.0266170185059309, -176.3120880126953], "max": [0.14135506749153137, 0.17185689508914948, 0.16481289267539978, 76.11963653564453], "mean": [0.08950349688529968, 0.022278103977441788, 0.07919266819953918, -7.522036075592041], "std": [0.05171499401330948, 0.05666358768939972, 0.03366469591856003, 61.48249053955078], "count": [404]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.11790052801370621, -0.009200035594403744, 6.400392055511475], "std": [5.289912223815918e-07, 3.5390257835388184e-08, 8.106231689453125e-06], "count": [404]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9764705882352941]], [[1.0]]], "mean": [[[0.3459527369281045]], [[0.3595212690631808]], [[0.35187855392156864]]], "std": [[[0.3060446602916674]], [[0.2900160870921867]], [[0.29424798125914137]]], "count": [100]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9607843137254902]]], "mean": [[[0.4932585702614379]], [[0.4816310729847495]], [[0.4656703894335512]]], "std": [[[0.17008419972266933]], [[0.18009869242002166]], [[0.19775852886579467]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.433333333333334], "mean": [6.716666666666666], "std": [3.887479903485033], "count": [404]}, "frame_index": {"min": [0], "max": [403], "mean": [201.5], "std": [116.62439710455098], "count": [404]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [404]}, "index": {"min": [0], "max": [403], "mean": [201.5], "std": [116.62439710455098], "count": [404]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [404]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-0.18762588500976562, 66.47647094726562, 60.8083381652832, -85.40690612792969, -35.38102722167969, 13.431610107421875], "max": [108.79972076416016, 135.85763549804688, 179.9256591796875, 79.9093017578125, 6.4502854347229, 44.827510833740234], "mean": [17.845123291015625, 104.33983612060547, 117.57856750488281, 7.256904602050781, -9.42717456817627, 39.514366149902344], "std": [26.469587326049805, 25.33855438232422, 41.31333541870117, 57.509334564208984, 10.816126823425293, 9.490212440490723], "count": [479]}, "observation.state": {"min": [0.0, 65.654296875, 63.45703125, -84.90234375, -31.11328125, 15.029296875], "max": [108.544921875, 129.7265625, 177.451171875, 75.322265625, 4.130859375, 43.154296875], "mean": [17.870054244995117, 101.92289733886719, 118.76580810546875, 7.730338096618652, -9.09328556060791, 39.19554901123047], "std": [26.451658248901367, 23.398422241210938, 40.00493621826172, 57.13639450073242, 9.395208358764648, 8.804200172424316], "count": [479]}, "observation.ee_pos": {"min": [-0.0573909692466259, -3.341202730939771e-18, 0.029578186571598053, -174.4283905029297], "max": [0.12878672778606415, 0.17298899590969086, 0.16134032607078552, 78.1678466796875], "mean": [0.08180232346057892, 0.034290626645088196, 0.07356712967157364, -39.557395935058594], "std": [0.04569568485021591, 0.04685606062412262, 0.028546703979372978, 83.48274993896484], "count": [479]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.11790058016777039, -0.00920004490762949, 6.400391578674316], "std": [5.811452865600586e-07, 4.470348358154297e-08, 8.58306884765625e-06], "count": [479]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.34533000929129826]], [[0.3576710106155752]], [[0.3491552901661754]]], "std": [[[0.3040626243035143]], [[0.2877144643580903]], [[0.2919550382364638]]], "count": [102]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7803921568627451]], [[0.7803921568627451]], [[0.7450980392156863]]], "mean": [[[0.49491183412362766]], [[0.4836751463112478]], [[0.4678170148233585]]], "std": [[[0.16904499270787043]], [[0.18013630328191976]], [[0.1983650103931482]]], "count": [102]}, "timestamp": {"min": [0.0], "max": [15.933333333333334], "mean": [7.966666666666666], "std": [4.609169604651628], "count": [479]}, "frame_index": {"min": [0], "max": [478], "mean": [239.0], "std": [138.27508813954884], "count": [479]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [479]}, "index": {"min": [404], "max": [882], "mean": [643.0], "std": [138.27508813954884], "count": [479]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [479]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [0.3178672790527344, 