Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- pick_objects_multiscene0/scene0/meta/episodes.jsonl +99 -0
- pick_objects_multiscene0/scene0/meta/episodes_stats.jsonl +0 -0
- pick_objects_multiscene0/scene0/meta/info.json +127 -0
- pick_objects_multiscene0/scene0/meta/modality.json +35 -0
- pick_objects_multiscene0/scene0/meta/stats.json +202 -0
- pick_objects_multiscene0/scene0/meta/tasks.jsonl +3 -0
- pick_objects_multiscene0/scene1/meta/episodes.jsonl +99 -0
- pick_objects_multiscene0/scene1/meta/episodes_stats.jsonl +0 -0
- pick_objects_multiscene0/scene1/meta/modality.json +35 -0
- pick_objects_multiscene0/scene1/meta/stats.json +202 -0
- pick_objects_multiscene0/scene3/meta/episodes.jsonl +99 -0
- pick_objects_multiscene0/scene3/meta/episodes_stats.jsonl +0 -0
- pick_objects_multiscene0/scene3/meta/info.json +127 -0
- pick_objects_multiscene0/scene3/meta/modality.json +35 -0
- pick_objects_multiscene0/scene3/meta/stats.json +202 -0
- pick_objects_multiscene0/scene3/meta/tasks.jsonl +3 -0
- pick_objects_multiscene0/scene5/meta/episodes.jsonl +99 -0
- pick_objects_multiscene0/scene5/meta/episodes_stats.jsonl +0 -0
- pick_objects_multiscene0/scene5/meta/info.json +127 -0
- pick_objects_multiscene0/scene5/meta/modality.json +35 -0
- pick_objects_multiscene0/scene5/meta/stats.json +202 -0
- pick_objects_multiscene0/scene5/meta/tasks.jsonl +3 -0
- pick_objects_multiscene0/scene6/meta/episodes.jsonl +99 -0
- pick_objects_multiscene0/scene6/meta/episodes_stats.jsonl +0 -0
- pick_objects_multiscene0/scene6/meta/info.json +127 -0
- pick_objects_multiscene0/scene6/meta/modality.json +35 -0
- pick_objects_multiscene0/scene6/meta/stats.json +202 -0
- pick_objects_multiscene0/scene6/meta/tasks.jsonl +3 -0
- pick_objects_multiscene0/scene7/meta/episodes.jsonl +99 -0
- pick_objects_multiscene0/scene7/meta/episodes_stats.jsonl +0 -0
- pick_objects_multiscene0/scene7/meta/info.json +127 -0
- pick_objects_multiscene0/scene7/meta/modality.json +35 -0
- pick_objects_multiscene0/scene7/meta/stats.json +202 -0
- pick_objects_multiscene0/scene7/meta/tasks.jsonl +3 -0
- pick_objects_multiscene0/scene8/meta/episodes.jsonl +99 -0
- pick_objects_multiscene0/scene8/meta/episodes_stats.jsonl +0 -0
- pick_objects_multiscene0/scene8/meta/info.json +127 -0
- pick_objects_multiscene0/scene8/meta/modality.json +35 -0
- pick_objects_multiscene0/scene8/meta/stats.json +202 -0
- pick_objects_multiscene0/scene8/meta/tasks.jsonl +3 -0
- pick_objects_multiscene0/scene9/meta/episodes.jsonl +99 -0
- pick_objects_multiscene0/scene9/meta/info.json +127 -0
- pick_objects_multiscene0/scene9/meta/tasks.jsonl +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000001.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000006.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000008.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000009.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000011.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000013.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000019.parquet +3 -0
pick_objects_multiscene0/scene0/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["touch the red cube"], "length": 200}
|
| 2 |
+
{"episode_index": 1, "tasks": ["touch the red cube"], "length": 156}
|
| 3 |
+
{"episode_index": 2, "tasks": ["touch the red cube"], "length": 173}
|
| 4 |
+
{"episode_index": 3, "tasks": ["touch the red cube"], "length": 186}
|
| 5 |
+
{"episode_index": 4, "tasks": ["touch the red cube"], "length": 128}
|
| 6 |
+
{"episode_index": 5, "tasks": ["touch the red cube"], "length": 187}
|
| 7 |
+
{"episode_index": 6, "tasks": ["touch the red cube"], "length": 195}
|
| 8 |
+
{"episode_index": 7, "tasks": ["touch the red cube"], "length": 200}
|
| 9 |
+
{"episode_index": 8, "tasks": ["touch the red cube"], "length": 190}
|
| 10 |
+
{"episode_index": 9, "tasks": ["touch the red cube"], "length": 203}
|
| 11 |
+
{"episode_index": 10, "tasks": ["touch the red cube"], "length": 176}
|
| 12 |
+
{"episode_index": 11, "tasks": ["touch the red cube"], "length": 223}
|
| 13 |
+
{"episode_index": 12, "tasks": ["touch the red cube"], "length": 177}
|
| 14 |
+
{"episode_index": 13, "tasks": ["touch the red cube"], "length": 197}
|
| 15 |
+
{"episode_index": 14, "tasks": ["touch the red cube"], "length": 168}
|
| 16 |
+
{"episode_index": 15, "tasks": ["touch the red cube"], "length": 155}
|
| 17 |
+
{"episode_index": 16, "tasks": ["touch the red cube"], "length": 144}
|
| 18 |
+
{"episode_index": 17, "tasks": ["touch the red cube"], "length": 247}
|
| 19 |
+
{"episode_index": 18, "tasks": ["touch the red cube"], "length": 165}
|
| 20 |
+
{"episode_index": 19, "tasks": ["touch the red cube"], "length": 160}
|
| 21 |
+
{"episode_index": 20, "tasks": ["touch the red cube"], "length": 136}
|
| 22 |
+
{"episode_index": 21, "tasks": ["touch the red cube"], "length": 192}
|
| 23 |
+
{"episode_index": 22, "tasks": ["touch the red cube"], "length": 194}
|
| 24 |
+
{"episode_index": 23, "tasks": ["touch the red cube"], "length": 138}
|
| 25 |
+
{"episode_index": 24, "tasks": ["touch the red cube"], "length": 178}
|
| 26 |
+
{"episode_index": 25, "tasks": ["touch the red cube"], "length": 192}
|
| 27 |
+
{"episode_index": 26, "tasks": ["touch the red cube"], "length": 173}
|
| 28 |
+
{"episode_index": 27, "tasks": ["touch the red cube"], "length": 201}
|
| 29 |
+
{"episode_index": 28, "tasks": ["touch the red cube"], "length": 182}
|
| 30 |
+
{"episode_index": 29, "tasks": ["touch the red cube"], "length": 227}
|
| 31 |
+
{"episode_index": 30, "tasks": ["touch the red cube"], "length": 146}
|
| 32 |
+
{"episode_index": 31, "tasks": ["touch the red cube"], "length": 229}
|
| 33 |
+
{"episode_index": 32, "tasks": ["touch the red cube"], "length": 145}
|
| 34 |
+
{"episode_index": 33, "tasks": ["touch the green cube"], "length": 208}
|
| 35 |
+
{"episode_index": 34, "tasks": ["touch the green cube"], "length": 190}
|
| 36 |
+
{"episode_index": 35, "tasks": ["touch the green cube"], "length": 190}
|
| 37 |
+
{"episode_index": 36, "tasks": ["touch the green cube"], "length": 139}
|
| 38 |
+
{"episode_index": 37, "tasks": ["touch the green cube"], "length": 213}
|
| 39 |
+
{"episode_index": 38, "tasks": ["touch the green cube"], "length": 160}
|
| 40 |
+
{"episode_index": 39, "tasks": ["touch the green cube"], "length": 133}
|
| 41 |
+
{"episode_index": 40, "tasks": ["touch the green cube"], "length": 156}
|
| 42 |
+
{"episode_index": 41, "tasks": ["touch the green cube"], "length": 183}
|
| 43 |
+
{"episode_index": 42, "tasks": ["touch the green cube"], "length": 154}
|
| 44 |
+
{"episode_index": 43, "tasks": ["touch the green cube"], "length": 164}
|
| 45 |
+
{"episode_index": 44, "tasks": ["touch the green cube"], "length": 163}
|
| 46 |
+
{"episode_index": 45, "tasks": ["touch the green cube"], "length": 170}
|
| 47 |
+
{"episode_index": 46, "tasks": ["touch the green cube"], "length": 172}
|
| 48 |
+
{"episode_index": 47, "tasks": ["touch the green cube"], "length": 232}
|
| 49 |
+
{"episode_index": 48, "tasks": ["touch the green cube"], "length": 162}
|
| 50 |
+
{"episode_index": 49, "tasks": ["touch the green cube"], "length": 237}
|
| 51 |
+
{"episode_index": 50, "tasks": ["touch the green cube"], "length": 144}
|
| 52 |
+
{"episode_index": 51, "tasks": ["touch the green cube"], "length": 132}
|
| 53 |
+
{"episode_index": 52, "tasks": ["touch the green cube"], "length": 288}
|
| 54 |
+
{"episode_index": 53, "tasks": ["touch the green cube"], "length": 148}
|
| 55 |
+
{"episode_index": 54, "tasks": ["touch the green cube"], "length": 218}
|
| 56 |
+
{"episode_index": 55, "tasks": ["touch the green cube"], "length": 122}
|
| 57 |
+
{"episode_index": 56, "tasks": ["touch the green cube"], "length": 154}
|
| 58 |
+
{"episode_index": 57, "tasks": ["touch the green cube"], "length": 180}
|
| 59 |
+
{"episode_index": 58, "tasks": ["touch the green cube"], "length": 161}
|
| 60 |
+
{"episode_index": 59, "tasks": ["touch the green cube"], "length": 152}
|
| 61 |
+
{"episode_index": 60, "tasks": ["touch the green cube"], "length": 163}
|
| 62 |
+
{"episode_index": 61, "tasks": ["touch the green cube"], "length": 195}
|
| 63 |
+
{"episode_index": 62, "tasks": ["touch the green cube"], "length": 187}
|
| 64 |
+
{"episode_index": 63, "tasks": ["touch the green cube"], "length": 157}
|
| 65 |
+
{"episode_index": 64, "tasks": ["touch the green cube"], "length": 232}
|
| 66 |
+
{"episode_index": 65, "tasks": ["touch the green cube"], "length": 161}
|
| 67 |
+
{"episode_index": 66, "tasks": ["touch the blue cube"], "length": 191}
|
| 68 |
+
{"episode_index": 67, "tasks": ["touch the blue cube"], "length": 199}
|
| 69 |
+
{"episode_index": 68, "tasks": ["touch the blue cube"], "length": 254}
|
| 70 |
+
{"episode_index": 69, "tasks": ["touch the blue cube"], "length": 233}