65.4921646118164, 57.7370719909668, -88.12126159667969, -36.34690475463867, 11.344903945922852], "max": [109.68733215332031, 135.78692626953125, 179.513427734375, 81.25965881347656, 1.6123406887054443, 44.93914794921875], "mean": [16.513568878173828, 109.96085357666016, 126.21793365478516, -6.813630104064941, -9.329458236694336, 39.797279357910156], "std": [25.479393005371094, 25.25486183166504, 44.76120376586914, 64.26032257080078, 9.549259185791016, 10.243993759155273], "count": [572]}, "observation.state": {"min": [0.615234375, 65.0390625, 60.205078125, -84.990234375, -32.255859375, 13.0078125], "max": [108.80859375, 129.7265625, 176.66015625, 75.498046875, -1.23046875, 43.505859375], "mean": [16.4699649810791, 107.24860382080078, 127.06782531738281, -5.669713497161865, -8.57717227935791, 39.54678726196289], "std": [25.3870792388916, 23.291431427001953, 43.165775299072266, 62.9540901184082, 8.486305236816406, 9.595503807067871], "count": [572]}, "observation.ee_pos": {"min": [-0.05884614959359169, 0.0005052016349509358, 0.028273452073335648, -173.01902770996094], "max": [0.12838904559612274, 0.1739356368780136, 0.16495604813098907, 73.84710693359375], "mean": [0.07423152774572372, 0.030477548018097878, 0.07750038057565689, -58.440921783447266], "std": [0.04489850625395775, 0.04401780292391777, 0.027647987008094788, 89.50358581542969], "count": [572]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.11790042370557785, -0.009200053289532661, 6.400391578674316], "std": [4.246830940246582e-07, 5.3085386753082275e-08, 8.58306884765625e-06], "count": [572]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34373673794230336]], [[0.3553884921305687]], [[0.3464849090977387]]], "std": [[[0.3031890579784553]], [[0.2868539295001999]], [[0.2908375384871628]]], "count": [116]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8862745098039215]], [[0.8666666666666667]], [[0.8196078431372549]]], "mean": [[[0.4887524908909924]], [[0.476910881977312]], [[0.46145664065434605]]], "std": [[[0.1672814588710375]], [[0.17840798942950598]], [[0.19672320665234705]]], "count": [116]}, "timestamp": {"min": [0.0], "max": [19.033333333333335], "mean": [9.516666666666667], "std": [5.5040641549878595], "count": [572]}, "frame_index": {"min": [0], "max": [571], "mean": [285.5], "std": [165.1219246496358], "count": [572]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [572]}, "index": {"min": [883], "max": [1454], "mean": [1168.5], "std": [165.1219246496358], "count": [572]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [572]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-4.513718605041504, 67.98606872558594, 60.99623489379883, -84.86569213867188, -34.49177169799805, 11.219282150268555], "max": [110.55390930175781, 135.69891357421875, 178.40431213378906, 86.3863525390625, 12.663497924804688, 44.5471076965332], "mean": [17.660612106323242, 101.78311157226562, 109.63213348388672, 18.12858772277832, -6.4714555740356445, 37.83140563964844], "std": [31.30838394165039, 24.87929916381836, 39.479984283447266, 54.72220993041992, 11.114104270935059, 11.551323890686035], "count": [428]}, "observation.state": {"min": [-4.39453125, 67.32421875, 63.544921875, -85.4296875, -30.76171875, 12.65625], "max": [110.126953125, 129.638671875, 176.66015625, 79.013671875, 10.107421875, 43.154296875], "mean": [17.63459587097168, 99.89016723632812, 111.25959777832031, 18.54697608947754, -6.02913236618042, 37.749637603759766], "std": [31.184734344482422, 23.34715461730957, 38.91826248168945, 