|
| 71 |
+
{"episode_index": 70, "tasks": ["touch the blue cube"], "length": 136}
|
| 72 |
+
{"episode_index": 71, "tasks": ["touch the blue cube"], "length": 184}
|
| 73 |
+
{"episode_index": 72, "tasks": ["touch the blue cube"], "length": 208}
|
| 74 |
+
{"episode_index": 73, "tasks": ["touch the blue cube"], "length": 168}
|
| 75 |
+
{"episode_index": 74, "tasks": ["touch the blue cube"], "length": 145}
|
| 76 |
+
{"episode_index": 75, "tasks": ["touch the blue cube"], "length": 169}
|
| 77 |
+
{"episode_index": 76, "tasks": ["touch the blue cube"], "length": 146}
|
| 78 |
+
{"episode_index": 77, "tasks": ["touch the blue cube"], "length": 137}
|
| 79 |
+
{"episode_index": 78, "tasks": ["touch the blue cube"], "length": 145}
|
| 80 |
+
{"episode_index": 79, "tasks": ["touch the blue cube"], "length": 132}
|
| 81 |
+
{"episode_index": 80, "tasks": ["touch the blue cube"], "length": 160}
|
| 82 |
+
{"episode_index": 81, "tasks": ["touch the blue cube"], "length": 163}
|
| 83 |
+
{"episode_index": 82, "tasks": ["touch the blue cube"], "length": 174}
|
| 84 |
+
{"episode_index": 83, "tasks": ["touch the blue cube"], "length": 160}
|
| 85 |
+
{"episode_index": 84, "tasks": ["touch the blue cube"], "length": 181}
|
| 86 |
+
{"episode_index": 85, "tasks": ["touch the blue cube"], "length": 153}
|
| 87 |
+
{"episode_index": 86, "tasks": ["touch the blue cube"], "length": 238}
|
| 88 |
+
{"episode_index": 87, "tasks": ["touch the blue cube"], "length": 156}
|
| 89 |
+
{"episode_index": 88, "tasks": ["touch the blue cube"], "length": 124}
|
| 90 |
+
{"episode_index": 89, "tasks": ["touch the blue cube"], "length": 127}
|
| 91 |
+
{"episode_index": 90, "tasks": ["touch the blue cube"], "length": 196}
|
| 92 |
+
{"episode_index": 91, "tasks": ["touch the blue cube"], "length": 160}
|
| 93 |
+
{"episode_index": 92, "tasks": ["touch the blue cube"], "length": 145}
|
| 94 |
+
{"episode_index": 93, "tasks": ["touch the blue cube"], "length": 160}
|
| 95 |
+
{"episode_index": 94, "tasks": ["touch the blue cube"], "length": 139}
|
| 96 |
+
{"episode_index": 95, "tasks": ["touch the blue cube"], "length": 128}
|
| 97 |
+
{"episode_index": 96, "tasks": ["touch the blue cube"], "length": 157}
|
| 98 |
+
{"episode_index": 97, "tasks": ["touch the blue cube"], "length": 189}
|
| 99 |
+
{"episode_index": 98, "tasks": ["touch the blue cube"], "length": 278}
|
pick_objects_multiscene0/scene0/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_objects_multiscene0/scene0/meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "SO100",
|
| 4 |
+
"total_episodes": 99,
|
| 5 |
+
"total_frames": 17418,
|
| 6 |
+
"total_tasks": 3,
|
| 7 |
+
"total_videos": 198,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:99"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"a_1",
|
| 24 |
+
"a_2",
|
| 25 |
+
"a_3",
|
| 26 |
+
"a_4",
|
| 27 |
+
"a_5",
|
| 28 |
+
"a_6"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.images.front_cam": {
|
| 32 |
+
"dtype": "video",
|
| 33 |
+
"shape": [
|
| 34 |
+
480,
|
| 35 |
+
640,
|
| 36 |
+
3
|
| 37 |
+
],
|
| 38 |
+
"names": [
|
| 39 |
+
"height",
|
| 40 |
+
"width",
|
| 41 |
+
"channels"
|
| 42 |
+
],
|
| 43 |
+
"info": {
|
| 44 |
+
"video.height": 480,
|
| 45 |
+
"video.width": 640,
|
| 46 |
+
"video.codec": "av1",
|
| 47 |
+
"video.pix_fmt": "yuv420p",
|
| 48 |
+
"video.is_depth_map": false,
|
| 49 |
+
"video.fps": 30,
|
| 50 |
+
"video.channels": 3,
|
| 51 |
+
"has_audio": false
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"observation.images.wrist_cam": {
|
| 55 |
+
"dtype": "video",
|
| 56 |
+
"shape": [
|
| 57 |
+
480,
|
| 58 |
+
640,
|
| 59 |
+
3
|
| 60 |
+
],
|
| 61 |
+
"names": [
|
| 62 |
+
"height",
|
| 63 |
+
"width",
|
| 64 |
+
"channels"
|
| 65 |
+
],
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 480,
|
| 68 |
+
"video.width": 640,
|
| 69 |
+
"video.codec": "av1",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 30,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"action": {
|
| 78 |
+
"dtype": "float32",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
],
|
| 82 |
+
"names": [
|
| 83 |
+
"a_1",
|
| 84 |
+
"a_2",
|
| 85 |
+
"a_3",
|
| 86 |
+
"a_4",
|
| 87 |
+
"a_5",
|
| 88 |
+
"a_6"
|
| 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 |
+
}
|
pick_objects_multiscene0/scene0/meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"single_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 5
|
| 6 |
+
},
|
| 7 |
+
"gripper": {
|
| 8 |
+
"start": 5,
|
| 9 |
+
"end": 6
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"single_arm": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 5
|
| 16 |
+
},
|
| 17 |
+
"gripper": {
|
| 18 |
+
"start": 5,
|
| 19 |
+
"end": 6
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front": {
|
| 24 |
+
"original_key": "observation.images.front_cam"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist_cam"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
+
"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
pick_objects_multiscene0/scene0/meta/stats.json
ADDED
|
@@ -0,0 +1,202 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"mean": [
|
| 4 |
+
-0.0820445790886879,
|
| 5 |
+
1.5833877325057983,
|
| 6 |
+
-1.376640796661377,
|
| 7 |
+
0.8070151805877686,
|
| 8 |
+
0.08772066980600357,
|
| 9 |
+
0.47385045886039734
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
0.8264350295066833,
|
| 13 |
+
0.6929485201835632,
|
| 14 |
+
0.6511816382408142,
|
| 15 |
+
0.33347219228744507,
|
| 16 |
+
0.8649821877479553,
|
| 17 |
+
0.326063871383667
|
| 18 |
+
],
|
| 19 |
+
"min": [
|
| 20 |
+
-1.3957985639572144,
|
| 21 |
+
-0.17690595984458923,
|
| 22 |
+
-2.8622801303863525,
|
| 23 |
+
-0.8986178040504456,
|
| 24 |
+
-1.9587466716766357,
|
| 25 |
+
-0.009195500053465366
|
| 26 |
+
],
|
| 27 |
+
"max": [
|
| 28 |
+
1.5977134704589844,
|
| 29 |
+
2.979858636856079,
|
| 30 |
+
2.537822183512617e-06,
|
| 31 |
+
1.2000144720077515,
|
| 32 |
+
1.8419578075408936,
|
| 33 |
+
1.9593831300735474
|
| 34 |
+
],
|
| 35 |
+
"q01": [
|
| 36 |
+
-1.3790442883968352,
|
| 37 |
+
0.13553434625267982,
|
| 38 |
+
-2.8595681190490723,
|
| 39 |
+
-0.3990287590026855,
|
| 40 |
+
-1.4752405858039856,
|
| 41 |
+
0.04608067788183689
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
1.4185849380493156,
|
| 45 |
+
2.971453990936279,
|
| 46 |
+
-0.2972393861413048,
|
| 47 |
+
1.2000020742416382,
|
| 48 |
+
1.3893217873573303,
|
| 49 |
+
1.5786499941349013
|
| 50 |
+
]
|
| 51 |
+
},
|
| 52 |
+
"action": {
|
| 53 |
+
"mean": [
|
| 54 |
+
-0.0824427530169487,
|
| 55 |
+
1.5910369157791138,
|
| 56 |
+
-1.3833757638931274,
|
| 57 |
+
0.8121933341026306,
|
| 58 |
+
0.08816993981599808,
|
| 59 |
+
0.4685719907283783
|
| 60 |
+
],
|
| 61 |
+
"std": [
|
| 62 |
+
0.8285999298095703,
|
| 63 |
+
0.6896179914474487,
|
| 64 |
+
0.6501465439796448,
|
| 65 |
+
0.3274763822555542,
|
| 66 |
+
0.8642908930778503,
|
| 67 |
+
0.32219499349594116
|
| 68 |
+
],
|
| 69 |
+
"min": [
|
| 70 |
+
-1.3957985639572144,
|
| 71 |
+
-0.11258061230182648,
|
| 72 |
+
-2.8622801303863525,
|
| 73 |
+
-0.8686055541038513,
|
| 74 |
+
-1.9287347793579102,
|
| 75 |
+
-0.009195500053465366
|
| 76 |
+
],
|
| 77 |
+
"max": [
|
| 78 |
+
1.5977134704589844,
|
| 79 |
+
2.979858636856079,
|
| 80 |
+
2.537822183512617e-06,
|
| 81 |
+
1.2000144720077515,
|
| 82 |
+
1.8119566440582275,
|
| 83 |
+
1.9293767213821411
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-1.379477050304413,
|
| 87 |
+
0.14480110362172127,
|
| 88 |
+
-2.8595681190490723,
|
| 89 |
+
-0.36906006008386605,
|
| 90 |
+
-1.4750457751750945,
|
| 91 |
+
0.04606615908443928
|
| 92 |
+
],
|
| 93 |
+
"q99": [
|
| 94 |
+
1.4189007067680353,
|
| 95 |
+
2.971453990936279,
|
| 96 |
+
-0.3190334856510173,
|
| 97 |
+
1.2000020742416382,
|
| 98 |
+
1.3884844172000885,
|
| 99 |
+
1.548643585443495
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"timestamp": {
|
| 103 |
+
"mean": [
|
| 104 |
+
3.0250084400177
|
| 105 |
+
],
|
| 106 |
+
"std": [
|
| 107 |
+
1.888871669769287
|
| 108 |
+
],
|
| 109 |
+
"min": [
|
| 110 |
+
0.0
|
| 111 |
+
],
|
| 112 |
+
"max": [
|
| 113 |
+
9.566666603088379
|
| 114 |
+
],
|
| 115 |
+
"q01": [
|
| 116 |
+
0.03333333507180214
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
7.633333206176758
|
| 120 |
+
]
|
| 121 |
+
},
|
| 122 |
+
"frame_index": {
|
| 123 |
+
"mean": [
|
| 124 |
+
90.75025939941406
|
| 125 |
+
],
|
| 126 |
+
"std": [
|
| 127 |
+
56.6661491394043
|
| 128 |
+
],
|
| 129 |
+
"min": [
|
| 130 |
+
0.0
|
| 131 |
+
],
|
| 132 |
+
"max": [
|
| 133 |
+
287.0
|
| 134 |
+
],
|
| 135 |
+
"q01": [
|
| 136 |
+
1.0
|
| 137 |
+
],
|
| 138 |
+
"q99": [
|
| 139 |
+
229.0
|
| 140 |
+
]
|
| 141 |
+
},
|
| 142 |
+
"episode_index": {
|
| 143 |
+
"mean": [
|
| 144 |
+
48.28476333618164
|
| 145 |
+
],
|
| 146 |
+
"std": [
|
| 147 |
+
28.4752140045166
|
| 148 |
+
],
|
| 149 |
+
"min": [
|
| 150 |
+
0.0
|
| 151 |
+
],
|
| 152 |
+
"max": [
|
| 153 |
+
98.0
|
| 154 |
+
],
|
| 155 |
+
"q01": [
|
| 156 |
+
0.0
|
| 157 |
+
],
|
| 158 |
+
"q99": [
|
| 159 |
+
98.0
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
"index": {
|
| 163 |
+
"mean": [
|
| 164 |
+
8708.5
|
| 165 |
+
],
|
| 166 |
+
"std": [
|
| 167 |
+
5028.1435546875
|
| 168 |
+
],
|
| 169 |
+
"min": [
|
| 170 |
+
0.0
|
| 171 |
+
],
|
| 172 |
+
"max": [
|
| 173 |
+
17417.0
|
| 174 |
+
],
|
| 175 |
+
"q01": [
|
| 176 |
+
174.17000000000002
|
| 177 |
+
],
|
| 178 |
+
"q99": [
|
| 179 |
+
17242.829999999998
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"task_index": {
|
| 183 |
+
"mean": [
|
| 184 |
+
0.9811689257621765
|
| 185 |
+
],
|
| 186 |
+
"std": [
|
| 187 |
+
0.8157867789268494
|
| 188 |
+
],
|
| 189 |
+
"min": [
|
| 190 |
+
0.0
|
| 191 |
+
],
|
| 192 |
+
"max": [
|
| 193 |
+
2.0
|
| 194 |
+
],
|
| 195 |
+
"q01": [
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
"q99": [
|
| 199 |
+
2.0
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
}
|
pick_objects_multiscene0/scene0/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "touch the red cube"}
|
| 2 |
+
{"task_index": 1, "task": "touch the green cube"}
|
| 3 |
+
{"task_index": 2, "task": "touch the blue cube"}
|
pick_objects_multiscene0/scene1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["touch the red cube"], "length": 164}
|
| 2 |
+
{"episode_index": 1, "tasks": ["touch the red cube"], "length": 243}
|
| 3 |
+
{"episode_index": 2, "tasks": ["touch the red cube"], "length": 141}
|
| 4 |
+
{"episode_index": 3, "tasks": ["touch the red cube"], "length": 130}
|
| 5 |
+
{"episode_index": 4, "tasks": ["touch the red cube"], "length": 205}
|
| 6 |
+
{"episode_index": 5, "tasks": ["touch the red cube"], "length": 185}
|
| 7 |
+
{"episode_index": 6, "tasks": ["touch the red cube"], "length": 196}
|
| 8 |
+
{"episode_index": 7, "tasks": ["touch the red cube"], "length": 195}
|
| 9 |
+
{"episode_index": 8, "tasks": ["touch the red cube"], "length": 151}
|
| 10 |
+
{"episode_index": 9, "tasks": ["touch the red cube"], "length": 226}
|
| 11 |
+
{"episode_index": 10, "tasks": ["touch the red cube"], "length": 161}
|
| 12 |
+
{"episode_index": 11, "tasks": ["touch the red cube"], "length": 190}
|
| 13 |
+
{"episode_index": 12, "tasks": ["touch the red cube"], "length": 188}
|
| 14 |
+
{"episode_index": 13, "tasks": ["touch the red cube"], "length": 183}
|
| 15 |
+
{"episode_index": 14, "tasks": ["touch the red cube"], "length": 180}
|
| 16 |
+
{"episode_index": 15, "tasks": ["touch the red cube"], "length": 192}
|
| 17 |
+
{"episode_index": 16, "tasks": ["touch the red cube"], "length": 280}
|
| 18 |
+
{"episode_index": 17, "tasks": ["touch the red cube"], "length": 188}
|
| 19 |
+
{"episode_index": 18, "tasks": ["touch the red cube"], "length": 190}
|
| 20 |
+
{"episode_index": 19, "tasks": ["touch the red cube"], "length": 188}
|
| 21 |
+
{"episode_index": 20, "tasks": ["touch the red cube"], "length": 138}
|
| 22 |
+
{"episode_index": 21, "tasks": ["touch the red cube"], "length": 197}
|
| 23 |
+
{"episode_index": 22, "tasks": ["touch the red cube"], "length": 165}
|
| 24 |
+
{"episode_index": 23, "tasks": ["touch the red cube"], "length": 197}
|
| 25 |
+
{"episode_index": 24, "tasks": ["touch the red cube"], "length": 161}
|
| 26 |
+
{"episode_index": 25, "tasks": ["touch the red cube"], "length": 166}
|
| 27 |
+
{"episode_index": 26, "tasks": ["touch the red cube"], "length": 195}
|
| 28 |
+
{"episode_index": 27, "tasks": ["touch the red cube"], "length": 262}
|
| 29 |
+
{"episode_index": 28, "tasks": ["touch the red cube"], "length": 162}
|
| 30 |
+
{"episode_index": 29, "tasks": ["touch the red cube"], "length": 161}
|
| 31 |
+
{"episode_index": 30, "tasks": ["touch the red cube"], "length": 205}
|
| 32 |
+
{"episode_index": 31, "tasks": ["touch the red cube"], "length": 152}
|
| 33 |
+
{"episode_index": 32, "tasks": ["touch the red cube"], "length": 207}
|
| 34 |
+
{"episode_index": 33, "tasks": ["touch the green cube"], "length": 167}
|
| 35 |
+
{"episode_index": 34, "tasks": ["touch the green cube"], "length": 141}
|
| 36 |
+
{"episode_index": 35, "tasks": ["touch the green cube"], "length": 140}
|
| 37 |
+
{"episode_index": 36, "tasks": ["touch the green cube"], "length": 183}
|
| 38 |
+
{"episode_index": 37, "tasks": ["touch the green cube"], "length": 139}
|
| 39 |
+
{"episode_index": 38, "tasks": ["touch the green cube"], "length": 141}
|
| 40 |
+
{"episode_index": 39, "tasks": ["touch the green cube"], "length": 137}
|
| 41 |
+
{"episode_index": 40, "tasks": ["touch the green cube"], "length": 142}
|
| 42 |
+
{"episode_index": 41, "tasks": ["touch the green cube"], "length": 193}
|
| 43 |
+
{"episode_index": 42, "tasks": ["touch the green cube"], "length": 171}
|
| 44 |
+
{"episode_index": 43, "tasks": ["touch the green cube"], "length": 176}
|
| 45 |
+
{"episode_index": 44, "tasks": ["touch the green cube"], "length": 348}
|
| 46 |
+
{"episode_index": 45, "tasks": ["touch the green cube"], "length": 156}
|
| 47 |
+
{"episode_index": 46, "tasks": ["touch the green cube"], "length": 172}
|
| 48 |
+
{"episode_index": 47, "tasks": ["touch the green cube"], "length": 187}
|
| 49 |
+
{"episode_index": 48, "tasks": ["touch the green cube"], "length": 178}
|
| 50 |
+
{"episode_index": 49, "tasks": ["touch the green cube"], "length": 145}
|
| 51 |
+
{"episode_index": 50, "tasks": ["touch the green cube"], "length": 140}
|
| 52 |
+
{"episode_index": 51, "tasks": ["touch the green cube"], "length": 204}
|
| 53 |
+
{"episode_index": 52, "tasks": ["touch the green cube"], "length": 147}
|
| 54 |
+
{"episode_index": 53, "tasks": ["touch the green cube"], "length": 271}
|
| 55 |
+
{"episode_index": 54, "tasks": ["touch the green cube"], "length": 157}
|
| 56 |
+
{"episode_index": 55, "tasks": ["touch the green cube"], "length": 173}
|
| 57 |
+
{"episode_index": 56, "tasks": ["touch the green cube"], "length": 198}
|
| 58 |
+
{"episode_index": 57, "tasks": ["touch the green cube"], "length": 162}
|
| 59 |
+
{"episode_index": 58, "tasks": ["touch the green cube"], "length": 143}
|
| 60 |
+
{"episode_index": 59, "tasks": ["touch the green cube"], "length": 162}
|
| 61 |
+
{"episode_index": 60, "tasks": ["touch the green cube"], "length": 168}
|
| 62 |
+
{"episode_index": 61, "tasks": ["touch the green cube"], "length": 157}
|
| 63 |
+
{"episode_index": 62, "tasks": ["touch the green cube"], "length": 192}
|
| 64 |
+
{"episode_index": 63, "tasks": ["touch the green cube"], "length": 273}
|
| 65 |
+
{"episode_index": 64, "tasks": ["touch the green cube"], "length": 163}
|
| 66 |
+
{"episode_index": 65, "tasks": ["touch the green cube"], "length": 189}
|
| 67 |
+
{"episode_index": 66, "tasks": ["touch the blue cube"], "length": 191}
|
| 68 |
+
{"episode_index": 67, "tasks": ["touch the blue cube"], "length": 126}
|
| 69 |
+
{"episode_index": 68, "tasks": ["touch the blue cube"], "length": 198}
|
| 70 |
+
{"episode_index": 69, "tasks": ["touch the blue cube"], "length": 146}
|
| 71 |
+
{"episode_index": 70, "tasks": ["touch the blue cube"], "length": 161}
|
| 72 |
+
{"episode_index": 71, "tasks": ["touch the blue cube"], "length": 190}
|
| 73 |
+
{"episode_index": 72, "tasks": ["touch the blue cube"], "length": 146}
|
| 74 |
+
{"episode_index": 73, "tasks": ["touch the blue cube"], "length": 163}
|
| 75 |
+
{"episode_index": 74, "tasks": ["touch the blue cube"], "length": 202}
|
| 76 |
+
{"episode_index": 75, "tasks": ["touch the blue cube"], "length": 193}
|
| 77 |
+
{"episode_index": 76, "tasks": ["touch the blue cube"], "length": 157}
|
| 78 |
+
{"episode_index": 77, "tasks": ["touch the blue cube"], "length": 203}
|
| 79 |
+
{"episode_index": 78, "tasks": ["touch the blue cube"], "length": 190}
|
| 80 |
+
{"episode_index": 79, "tasks": ["touch the blue cube"], "length": 133}
|
| 81 |
+
{"episode_index": 80, "tasks": ["touch the blue cube"], "length": 187}
|
| 82 |
+
{"episode_index": 81, "tasks": ["touch the blue cube"], "length": 198}
|
| 83 |
+
{"episode_index": 82, "tasks": ["touch the blue cube"], "length": 161}
|
| 84 |
+
{"episode_index": 83, "tasks": ["touch the blue cube"], "length": 151}
|
| 85 |
+
{"episode_index": 84, "tasks": ["touch the blue cube"], "length": 199}
|
| 86 |
+
{"episode_index": 85, "tasks": ["touch the blue cube"], "length": 196}
|
| 87 |
+
{"episode_index": 86, "tasks": ["touch the blue cube"], "length": 154}
|
| 88 |
+
{"episode_index": 87, "tasks": ["touch the blue cube"], "length": 156}
|
| 89 |
+
{"episode_index": 88, "tasks": ["touch the blue cube"], "length": 156}
|
| 90 |
+
{"episode_index": 89, "tasks": ["touch the blue cube"], "length": 191}
|
| 91 |
+
{"episode_index": 90, "tasks": ["touch the blue cube"], "length": 154}
|
| 92 |
+