53.81720733642578, 10.026615142822266, 11.047576904296875], "count": [428]}, "observation.ee_pos": {"min": [-0.060948051512241364, -0.009957334026694298, 0.028251895681023598, -171.54139709472656], "max": [0.1407451629638672, 0.17186413705348969, 0.16763238608837128, 77.40723419189453], "mean": [0.08327805250883102, 0.030985714867711067, 0.07750523835420609, -24.192649841308594], "std": [0.0516776405274868, 0.05145072191953659, 0.03175966814160347, 75.39208984375], "count": [428]}, "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": [428]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3457060076252723]], [[0.3586959204793028]], [[0.34959427559912853]]], "std": [[[0.3047556869802987]], [[0.28836205468598153]], [[0.2924606121448738]]], "count": [100]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8666666666666667]], [[0.8431372549019608]], [[0.803921568627451]]], "mean": [[[0.4887634150326797]], [[0.4771626416122004]], [[0.46128697712418304]]], "std": [[[0.16752943470834827]], [[0.17888025822599904]], [[0.19700271665044458]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.233333333333333], "mean": [7.116666666666667], "std": [4.1184206789604305], "count": [428]}, "frame_index": {"min": [0], "max": [427], "mean": [213.5], "std": [123.5526203688129], "count": [428]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [428]}, "index": {"min": [1455], "max": [1882], "mean": [1668.5], "std": [123.5526203688129], "count": [428]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [428]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-6.306777000427246, 66.58431243896484, 60.25233459472656, -87.59526062011719, -35.58246994018555, 15.38214111328125], "max": [101.66553497314453, 136.5625762939453, 179.63107299804688, 75.47174072265625, 18.98927879333496, 44.859561920166016], "mean": [17.299440383911133, 111.33328247070312, 122.06809997558594, -2.2136921882629395, -8.02208423614502, 39.60615539550781], "std": [23.67974853515625, 22.490694046020508, 38.9135856628418, 56.583396911621094, 11.18763256072998, 8.939287185668945], "count": [769]}, "observation.state": {"min": [-5.80078125, 66.005859375, 61.962890625, -85.078125, -31.904296875, 17.05078125], "max": [97.734375, 129.7265625, 176.572265625, 72.685546875, 15.99609375, 43.154296875], "mean": [17.28953742980957, 108.46503448486328, 123.51087188720703, -0.7310122847557068, -7.593681335449219, 39.18596267700195], "std": [23.60687828063965, 20.356700897216797, 37.61901092529297, 55.37092971801758, 10.054518699645996, 8.249615669250488], "count": [769]}, "observation.ee_pos": {"min": [-0.023770641535520554, -0.013221623376011848, 0.03091498464345932, -171.1966552734375], "max": [0.14029939472675323, 0.1754055917263031, 0.17020119726657867, 68.8488540649414], "mean": [0.082332544028759, 0.033365871757268906, 0.0833774134516716, -39.4580078125], "std": [0.0358886756002903, 0.04577610641717911, 0.0247731301933527, 77.22825622558594], "count": [769]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.11789955198764801, -0.009200064465403557, 6.400391101837158], "std": [4.470348358154297e-07, 6.426125764846802e-08, 9.059906005859375e-06], "count": [769]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3469604634852419]], [[0.3587460288148745]], [[0.3492493284985227]]], "std": [[[0.30423932553329797]], [[0.28729875240793146]], [[0.29122813752387494]]], "count": [146]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8901960784313725]], [[0.9098039215686274]], [[0.9019607843137255]]], "mean": [[[0.48433026307935656]], [[0.47225426963022654]], [[0.45562682424568]]], "std": [[[0.1685286931383461]], [[0.18001843619068678]], [[0.1985339636197961]]], "count": [146]}, "timestamp": {"min": [0.0], "max": [25.6], "mean": [12.8], "std": [7.39969969360619], "count": [769]}, "frame_index": {"min": [0], "max": [768], "mean": [384.0], "std": [221.99099080818573], "count": [769]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [769]}, "index": {"min": [1883], "max": [2651], "mean": [2267.0], "std": [221.99099080818573], "count": [769]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [769]}}}