{"episode_index": 91, "tasks": ["touch the blue cube"], "length": 176}
|
| 93 |
+
{"episode_index": 92, "tasks": ["touch the blue cube"], "length": 147}
|
| 94 |
+
{"episode_index": 93, "tasks": ["touch the blue cube"], "length": 136}
|
| 95 |
+
{"episode_index": 94, "tasks": ["touch the blue cube"], "length": 200}
|
| 96 |
+
{"episode_index": 95, "tasks": ["touch the blue cube"], "length": 189}
|
| 97 |
+
{"episode_index": 96, "tasks": ["touch the blue cube"], "length": 173}
|
| 98 |
+
{"episode_index": 97, "tasks": ["touch the blue cube"], "length": 188}
|
| 99 |
+
{"episode_index": 98, "tasks": ["touch the blue cube"], "length": 154}
|
pick_objects_multiscene0/scene1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_objects_multiscene0/scene1/meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"single_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 5
|
| 6 |
+
},
|
| 7 |
+
"gripper": {
|
| 8 |
+
"start": 5,
|
| 9 |
+
"end": 6
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"single_arm": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 5
|
| 16 |
+
},
|
| 17 |
+
"gripper": {
|
| 18 |
+
"start": 5,
|
| 19 |
+
"end": 6
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front": {
|
| 24 |
+
"original_key": "observation.images.front_cam"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist_cam"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
+
"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
pick_objects_multiscene0/scene1/meta/stats.json
ADDED
|
@@ -0,0 +1,202 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"mean": [
|
| 4 |
+
-0.022471345961093903,
|
| 5 |
+
1.613679051399231,
|
| 6 |
+
-1.4313873052597046,
|
| 7 |
+
0.7990748882293701,
|
| 8 |
+
0.03916817903518677,
|
| 9 |
+
0.4833085536956787
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
0.8551009893417358,
|
| 13 |
+
0.7128680348396301,
|
| 14 |
+
0.6375088095664978,
|
| 15 |
+
0.35914847254753113,
|
| 16 |
+
0.8877379298210144,
|
| 17 |
+
0.30941084027290344
|
| 18 |
+
],
|
| 19 |
+
"min": [
|
| 20 |
+
-1.4561692476272583,
|
| 21 |
+
-4.531376021077449e-07,
|
| 22 |
+
-2.8630454540252686,
|
| 23 |
+
-0.9653866291046143,
|
| 24 |
+
-1.917981743812561,
|
| 25 |
+
0.034855663776397705
|
| 26 |
+
],
|
| 27 |
+
"max": [
|
| 28 |
+
1.4028698205947876,
|
| 29 |
+
2.979807138442993,
|
| 30 |
+
0.054123785346746445,
|
| 31 |
+
1.6672509908676147,
|
| 32 |
+
1.9187588691711426,
|
| 33 |
+
1.9157967567443848
|
| 34 |
+
],
|
| 35 |
+
"q01": [
|
| 36 |
+
-1.386402223110199,
|
| 37 |
+
0.09827471084892747,
|
| 38 |
+
-2.8595267820358274,
|
| 39 |
+
-0.5264851295948029,
|
| 40 |
+
-1.3902530694007873,
|
| 41 |
+
0.051188800148665906
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
1.334212942123413,
|
| 45 |
+
2.9708183073997496,
|
| 46 |
+
-0.30428614467382425,
|
| 47 |
+
1.2000021934509277,
|
| 48 |
+
1.4561040723323821,
|
| 49 |
+
1.5061379075050358
|
| 50 |
+
]
|
| 51 |
+
},
|
| 52 |
+
"action": {
|
| 53 |
+
"mean": [
|
| 54 |
+
-0.02271438203752041,
|
| 55 |
+
1.6217408180236816,
|
| 56 |
+
-1.4385857582092285,
|
| 57 |
+
0.804822564125061,
|
| 58 |
+
0.03841117396950722,
|
| 59 |
+
0.4785023331642151
|
| 60 |
+
],
|
| 61 |
+
"std": [
|
| 62 |
+
0.8569913506507874,
|
| 63 |
+
0.7094870805740356,
|
| 64 |
+
0.6359941363334656,
|
| 65 |
+
0.3525223135948181,
|
| 66 |
+
0.8872854113578796,
|
| 67 |
+
0.30608677864074707
|
| 68 |
+
],
|
| 69 |
+
"min": [
|
| 70 |
+
-1.4561692476272583,
|
| 71 |
+
-4.531376021077449e-07,
|
| 72 |
+
-2.8630454540252686,
|
| 73 |
+
-0.9352869987487793,
|
| 74 |
+
-1.8879855871200562,
|
| 75 |
+
0.0365460105240345
|
| 76 |
+
],
|
| 77 |
+
"max": [
|
| 78 |
+
1.4028698205947876,
|
| 79 |
+
2.979807138442993,
|
| 80 |
+
0.054123785346746445,
|
| 81 |
+
1.6672509908676147,
|
| 82 |
+
1.8887548446655273,
|
| 83 |
+
1.8857903480529785
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-1.3864034330844879,
|
| 87 |
+
0.10330522149801254,
|
| 88 |
+
-2.8595267820358274,
|
| 89 |
+
-0.4964371091127396,
|
| 90 |
+
-1.3900402808189392,
|
| 91 |
+
0.05118846371769905
|
| 92 |
+
],
|
| 93 |
+
"q99": [
|
| 94 |
+
1.3343253231048584,
|
| 95 |
+
2.9708183073997496,
|
| 96 |
+
-0.32965193301439283,
|
| 97 |
+
1.2000021934509277,
|
| 98 |
+
1.4543424153327944,
|
| 99 |
+
1.4761314988136296
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"timestamp": {
|
| 103 |
+
"mean": [
|
| 104 |
+
3.063650131225586
|
| 105 |
+
],
|
| 106 |
+
"std": [
|
| 107 |
+
1.9368462562561035
|
| 108 |
+
],
|
| 109 |
+
"min": [
|
| 110 |
+
0.0
|
| 111 |
+
],
|
| 112 |
+
"max": [
|
| 113 |
+
11.566666603088379
|
| 114 |
+
],
|
| 115 |
+
"q01": [
|
| 116 |
+
0.03333333507180214
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
8.366666793823242
|
| 120 |
+
]
|
| 121 |
+
},
|
| 122 |
+
"frame_index": {
|
| 123 |
+
"mean": [
|
| 124 |
+
91.90950012207031
|
| 125 |
+
],
|
| 126 |
+
"std": [
|
| 127 |
+
58.10538864135742
|
| 128 |
+
],
|
| 129 |
+
"min": [
|
| 130 |
+
0.0
|
| 131 |
+
],
|
| 132 |
+
"max": [
|
| 133 |
+
347.0
|
| 134 |
+
],
|
| 135 |
+
"q01": [
|
| 136 |
+
1.0
|
| 137 |
+
],
|
| 138 |
+
"q99": [
|
| 139 |
+
251.0
|
| 140 |
+
]
|
| 141 |
+
},
|
| 142 |
+
"episode_index": {
|
| 143 |
+
"mean": [
|
| 144 |
+
48.28251266479492
|
| 145 |
+
],
|
| 146 |
+
"std": [
|
| 147 |
+
28.572986602783203
|
| 148 |
+
],
|
| 149 |
+
"min": [
|
| 150 |
+
0.0
|
| 151 |
+
],
|
| 152 |
+
"max": [
|
| 153 |
+
98.0
|
| 154 |
+
],
|
| 155 |
+
"q01": [
|
| 156 |
+
1.0
|
| 157 |
+
],
|
| 158 |
+
"q99": [
|
| 159 |
+
97.0
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
"index": {
|
| 163 |
+
"mean": [
|
| 164 |
+
8811.5
|
| 165 |
+
],
|
| 166 |
+
"std": [
|
| 167 |
+
5087.6103515625
|
| 168 |
+
],
|
| 169 |
+
"min": [
|
| 170 |
+
0.0
|
| 171 |
+
],
|
| 172 |
+
"max": [
|
| 173 |
+
17623.0
|
| 174 |
+
],
|
| 175 |
+
"q01": [
|
| 176 |
+
176.23
|
| 177 |
+
],
|
| 178 |
+
"q99": [
|
| 179 |
+
17446.77
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"task_index": {
|
| 183 |
+
"mean": [
|
| 184 |
+
0.9728211760520935
|
| 185 |
+
],
|
| 186 |
+
"std": [
|
| 187 |
+
0.818115770816803
|
| 188 |
+
],
|
| 189 |
+
"min": [
|
| 190 |
+
0.0
|
| 191 |
+
],
|
| 192 |
+
"max": [
|
| 193 |
+
2.0
|
| 194 |
+
],
|
| 195 |
+
"q01": [
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
"q99": [
|
| 199 |
+
2.0
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
}
|
pick_objects_multiscene0/scene3/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["touch the red cube"], "length": 192}
|
| 2 |
+
{"episode_index": 1, "tasks": ["touch the red cube"], "length": 174}
|
| 3 |
+
{"episode_index": 2, "tasks": ["touch the red cube"], "length": 157}
|
| 4 |
+
{"episode_index": 3, "tasks": ["touch the red cube"], "length": 215}
|
| 5 |
+
{"episode_index": 4, "tasks": ["touch the red cube"], "length": 166}
|
| 6 |
+
{"episode_index": 5, "tasks": ["touch the red cube"], "length": 183}
|
| 7 |
+
{"episode_index": 6, "tasks": ["touch the red cube"], "length": 154}
|
| 8 |
+
{"episode_index": 7, "tasks": ["touch the red cube"], "length": 324}
|
| 9 |
+
{"episode_index": 8, "tasks": ["touch the red cube"], "length": 138}
|
| 10 |
+
{"episode_index": 9, "tasks": ["touch the red cube"], "length": 173}
|
| 11 |
+
{"episode_index": 10, "tasks": ["touch the red cube"], "length": 153}
|
| 12 |
+
{"episode_index": 11, "tasks": ["touch the red cube"], "length": 166}
|
| 13 |
+
{"episode_index": 12, "tasks": ["touch the red cube"], "length": 279}
|
| 14 |
+
{"episode_index": 13, "tasks": ["touch the red cube"], "length": 142}
|
| 15 |
+
{"episode_index": 14, "tasks": ["touch the red cube"], "length": 190}
|
| 16 |
+
{"episode_index": 15, "tasks": ["touch the red cube"], "length": 175}
|
| 17 |
+
{"episode_index": 16, "tasks": ["touch the red cube"], "length": 173}
|
| 18 |
+
{"episode_index": 17, "tasks": ["touch the red cube"], "length": 205}
|
| 19 |
+
{"episode_index": 18, "tasks": ["touch the red cube"], "length": 206}
|
| 20 |
+
{"episode_index": 19, "tasks": ["touch the red cube"], "length": 217}
|
| 21 |
+
{"episode_index": 20, "tasks": ["touch the red cube"], "length": 191}
|
| 22 |
+
{"episode_index": 21, "tasks": ["touch the red cube"], "length": 167}
|
| 23 |
+
{"episode_index": 22, "tasks": ["touch the red cube"], "length": 172}
|
| 24 |
+
{"episode_index": 23, "tasks": ["touch the red cube"], "length": 177}
|
| 25 |
+
{"episode_index": 24, "tasks": ["touch the red cube"], "length": 155}
|
| 26 |
+
{"episode_index": 25, "tasks": ["touch the red cube"], "length": 190}
|
| 27 |
+
{"episode_index": 26, "tasks": ["touch the red cube"], "length": 163}
|
| 28 |
+
{"episode_index": 27, "tasks": ["touch the red cube"], "length": 187}
|
| 29 |
+
{"episode_index": 28, "tasks": ["touch the red cube"], "length": 165}
|
| 30 |
+
{"episode_index": 29, "tasks": ["touch the red cube"], "length": 260}
|
| 31 |
+
{"episode_index": 30, "tasks": ["touch the red cube"], "length": 242}
|
| 32 |
+
{"episode_index": 31, "tasks": ["touch the red cube"], "length": 279}
|
| 33 |
+
{"episode_index": 32, "tasks": ["touch the red cube"], "length": 168}
|
| 34 |
+
{"episode_index": 33, "tasks": ["touch the green cube"], "length": 244}
|
| 35 |
+
{"episode_index": 34, "tasks": ["touch the green cube"], "length": 180}
|
| 36 |
+
{"episode_index": 35, "tasks": ["touch the green cube"], "length": 176}
|
| 37 |
+
{"episode_index": 36, "tasks": ["touch the green cube"], "length": 160}
|
| 38 |
+
{"episode_index": 37, "tasks": ["touch the green cube"], "length": 188}
|
| 39 |
+
{"episode_index": 38, "tasks": ["touch the green cube"], "length": 163}
|
| 40 |
+
{"episode_index": 39, "tasks": ["touch the green cube"], "length": 166}
|
| 41 |
+
{"episode_index": 40, "tasks": ["touch the green cube"], "length": 223}
|
| 42 |
+
{"episode_index": 41, "tasks": ["touch the green cube"], "length": 256}
|
| 43 |
+
{"episode_index": 42, "tasks": ["touch the green cube"], "length": 180}
|
| 44 |
+
{"episode_index": 43, "tasks": ["touch the green cube"], "length": 153}
|
| 45 |
+
{"episode_index": 44, "tasks": ["touch the green cube"], "length": 202}
|
| 46 |
+
{"episode_index": 45, "tasks": ["touch the green cube"], "length": 266}
|
| 47 |
+
{"episode_index": 46, "tasks": ["touch the green cube"], "length": 137}
|
| 48 |
+
{"episode_index": 47, "tasks": ["touch the green cube"], "length": 183}
|
| 49 |
+
{"episode_index": 48, "tasks": ["touch the green cube"], "length": 189}
|
| 50 |
+
{"episode_index": 49, "tasks": ["touch the green cube"], "length": 170}
|
| 51 |
+
{"episode_index": 50, "tasks": ["touch the green cube"], "length": 142}
|
| 52 |
+
{"episode_index": 51, "tasks": ["touch the green cube"], "length": 162}
|
| 53 |
+
{"episode_index": 52, "tasks": ["touch the green cube"], "length": 130}
|
| 54 |
+
{"episode_index": 53, "tasks": ["touch the green cube"], "length": 143}
|
| 55 |
+
{"episode_index": 54, "tasks": ["touch the green cube"], "length": 154}
|
| 56 |
+
{"episode_index": 55, "tasks": ["touch the green cube"], "length": 186}
|
| 57 |
+
{"episode_index": 56, "tasks": ["touch the green cube"], "length": 164}
|
| 58 |
+
{"episode_index": 57, "tasks": ["touch the green cube"], "length": 197}
|
| 59 |
+
{"episode_index": 58, "tasks": ["touch the green cube"], "length": 146}
|
| 60 |
+
{"episode_index": 59, "tasks": ["touch the green cube"], "length": 161}
|
| 61 |
+
{"episode_index": 60, "tasks": ["touch the green cube"], "length": 265}
|
| 62 |
+
{"episode_index": 61, "tasks": ["touch the green cube"], "length": 147}
|
| 63 |
+
{"episode_index": 62, "tasks": ["touch the green cube"], "length": 202}
|
| 64 |
+
{"episode_index": 63, "tasks": ["touch the green cube"], "length": 129}
|
| 65 |
+
{"episode_index": 64, "tasks": ["touch the green cube"], "length": 136}
|
| 66 |
+
{"episode_index": 65, "tasks": ["touch the green cube"], "length": 146}
|
| 67 |
+
{"episode_index": 66, "tasks": ["touch the blue cube"], "length": 168}
|
| 68 |
+
{"episode_index": 67, "tasks": ["touch the blue cube"], "length": 138}
|
| 69 |
+
{"episode_index": 68, "tasks": ["touch the blue cube"], "length": 167}
|
| 70 |
+
{"episode_index": 69, "tasks": ["touch the blue cube"], "length": 172}
|
| 71 |
+
{"episode_index": 70, "tasks": ["touch the blue cube"], "length": 252}
|
| 72 |
+
{"episode_index": 71, "tasks": ["touch the blue cube"], "length": 243}
|
| 73 |
+
{"episode_index": 72, "tasks": ["touch the blue cube"], "length": 198}
|
| 74 |
+
{"episode_index": 73, "tasks": ["touch the blue cube"], "length": 141}
|
| 75 |
+
{"episode_index": 74, "tasks": ["touch the blue cube"], "length": 170}
|
| 76 |
+
{"episode_index": 75, "tasks": ["touch the blue cube"], "length": 206}
|
| 77 |
+
{"episode_index": 76, "tasks": ["touch the blue cube"], "length": 131}
|
| 78 |
+
{"episode_index": 77, "tasks": ["touch the blue cube"], "length": 163}
|
| 79 |
+
{"episode_index": 78, "tasks": ["touch the blue cube"], "length": 182}
|
| 80 |
+
{"episode_index": 79, "tasks": ["touch the blue cube"], "length": 191}
|
| 81 |
+
{"episode_index": 80, "tasks": ["touch the blue cube"], "length": 251}
|
| 82 |
+
{"episode_index": 81, "tasks": ["touch the blue cube"], "length": 182}
|
| 83 |
+
{"episode_index": 82, "tasks": ["touch the blue cube"], "length": 237}
|
| 84 |
+
{"episode_index": 83, "tasks": ["touch the blue cube"], "length": 134}
|
| 85 |
+
{"episode_index": 84, "tasks": ["touch the blue cube"], "length": 213}
|
| 86 |
+
{"episode_index": 85, "tasks": ["touch the blue cube"], "length": 154}
|
| 87 |
+
{"episode_index": 86, "tasks": ["touch the blue cube"], "length": 130}
|
| 88 |
+
{"episode_index": 87, "tasks": ["touch the blue cube"], "length": 137}
|
| 89 |
+
{"episode_index": 88, "tasks": ["touch the blue cube"], "length": 191}
|
| 90 |
+
{"episode_index": 89, "tasks": ["touch the blue cube"], "length": 174}
|
| 91 |
+
{"episode_index": 90, "tasks": ["touch the blue cube"], "length": 168}
|
| 92 |
+
{"episode_index": 91, "tasks": ["touch the blue cube"], "length": 156}
|
| 93 |
+
{"episode_index": 92, "tasks": ["touch the blue cube"], "length": 130}
|
| 94 |
+
{"episode_index": 93, "tasks": ["touch the blue cube"], "length": 152}
|
| 95 |
+
{"episode_index": 94, "tasks": ["touch the blue cube"], "length": 154}
|
| 96 |
+
{"episode_index": 95, "tasks": ["touch the blue cube"], "length": 155}
|
| 97 |
+
{"episode_index": 96, "tasks": ["touch the blue cube"], "length": 213}
|
| 98 |
+
{"episode_index": 97, "tasks": ["touch the blue cube"], "length": 142}
|
| 99 |
+
{"episode_index": 98, "tasks": ["touch the blue cube"], "length": 173}
|
pick_objects_multiscene0/scene3/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_objects_multiscene0/scene3/meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "SO100",
|
| 4 |
+
"total_episodes": 99,
|
| 5 |
+
"total_frames": 17912,
|
| 6 |
+
"total_tasks": 3,
|
| 7 |
+
"total_videos": 198,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:99"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"a_1",
|
| 24 |
+
"a_2",
|
| 25 |
+
"a_3",
|
| 26 |
+
"a_4",
|
| 27 |
+
"a_5",
|
| 28 |
+
"a_6"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.images.front_cam": {
|
| 32 |
+
"dtype": "video",
|
| 33 |
+
"shape": [
|
| 34 |
+
480,
|
| 35 |
+
640,
|
| 36 |
+
3
|
| 37 |
+
],
|
| 38 |
+
"names": [
|
| 39 |
+
"height",
|
| 40 |
+
"width",
|
| 41 |
+
"channels"
|
| 42 |
+
],
|
| 43 |
+
"info": {
|
| 44 |
+
"video.height": 480,
|
| 45 |
+
"video.width": 640,
|
| 46 |
+
"video.codec": "av1",
|
| 47 |
+
"video.pix_fmt": "yuv420p",
|
| 48 |
+
"video.is_depth_map": false,
|
| 49 |
+
"video.fps": 30,
|
| 50 |
+
"video.channels": 3,
|
| 51 |
+
"has_audio": false
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"observation.images.wrist_cam": {
|
| 55 |
+
"dtype": "video",
|
| 56 |
+
"shape": [
|
| 57 |
+
480,
|
| 58 |
+
640,
|
| 59 |
+
3
|
| 60 |
+
],
|
| 61 |
+
"names": [
|
| 62 |
+
"height",
|
| 63 |
+
"width",
|
| 64 |
+
"channels"
|
| 65 |
+
],
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 480,
|
| 68 |
+
"video.width": 640,
|
| 69 |
+
"video.codec": "av1",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 30,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"action": {
|
| 78 |
+
"dtype": "float32",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
],
|
| 82 |
+
"names": [
|
| 83 |
+
"a_1",
|
| 84 |
+
"a_2",
|
| 85 |
+
"a_3",
|
| 86 |
+
"a_4",
|
| 87 |
+
"a_5",
|
| 88 |
+
"a_6"
|
| 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 |
+
}
|
pick_objects_multiscene0/scene3/meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"single_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 5
|
| 6 |
+
},
|
| 7 |
+
"gripper": {
|
| 8 |
+
"start": 5,
|
| 9 |
+
"end": 6
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"single_arm": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 5
|
| 16 |
+
},
|
| 17 |
+
"gripper": {
|
| 18 |
+
"start": 5,
|
| 19 |
+
"end": 6
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front": {
|
| 24 |
+
"original_key": "observation.images.front_cam"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist_cam"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
+
"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
pick_objects_multiscene0/scene3/meta/stats.json
ADDED
|
@@ -0,0 +1,202 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"mean": [
|
| 4 |
+
-0.06402652710676193,
|
| 5 |
+
1.4903651475906372,
|
| 6 |
+
-1.3184865713119507,
|
| 7 |
+
0.7865085601806641,
|
| 8 |
+
0.03904672712087631,
|
| 9 |
+
0.46460047364234924
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
0.809603750705719,
|
| 13 |
+
0.6860003471374512,
|
| 14 |
+
0.5631901621818542,
|
| 15 |
+
0.3486262261867523,
|
| 16 |
+
0.8440592288970947,
|
| 17 |