6
+ {"episode_index": 5, "stats": {"action": {"min": [1.2604808807373047, 70.4388656616211, 60.597618103027344, -89.23373413085938, -34.81199645996094, 14.144155502319336], "max": [107.02168273925781, 135.9860382080078, 180.37918090820312, 76.29133605957031, 5.247533798217773, 44.69192886352539], "mean": [18.78580665588379, 104.37521362304688, 115.44285583496094, 8.222064971923828, -11.627520561218262, 39.53007125854492], "std": [24.738815307617188, 24.909318923950195, 40.42165756225586, 58.99308776855469, 9.665624618530273, 9.024955749511719], "count": [468]}, "observation.state": {"min": [0.791015625, 69.697265625, 63.45703125, -85.869140625, -31.11328125, 15.46875], "max": [107.138671875, 129.55078125, 176.748046875, 73.037109375, 3.33984375, 43.505859375], "mean": [18.837139129638672, 101.7903823852539, 116.69227600097656, 9.284292221069336, -11.043607711791992, 39.58064270019531], "std": [24.701662063598633, 22.921218872070312, 39.17839050292969, 57.85625076293945, 8.83383560180664, 8.592830657958984], "count": [468]}, "observation.ee_pos": {"min": [-0.05266651511192322, 0.0006172740831971169, 0.03250088170170784, -168.40008544921875], "max": [0.13038429617881775, 0.1744617372751236, 0.15654610097408295, 72.8044204711914], "mean": [0.08436799049377441, 0.03696611151099205, 0.07702838629484177, -37.54393005371094], "std": [0.04306807368993759, 0.046246498823165894, 0.028217099606990814, 77.9807357788086], "count": [468]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.11790057271718979, -0.009200043976306915, 6.400391578674316], "std": [5.736947059631348e-07, 4.377216100692749e-08, 8.58306884765625e-06], "count": [468]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.996078431372549]], [[1.0]]], "mean": [[[0.3425101906318083]], [[0.355298545751634]], [[0.34632849673202615]]], "std": [[[0.30249105537452264]], [[0.28682986547133055]], [[0.2906835431888934]]], "count": [100]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7686274509803922]], [[0.7568627450980392]], [[0.7333333333333333]]], "mean": [[[0.48693328976034855]], [[0.47267973583878]], [[0.4564418055555556]]], "std": [[[0.168170228250375]], [[0.17754402927807472]], [[0.1956599394783086]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [15.566666666666666], "mean": [7.783333333333334], "std": [4.503321819213835], "count": [468]}, "frame_index": {"min": [0], "max": [467], "mean": [233.5], "std": [135.09965457641508], "count": [468]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [468]}, "index": {"min": [2652], "max": [3119], "mean": [2885.5], "std": [135.09965457641508], "count": [468]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [468]}}}
7
+ {"episode_index": 6, "stats": {"action": {"min": [-0.5180292129516602, 66.74610900878906, 59.958831787109375, -88.81523132324219, -36.30121612548828, 14.837530136108398], "max": [106.96248626708984, 136.2716522216797, 179.70858764648438, 78.51766967773438, 6.774658679962158, 44.75905227661133], "mean": [13.957258224487305, 106.17487335205078, 119.16949462890625, 4.552273750305176, -7.675326347351074, 39.61134338378906], "std": [24.878644943237305, 25.904396057128906, 42.22032165527344, 60.99672317504883, 8.883594512939453, 9.132564544677734], "count": [482]}, "observation.state": {"min": [-0.3515625, 66.26953125, 62.841796875, -85.517578125, -32.34375, 16.34765625], "max": [105.732421875, 129.638671875, 176.923828125, 73.916015625, 4.5703125, 43.154296875], "mean": [13.888542175292969, 103.50382995605469, 120.2837142944336, 5.416031837463379, -7.036538124084473, 39.3432731628418], "std": [24.830772399902344, 23.716514587402344, 