+
0.3037694990634918
|
| 18 |
+
],
|
| 19 |
+
"min": [
|
| 20 |
+
-1.4854685068130493,
|
| 21 |
+
-9.455989129492082e-06,
|
| 22 |
+
-2.8633527755737305,
|
| 23 |
+
-0.9430354237556458,
|
| 24 |
+
-1.9269099235534668,
|
| 25 |
+
0.036663077771663666
|
| 26 |
+
],
|
| 27 |
+
"max": [
|
| 28 |
+
1.4579256772994995,
|
| 29 |
+
2.979912042617798,
|
| 30 |
+
0.004091174341738224,
|
| 31 |
+
1.2000118494033813,
|
| 32 |
+
1.6903584003448486,
|
| 33 |
+
1.9027414321899414
|
| 34 |
+
],
|
| 35 |
+
"q01": [
|
| 36 |
+
-1.4464532518386841,
|
| 37 |
+
0.0036009985441341997,
|
| 38 |
+
-2.856019661426544,
|
| 39 |
+
-0.5232467430830002,
|
| 40 |
+
-1.4571274495124817,
|
| 41 |
+
0.04094092026352882
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
1.4457100880146025,
|
| 45 |
+
2.867504951953887,
|
| 46 |
+
-0.31275704711675795,
|
| 47 |
+
1.200001835823059,
|
| 48 |
+
1.4531829798221587,
|
| 49 |
+
1.427005509138107
|
| 50 |
+
]
|
| 51 |
+
},
|
| 52 |
+
"action": {
|
| 53 |
+
"mean": [
|
| 54 |
+
-0.06383352726697922,
|
| 55 |
+
1.4976471662521362,
|
| 56 |
+
-1.3245846033096313,
|
| 57 |
+
0.7918142080307007,
|
| 58 |
+
0.039830710738897324,
|
| 59 |
+
0.46016937494277954
|
| 60 |
+
],
|
| 61 |
+
"std": [
|
| 62 |
+
0.8116077184677124,
|
| 63 |
+
0.6831149458885193,
|
| 64 |
+
0.5617554783821106,
|
| 65 |
+
0.3422766327857971,
|
| 66 |
+
0.843429684638977,
|
| 67 |
+
0.30084002017974854
|
| 68 |
+
],
|
| 69 |
+
"min": [
|
| 70 |
+
-1.4854685068130493,
|
| 71 |
+
-9.455989129492082e-06,
|
| 72 |
+
-2.8633527755737305,
|
| 73 |
+
-0.9130429625511169,
|
| 74 |
+
-1.8969013690948486,
|
| 75 |
+
0.036663077771663666
|
| 76 |
+
],
|
| 77 |
+
"max": [
|
| 78 |
+
1.4579256772994995,
|
| 79 |
+
2.979912042617798,
|
| 80 |
+
0.004091174341738224,
|
| 81 |
+
1.2000118494033813,
|
| 82 |
+
1.6603550910949707,
|
| 83 |
+
1.8727350234985352
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-1.4465868985652923,
|
| 87 |
+
0.0036060025286860768,
|
| 88 |
+
-2.8560206365585326,
|
| 89 |
+
-0.4931801676750183,
|
| 90 |
+
-1.452754830121994,
|
| 91 |
+
0.04091858025640249
|
| 92 |
+
],
|
| 93 |
+
"q99": [
|
| 94 |
+
1.4457971799373626,
|
| 95 |
+
2.867504951953887,
|
| 96 |
+
-0.3291335713863373,
|
| 97 |
+
1.200001835823059,
|
| 98 |
+
1.4527330303192139,
|
| 99 |
+
1.3969991004467008
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"timestamp": {
|
| 103 |
+
"mean": [
|
| 104 |
+
3.138082504272461
|
| 105 |
+
],
|
| 106 |
+
"std": [
|
| 107 |
+
1.9988206624984741
|
| 108 |
+
],
|
| 109 |
+
"min": [
|
| 110 |
+
0.0
|
| 111 |
+
],
|
| 112 |
+
"max": [
|
| 113 |
+
10.766666412353516
|
| 114 |
+
],
|
| 115 |
+
"q01": [
|
| 116 |
+
0.03333333507180214
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
8.333333015441895
|
| 120 |
+
]
|
| 121 |
+
},
|
| 122 |
+
"frame_index": {
|
| 123 |
+
"mean": [
|
| 124 |
+
94.14247131347656
|
| 125 |
+
],
|
| 126 |
+
"std": [
|
| 127 |
+
59.96461868286133
|
| 128 |
+
],
|
| 129 |
+
"min": [
|
| 130 |
+
0.0
|
| 131 |
+
],
|
| 132 |
+
"max": [
|
| 133 |
+
323.0
|
| 134 |
+
],
|
| 135 |
+
"q01": [
|
| 136 |
+
1.0
|
| 137 |
+
],
|
| 138 |
+
"q99": [
|
| 139 |
+
250.0
|
| 140 |
+
]
|
| 141 |
+
},
|
| 142 |
+
"episode_index": {
|
| 143 |
+
"mean": [
|
| 144 |
+
47.78947067260742
|
| 145 |
+
],
|
| 146 |
+
"std": [
|
| 147 |
+
28.387611389160156
|
| 148 |
+
],
|
| 149 |
+
"min": [
|
| 150 |
+
0.0
|
| 151 |
+
],
|
| 152 |
+
"max": [
|
| 153 |
+
98.0
|
| 154 |
+
],
|
| 155 |
+
"q01": [
|
| 156 |
+
0.0
|
| 157 |
+
],
|
| 158 |
+
"q99": [
|
| 159 |
+
97.0
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
"index": {
|
| 163 |
+
"mean": [
|
| 164 |
+
8955.5
|
| 165 |
+
],
|
| 166 |
+
"std": [
|
| 167 |
+
5170.7490234375
|
| 168 |
+
],
|
| 169 |
+
"min": [
|
| 170 |
+
0.0
|
| 171 |
+
],
|
| 172 |
+
"max": [
|
| 173 |
+
17911.0
|
| 174 |
+
],
|
| 175 |
+
"q01": [
|
| 176 |
+
179.11
|
| 177 |
+
],
|
| 178 |
+
"q99": [
|
| 179 |
+
17731.89
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"task_index": {
|
| 183 |
+
"mean": [
|
| 184 |
+
0.9704108834266663
|
| 185 |
+
],
|
| 186 |
+
"std": [
|
| 187 |
+
0.8202139735221863
|
| 188 |
+
],
|
| 189 |
+
"min": [
|
| 190 |
+
0.0
|
| 191 |
+
],
|
| 192 |
+
"max": [
|
| 193 |
+
2.0
|
| 194 |
+
],
|
| 195 |
+
"q01": [
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
"q99": [
|
| 199 |
+
2.0
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
}
|
pick_objects_multiscene0/scene3/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "touch the red cube"}
|
| 2 |
+
{"task_index": 1, "task": "touch the green cube"}
|
| 3 |
+
{"task_index": 2, "task": "touch the blue cube"}
|
pick_objects_multiscene0/scene5/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["touch the red cube"], "length": 164}
|
| 2 |
+
{"episode_index": 1, "tasks": ["touch the red cube"], "length": 141}
|
| 3 |
+
{"episode_index": 2, "tasks": ["touch the red cube"], "length": 168}
|
| 4 |
+
{"episode_index": 3, "tasks": ["touch the red cube"], "length": 167}
|
| 5 |
+
{"episode_index": 4, "tasks": ["touch the red cube"], "length": 189}
|
| 6 |
+
{"episode_index": 5, "tasks": ["touch the red cube"], "length": 157}
|
| 7 |
+
{"episode_index": 6, "tasks": ["touch the red cube"], "length": 139}
|
| 8 |
+
{"episode_index": 7, "tasks": ["touch the red cube"], "length": 144}
|
| 9 |
+
{"episode_index": 8, "tasks": ["touch the red cube"], "length": 137}
|
| 10 |
+
{"episode_index": 9, "tasks": ["touch the red cube"], "length": 190}
|
| 11 |
+
{"episode_index": 10, "tasks": ["touch the red cube"], "length": 119}
|
| 12 |
+
{"episode_index": 11, "tasks": ["touch the red cube"], "length": 119}
|
| 13 |
+
{"episode_index": 12, "tasks": ["touch the red cube"], "length": 162}
|
| 14 |
+
{"episode_index": 13, "tasks": ["touch the red cube"], "length": 233}
|
| 15 |
+
{"episode_index": 14, "tasks": ["touch the red cube"], "length": 135}
|
| 16 |
+
{"episode_index": 15, "tasks": ["touch the red cube"], "length": 117}
|
| 17 |
+
{"episode_index": 16, "tasks": ["touch the red cube"], "length": 140}
|
| 18 |
+
{"episode_index": 17, "tasks": ["touch the red cube"], "length": 199}
|
| 19 |
+
{"episode_index": 18, "tasks": ["touch the red cube"], "length": 115}
|
| 20 |
+
{"episode_index": 19, "tasks": ["touch the red cube"], "length": 215}
|
| 21 |
+
{"episode_index": 20, "tasks": ["touch the red cube"], "length": 153}
|
| 22 |
+
{"episode_index": 21, "tasks": ["touch the red cube"], "length": 152}
|
| 23 |
+
{"episode_index": 22, "tasks": ["touch the red cube"], "length": 186}
|
| 24 |
+
{"episode_index": 23, "tasks": ["touch the red cube"], "length": 124}
|
| 25 |
+
{"episode_index": 24, "tasks": ["touch the red cube"], "length": 120}
|
| 26 |
+
{"episode_index": 25, "tasks": ["touch the red cube"], "length": 198}
|
| 27 |
+
{"episode_index": 26, "tasks": ["touch the red cube"], "length": 131}
|
| 28 |
+
{"episode_index": 27, "tasks": ["touch the red cube"], "length": 142}
|
| 29 |
+
{"episode_index": 28, "tasks": ["touch the red cube"], "length": 127}
|
| 30 |
+
{"episode_index": 29, "tasks": ["touch the red cube"], "length": 202}
|
| 31 |
+
{"episode_index": 30, "tasks": ["touch the red cube"], "length": 167}
|
| 32 |
+
{"episode_index": 31, "tasks": ["touch the red cube"], "length": 138}
|
| 33 |
+
{"episode_index": 32, "tasks": ["touch the red cube"], "length": 129}
|
| 34 |
+
{"episode_index": 33, "tasks": ["touch the green cube"], "length": 114}
|
| 35 |
+
{"episode_index": 34, "tasks": ["touch the green cube"], "length": 127}
|
| 36 |
+
{"episode_index": 35, "tasks": ["touch the green cube"], "length": 215}
|
| 37 |
+
{"episode_index": 36, "tasks": ["touch the green cube"], "length": 155}
|
| 38 |
+
{"episode_index": 37, "tasks": ["touch the green cube"], "length": 183}
|
| 39 |
+
{"episode_index": 38, "tasks": ["touch the green cube"], "length": 130}
|
| 40 |
+
{"episode_index": 39, "tasks": ["touch the green cube"], "length": 134}
|
| 41 |
+
{"episode_index": 40, "tasks": ["touch the green cube"], "length": 171}
|
| 42 |
+
{"episode_index": 41, "tasks": ["touch the green cube"], "length": 107}
|
| 43 |
+
{"episode_index": 42, "tasks": ["touch the green cube"], "length": 160}
|
| 44 |
+
{"episode_index": 43, "tasks": ["touch the green cube"], "length": 123}
|
| 45 |
+
{"episode_index": 44, "tasks": ["touch the green cube"], "length": 155}
|
| 46 |
+
{"episode_index": 45, "tasks": ["touch the green cube"], "length": 130}
|
| 47 |
+
{"episode_index": 46, "tasks": ["touch the green cube"], "length": 129}
|
| 48 |
+
{"episode_index": 47, "tasks": ["touch the green cube"], "length": 129}
|
| 49 |
+
{"episode_index": 48, "tasks": ["touch the green cube"], "length": 190}
|
| 50 |
+
{"episode_index": 49, "tasks": ["touch the green cube"], "length": 133}
|
| 51 |
+
{"episode_index": 50, "tasks": ["touch the green cube"], "length": 107}
|
| 52 |
+
{"episode_index": 51, "tasks": ["touch the green cube"], "length": 187}
|
| 53 |
+
{"episode_index": 52, "tasks": ["touch the green cube"], "length": 114}
|
| 54 |
+
{"episode_index": 53, "tasks": ["touch the green cube"], "length": 126}
|
| 55 |
+
{"episode_index": 54, "tasks": ["touch the green cube"], "length": 151}
|
| 56 |
+
{"episode_index": 55, "tasks": ["touch the green cube"], "length": 161}
|
| 57 |
+
{"episode_index": 56, "tasks": ["touch the green cube"], "length": 157}
|
| 58 |
+
{"episode_index": 57, "tasks": ["touch the green cube"], "length": 183}
|
| 59 |
+
{"episode_index": 58, "tasks": ["touch the green cube"], "length": 129}
|
| 60 |
+
{"episode_index": 59, "tasks": ["touch the green cube"], "length": 130}
|
| 61 |
+
{"episode_index": 60, "tasks": ["touch the green cube"], "length": 178}
|
| 62 |
+
{"episode_index": 61, "tasks": ["touch the green cube"], "length": 174}
|
| 63 |
+
{"episode_index": 62, "tasks": ["touch the green cube"], "length": 191}
|
| 64 |
+
{"episode_index": 63, "tasks": ["touch the green cube"], "length": 190}
|
| 65 |
+
{"episode_index": 64, "tasks": ["touch the green cube"], "length": 197}
|
| 66 |
+
{"episode_index": 65, "tasks": ["touch the green cube"], "length": 133}
|
| 67 |
+
{"episode_index": 66, "tasks": ["touch the blue cube"], "length": 205}
|
| 68 |
+
{"episode_index": 67, "tasks": ["touch the blue cube"], "length": 162}
|
| 69 |
+
{"episode_index": 68, "tasks": ["touch the blue cube"], "length": 211}
|
| 70 |
+
{"episode_index": 69, "tasks": ["touch the blue cube"], "length": 174}
|
| 71 |
+
{"episode_index": 70, "tasks": ["touch the blue cube"], "length": 129}
|
| 72 |
+
{"episode_index": 71, "tasks": ["touch the blue cube"], "length": 173}
|
| 73 |
+
{"episode_index": 72, "tasks": ["touch the blue cube"], "length": 122}
|
| 74 |
+
{"episode_index": 73, "tasks": ["touch the blue cube"], "length": 166}
|
| 75 |
+
{"episode_index": 74, "tasks": ["touch the blue cube"], "length": 118}
|
| 76 |
+
{"episode_index": 75, "tasks": ["touch the blue cube"], "length": 175}
|
| 77 |
+
{"episode_index": 76, "tasks": ["touch the blue cube"], "length": 142}
|
| 78 |
+
{"episode_index": 77, "tasks": ["touch the blue cube"], "length": 160}
|
| 79 |
+
{"episode_index": 78, "tasks": ["touch the blue cube"], "length": 107}
|
| 80 |
+
{"episode_index": 79, "tasks": ["touch the blue cube"], "length": 195}
|
| 81 |
+
{"episode_index": 80, "tasks": ["touch the blue cube"], "length": 157}
|
| 82 |
+
{"episode_index": 81, "tasks": ["touch the blue cube"], "length": 136}
|
| 83 |
+
{"episode_index": 82, "tasks": ["touch the blue cube"], "length": 180}
|
| 84 |
+
{"episode_index": 83, "tasks": ["touch the blue cube"], "length": 125}
|
| 85 |
+
{"episode_index": 84, "tasks": ["touch the blue cube"], "length": 157}
|
| 86 |
+
{"episode_index": 85, "tasks": ["touch the blue cube"], "length": 167}
|
| 87 |
+
{"episode_index": 86, "tasks": ["touch the blue cube"], "length": 117}
|
| 88 |
+
{"episode_index": 87, "tasks": ["touch the blue cube"], "length": 146}
|
| 89 |
+
{"episode_index": 88, "tasks": ["touch the blue cube"], "length": 119}
|
| 90 |
+
{"episode_index": 89, "tasks": ["touch the blue cube"], "length": 180}
|
| 91 |
+
{"episode_index": 90, "tasks": ["touch the blue cube"], "length": 113}
|
| 92 |
+
{"episode_index": 91, "tasks": ["touch the blue cube"], "length": 220}
|
| 93 |
+
{"episode_index": 92, "tasks": ["touch the blue cube"], "length": 212}
|
| 94 |
+
{"episode_index": 93, "tasks": ["touch the blue cube"], "length": 119}
|
| 95 |
+
{"episode_index": 94, "tasks": ["touch the blue cube"], "length": 132}
|
| 96 |
+
{"episode_index": 95, "tasks": ["touch the blue cube"], "length": 154}
|
| 97 |
+
{"episode_index": 96, "tasks": ["touch the blue cube"], "length": 150}
|
| 98 |
+
{"episode_index": 97, "tasks": ["touch the blue cube"], "length": 149}
|
| 99 |
+
{"episode_index": 98, "tasks": ["touch the blue cube"], "length": 134}
|
pick_objects_multiscene0/scene5/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_objects_multiscene0/scene5/meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "SO100",
|
| 4 |
+
"total_episodes": 99,
|
| 5 |
+
"total_frames": 15218,
|
| 6 |
+
"total_tasks": 3,
|
| 7 |
+
"total_videos": 198,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:99"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"a_1",
|
| 24 |
+
"a_2",
|
| 25 |
+
"a_3",
|
| 26 |
+
"a_4",
|
| 27 |
+
"a_5",
|
| 28 |
+
"a_6"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.images.front_cam": {
|
| 32 |
+
"dtype": "video",
|
| 33 |
+
"shape": [
|
| 34 |
+
480,
|
| 35 |
+
640,
|
| 36 |
+
3
|
| 37 |
+
],
|
| 38 |
+
"names": [
|
| 39 |
+
"height",
|
| 40 |
+
"width",
|
| 41 |
+
"channels"
|
| 42 |
+
],
|
| 43 |
+
"info": {
|
| 44 |
+
"video.height": 480,
|
| 45 |
+
"video.width": 640,
|
| 46 |
+
"video.codec": "av1",
|
| 47 |
+
"video.pix_fmt": "yuv420p",
|
| 48 |
+
"video.is_depth_map": false,
|
| 49 |
+
"video.fps": 30,
|
| 50 |
+
"video.channels": 3,
|
| 51 |
+
"has_audio": false
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"observation.images.wrist_cam": {
|
| 55 |
+
"dtype": "video",
|
| 56 |
+
"shape": [
|
| 57 |
+
480,
|
| 58 |
+
640,
|
| 59 |
+
3
|
| 60 |
+
],
|
| 61 |
+
"names": [
|
| 62 |
+
"height",
|
| 63 |
+
"width",
|
| 64 |
+
"channels"
|
| 65 |
+
],
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 480,
|
| 68 |
+
"video.width": 640,
|
| 69 |
+
"video.codec": "av1",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 30,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"action": {
|
| 78 |
+
"dtype": "float32",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
],
|
| 82 |
+
"names": [
|
| 83 |
+
"a_1",
|
| 84 |
+
"a_2",
|
| 85 |
+
"a_3",
|
| 86 |
+
"a_4",
|
| 87 |
+
"a_5",
|
| 88 |
+
"a_6"
|
| 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 |
+
}
|
pick_objects_multiscene0/scene5/meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"single_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 5
|
| 6 |
+
},
|
| 7 |
+
"gripper": {
|
| 8 |
+
"start": 5,
|
| 9 |
+
"end": 6
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"single_arm": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 5
|
| 16 |
+
},
|
| 17 |
+
"gripper": {
|
| 18 |
+
"start": 5,
|
| 19 |
+
"end": 6
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front": {
|
| 24 |
+
"original_key": "observation.images.front_cam"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist_cam"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
+
"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
pick_objects_multiscene0/scene5/meta/stats.json
ADDED
|
@@ -0,0 +1,202 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"mean": [
|
| 4 |
+
-0.07705327868461609,
|
| 5 |
+
1.5755001306533813,
|
| 6 |
+
-1.387105941772461,
|
| 7 |
+
0.8088864088058472,
|
| 8 |
+
0.09741812199354172,
|
| 9 |
+
0.46698641777038574
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
0.782162070274353,
|
| 13 |
+
0.646736204624176,
|
| 14 |
+
0.5786944627761841,
|
| 15 |
+
0.31733250617980957,
|
| 16 |
+
0.8125947117805481,
|
| 17 |
+
0.3241860568523407
|
| 18 |
+
],
|
| 19 |
+
"min": [
|
| 20 |
+
-1.5020761489868164,
|
| 21 |
+
-4.6798024300187535e-07,
|
| 22 |
+
-2.864835262298584,
|
| 23 |
+
-0.8041206002235413,
|
| 24 |
+
-1.6668593883514404,
|
| 25 |
+
0.038319461047649384
|
| 26 |
+
],
|
| 27 |
+
"max": [
|
| 28 |
+
1.4815689325332642,
|
| 29 |
+
2.97959041595459,
|
| 30 |
+
0.0648757666349411,
|
| 31 |
+
1.2000212669372559,
|
| 32 |
+
1.6377053260803223,
|
| 33 |
+
1.8124843835830688
|
| 34 |
+
],
|
| 35 |
+
"q01": [
|
| 36 |
+
-1.4138617408275604,
|
| 37 |
+
0.11805257186293606,
|
| 38 |
+
-2.854836099147797,
|
| 39 |
+
-0.31959931552410126,
|
| 40 |
+
-1.4654006683826446,
|
| 41 |
+
0.04415184609591961
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
1.4368195533752441,
|
| 45 |
+
2.8214718985557554,
|
| 46 |
+
-0.3744757318496704,
|
| 47 |
+
1.2000019550323486,
|
| 48 |
+
1.4635696911811829,
|
| 49 |
+
1.475375176668167
|
| 50 |
+
]
|
| 51 |
+
},
|
| 52 |
+
"action": {
|
| 53 |
+
"mean": [
|
| 54 |
+
-0.07724424451589584,
|
| 55 |
+
1.5838720798492432,
|
| 56 |
+
-1.3934669494628906,
|
| 57 |
+
0.8150565028190613,
|
| 58 |
+
0.09667616337537766,
|
| 59 |
+
0.46213141083717346
|
| 60 |
+
],
|
| 61 |
+
"std": [
|
| 62 |
+
0.7845522165298462,
|
| 63 |
+
0.6433213353157043,
|
| 64 |
+
0.5783931612968445,
|
| 65 |
+
0.31205490231513977,
|
| 66 |
+
0.8125820755958557,
|
| 67 |
+
0.320546418428421
|
| 68 |
+
],
|
| 69 |
+
"min": [
|
| 70 |
+
-1.5020761489868164,
|
| 71 |
+
-4.6798024300187535e-07,
|
| 72 |
+
-2.864835262298584,
|
| 73 |
+
-0.7741994857788086,
|
| 74 |
+
-1.6368660926818848,
|
| 75 |
+
0.03818773850798607
|
| 76 |
+
],
|
| 77 |
+
"max": [
|
| 78 |
+
1.4815689325332642,
|
| 79 |
+
2.9795761108398438,
|
| 80 |
+