40.96733856201172, 59.964969635009766, 7.7804059982299805, 8.499686241149902], "count": [482]}, "observation.ee_pos": {"min": [-0.04892997071146965, -0.0007948607672005892, 0.03085877187550068, -167.0297393798828], "max": [0.13224513828754425, 0.1739870309829712, 0.16764602065086365, 71.85842895507812], "mean": [0.08275987207889557, 0.026652388274669647, 0.0758000835776329, -42.52442169189453], "std": [0.04318007081747055, 0.045926835387945175, 0.029219478368759155, 79.83319091796875], "count": [482]}, "observation.d_pos": {"min": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "max": [0.11789999902248383, -0.009200000204145908, 6.400400161743164], "mean": [0.11790058016777039, -0.009200045838952065, 6.400391578674316], "std": [5.811452865600586e-07, 4.563480615615845e-08, 8.58306884765625e-06], "count": [482]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3417658085565381]], [[0.3537747874749028]], [[0.34479512420436587]]], "std": [[[0.30278500696337257]], [[0.28683180558206434]], [[0.29066770636474043]]], "count": [102]}, "observation.images.above": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8705882352941177]], [[0.8666666666666667]], [[0.8156862745098039]]], "mean": [[[0.48374423031739927]], [[0.4694615639284036]], [[0.4535750138835491]]], "std": [[[0.1664102360650719]], [[0.17600905122606003]], [[0.19349588804269727]]], "count": [102]}, "timestamp": {"min": [0.0], "max": [16.033333333333335], "mean": [8.016666666666666], "std": [4.6380371806281255], "count": [482]}, "frame_index": {"min": [0], "max": [481], "mean": [240.5], "std": [139.14111541884375], "count": [482]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [482]}, "index": {"min": [3120], "max": [3601], "mean": [3360.5], "std": [139.14111541884375], "count": [482]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [482]}}}
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": 3602,
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:f9ee614c179cd36908c3b7660f35b24142866f3a3201fe2b28c0ac3b0e3706c5
3
+ size 6237771
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:e8336bb4ff87ce692cf01dc9a0e7228f074450f39e102fd629334685ac10ea09
3
+ size 7345711
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 sha256:979b57dce648ebe308e28c53fae8241394d5df933121ec89e292873a329068c8
3
+ size 8510403
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 sha256:87764992798498ddaa0e0c5372c85b4bbacf9ecd506cdba30697daec4fe16913
3
+ size 6415873
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 sha256:5e6ad14a5647baf0ace05ec141ac46331d8616ffc72a1c942c7baa05cc68d3d4
3
+ size 11504554
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 sha256:822016e06d3d3a7022900930217dae3b2e9b1f3ead5a05083ef52a46e996df1a
3
+ size 7091417
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 sha256:9241f3b7156a025cb204a8631d5e89d8584af6dafb8c7648fb41e285e6287adb
3
+ size 7283180
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:a8b30021788e55f7115d4b0f41efa34eb92f7364c4897c5474f66614440759f7
3
+ size 7204761
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:cf7fd24b62b95ab0c1d39b2f92eff795bc753c35b537e92b4e6f5dcfa3c1132c
3
+ size 8801443
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:b873535cbeb12158ca4541a65e6e8788e58bad07fa5ae46f907f8f4d9a0e7826
3
+ size 10841519
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:c6c1344eb38a449ec88058e3f38b96ab324648b482a55e6fce1c460ec5c22970
3
+ size 8088080
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:b8a4ca0e650160e34dea3bcda32ea5395093359fd159a5d1f0ff126aabb0684c
3
+ size 15174523
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 sha256:4823378e48d5a1445863c6e77ecc06d3222e929a4c9d5ee84ae0b74218145a6f
3
+ size 8341167
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 sha256:8e9364efc21d7654595219eaa77384dd584ee2a6ee81f6065ad75e8ce9c9d61d
3
+ size 8605799