0.03417038917541504,
|
| 81 |
+
1.2000212669372559,
|
| 82 |
+
1.60770845413208,
|
| 83 |
+
1.7824779748916626
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-1.4142503929138184,
|
| 87 |
+
0.12398526526987558,
|
| 88 |
+
-2.854873604774475,
|
| 89 |
+
-0.289453427195549,
|
| 90 |
+
-1.4653264963626862,
|
| 91 |
+
0.043936228305101396
|
| 92 |
+
],
|
| 93 |
+
"q99": [
|
| 94 |
+
1.4368302893638611,
|
| 95 |
+
2.8209742069244386,
|
| 96 |
+
-0.3756706115603447,
|
| 97 |
+
1.2000019550323486,
|
| 98 |
+
1.4413125491142273,
|
| 99 |
+
1.4453687679767608
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"timestamp": {
|
| 103 |
+
"mean": [
|
| 104 |
+
2.645312547683716
|
| 105 |
+
],
|
| 106 |
+
"std": [
|
| 107 |
+
1.6505465507507324
|
| 108 |
+
],
|
| 109 |
+
"min": [
|
| 110 |
+
0.0
|
| 111 |
+
],
|
| 112 |
+
"max": [
|
| 113 |
+
7.733333110809326
|
| 114 |
+
],
|
| 115 |
+
"q01": [
|
| 116 |
+
0.03333333507180214
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
6.5
|
| 120 |
+
]
|
| 121 |
+
},
|
| 122 |
+
"frame_index": {
|
| 123 |
+
"mean": [
|
| 124 |
+
79.359375
|
| 125 |
+
],
|
| 126 |
+
"std": [
|
| 127 |
+
49.51639175415039
|
| 128 |
+
],
|
| 129 |
+
"min": [
|
| 130 |
+
0.0
|
| 131 |
+
],
|
| 132 |
+
"max": [
|
| 133 |
+
232.0
|
| 134 |
+
],
|
| 135 |
+
"q01": [
|
| 136 |
+
1.0
|
| 137 |
+
],
|
| 138 |
+
"q99": [
|
| 139 |
+
195.0
|
| 140 |
+
]
|
| 141 |
+
},
|
| 142 |
+
"episode_index": {
|
| 143 |
+
"mean": [
|
| 144 |
+
48.94618225097656
|
| 145 |
+
],
|
| 146 |
+
"std": [
|
| 147 |
+
28.629329681396484
|
| 148 |
+
],
|
| 149 |
+
"min": [
|
| 150 |
+
0.0
|
| 151 |
+
],
|
| 152 |
+
"max": [
|
| 153 |
+
98.0
|
| 154 |
+
],
|
| 155 |
+
"q01": [
|
| 156 |
+
0.0
|
| 157 |
+
],
|
| 158 |
+
"q99": [
|
| 159 |
+
97.0
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
"index": {
|
| 163 |
+
"mean": [
|
| 164 |
+
7608.5
|
| 165 |
+
],
|
| 166 |
+
"std": [
|
| 167 |
+
4393.05859375
|
| 168 |
+
],
|
| 169 |
+
"min": [
|
| 170 |
+
0.0
|
| 171 |
+
],
|
| 172 |
+
"max": [
|
| 173 |
+
15217.0
|
| 174 |
+
],
|
| 175 |
+
"q01": [
|
| 176 |
+
152.17000000000002
|
| 177 |
+
],
|
| 178 |
+
"q99": [
|
| 179 |
+
15064.83
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"task_index": {
|
| 183 |
+
"mean": [
|
| 184 |
+
0.9991457462310791
|
| 185 |
+
],
|
| 186 |
+
"std": [
|
| 187 |
+
0.8196955323219299
|
| 188 |
+
],
|
| 189 |
+
"min": [
|
| 190 |
+
0.0
|
| 191 |
+
],
|
| 192 |
+
"max": [
|
| 193 |
+
2.0
|
| 194 |
+
],
|
| 195 |
+
"q01": [
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
"q99": [
|
| 199 |
+
2.0
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
}
|
pick_objects_multiscene0/scene5/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "touch the red cube"}
|
| 2 |
+
{"task_index": 1, "task": "touch the green cube"}
|
| 3 |
+
{"task_index": 2, "task": "touch the blue cube"}
|
pick_objects_multiscene0/scene6/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["touch the red cube"], "length": 176}
|
| 2 |
+
{"episode_index": 1, "tasks": ["touch the red cube"], "length": 124}
|
| 3 |
+
{"episode_index": 2, "tasks": ["touch the red cube"], "length": 142}
|
| 4 |
+
{"episode_index": 3, "tasks": ["touch the red cube"], "length": 131}
|
| 5 |
+
{"episode_index": 4, "tasks": ["touch the red cube"], "length": 174}
|
| 6 |
+
{"episode_index": 5, "tasks": ["touch the red cube"], "length": 127}
|
| 7 |
+
{"episode_index": 6, "tasks": ["touch the red cube"], "length": 189}
|
| 8 |
+
{"episode_index": 7, "tasks": ["touch the red cube"], "length": 136}
|
| 9 |
+
{"episode_index": 8, "tasks": ["touch the red cube"], "length": 148}
|
| 10 |
+
{"episode_index": 9, "tasks": ["touch the red cube"], "length": 124}
|
| 11 |
+
{"episode_index": 10, "tasks": ["touch the red cube"], "length": 243}
|
| 12 |
+
{"episode_index": 11, "tasks": ["touch the red cube"], "length": 146}
|
| 13 |
+
{"episode_index": 12, "tasks": ["touch the red cube"], "length": 156}
|
| 14 |
+
{"episode_index": 13, "tasks": ["touch the red cube"], "length": 174}
|
| 15 |
+
{"episode_index": 14, "tasks": ["touch the red cube"], "length": 138}
|
| 16 |
+
{"episode_index": 15, "tasks": ["touch the red cube"], "length": 216}
|
| 17 |
+
{"episode_index": 16, "tasks": ["touch the red cube"], "length": 108}
|
| 18 |
+
{"episode_index": 17, "tasks": ["touch the red cube"], "length": 103}
|
| 19 |
+
{"episode_index": 18, "tasks": ["touch the red cube"], "length": 108}
|
| 20 |
+
{"episode_index": 19, "tasks": ["touch the red cube"], "length": 113}
|
| 21 |
+
{"episode_index": 20, "tasks": ["touch the red cube"], "length": 150}
|
| 22 |
+
{"episode_index": 21, "tasks": ["touch the red cube"], "length": 190}
|
| 23 |
+
{"episode_index": 22, "tasks": ["touch the red cube"], "length": 173}
|
| 24 |
+
{"episode_index": 23, "tasks": ["touch the red cube"], "length": 126}
|
| 25 |
+
{"episode_index": 24, "tasks": ["touch the red cube"], "length": 111}
|
| 26 |
+
{"episode_index": 25, "tasks": ["touch the red cube"], "length": 174}
|
| 27 |
+
{"episode_index": 26, "tasks": ["touch the red cube"], "length": 150}
|
| 28 |
+
{"episode_index": 27, "tasks": ["touch the red cube"], "length": 177}
|
| 29 |
+
{"episode_index": 28, "tasks": ["touch the red cube"], "length": 220}
|
| 30 |
+
{"episode_index": 29, "tasks": ["touch the red cube"], "length": 145}
|
| 31 |
+
{"episode_index": 30, "tasks": ["touch the red cube"], "length": 155}
|
| 32 |
+
{"episode_index": 31, "tasks": ["touch the red cube"], "length": 194}
|
| 33 |
+
{"episode_index": 32, "tasks": ["touch the red cube"], "length": 142}
|
| 34 |
+
{"episode_index": 33, "tasks": ["touch the green cube"], "length": 165}
|
| 35 |
+
{"episode_index": 34, "tasks": ["touch the green cube"], "length": 136}
|
| 36 |
+
{"episode_index": 35, "tasks": ["touch the green cube"], "length": 162}
|
| 37 |
+
{"episode_index": 36, "tasks": ["touch the green cube"], "length": 96}
|
| 38 |
+
{"episode_index": 37, "tasks": ["touch the green cube"], "length": 113}
|
| 39 |
+
{"episode_index": 38, "tasks": ["touch the green cube"], "length": 162}
|
| 40 |
+
{"episode_index": 39, "tasks": ["touch the green cube"], "length": 157}
|
| 41 |
+
{"episode_index": 40, "tasks": ["touch the green cube"], "length": 145}
|
| 42 |
+
{"episode_index": 41, "tasks": ["touch the green cube"], "length": 98}
|
| 43 |
+
{"episode_index": 42, "tasks": ["touch the green cube"], "length": 102}
|
| 44 |
+
{"episode_index": 43, "tasks": ["touch the green cube"], "length": 100}
|
| 45 |
+
{"episode_index": 44, "tasks": ["touch the green cube"], "length": 210}
|
| 46 |
+
{"episode_index": 45, "tasks": ["touch the green cube"], "length": 128}
|
| 47 |
+
{"episode_index": 46, "tasks": ["touch the green cube"], "length": 115}
|
| 48 |
+
{"episode_index": 47, "tasks": ["touch the green cube"], "length": 205}
|
| 49 |
+
{"episode_index": 48, "tasks": ["touch the green cube"], "length": 114}
|
| 50 |
+
{"episode_index": 49, "tasks": ["touch the green cube"], "length": 122}
|
| 51 |
+
{"episode_index": 50, "tasks": ["touch the green cube"], "length": 147}
|
| 52 |
+
{"episode_index": 51, "tasks": ["touch the green cube"], "length": 150}
|
| 53 |
+
{"episode_index": 52, "tasks": ["touch the green cube"], "length": 106}
|
| 54 |
+
{"episode_index": 53, "tasks": ["touch the green cube"], "length": 172}
|
| 55 |
+
{"episode_index": 54, "tasks": ["touch the green cube"], "length": 133}
|
| 56 |
+
{"episode_index": 55, "tasks": ["touch the green cube"], "length": 150}
|
| 57 |
+
{"episode_index": 56, "tasks": ["touch the green cube"], "length": 175}
|
| 58 |
+
{"episode_index": 57, "tasks": ["touch the green cube"], "length": 109}
|
| 59 |
+
{"episode_index": 58, "tasks": ["touch the green cube"], "length": 190}
|
| 60 |
+
{"episode_index": 59, "tasks": ["touch the green cube"], "length": 135}
|
| 61 |
+
{"episode_index": 60, "tasks": ["touch the green cube"], "length": 141}
|
| 62 |
+
{"episode_index": 61, "tasks": ["touch the green cube"], "length": 193}
|
| 63 |
+
{"episode_index": 62, "tasks": ["touch the green cube"], "length": 213}
|
| 64 |
+
{"episode_index": 63, "tasks": ["touch the green cube"], "length": 126}
|
| 65 |
+
{"episode_index": 64, "tasks": ["touch the green cube"], "length": 153}
|
| 66 |
+
{"episode_index": 65, "tasks": ["touch the green cube"], "length": 184}
|
| 67 |
+
{"episode_index": 66, "tasks": ["touch the blue cube"], "length": 164}
|
| 68 |
+
{"episode_index": 67, "tasks": ["touch the blue cube"], "length": 144}
|
| 69 |
+
{"episode_index": 68, "tasks": ["touch the blue cube"], "length": 136}
|
| 70 |
+
{"episode_index": 69, "tasks": ["touch the blue cube"], "length": 184}
|
| 71 |
+
{"episode_index": 70, "tasks": ["touch the blue cube"], "length": 189}
|
| 72 |
+
{"episode_index": 71, "tasks": ["touch the blue cube"], "length": 127}
|
| 73 |
+
{"episode_index": 72, "tasks": ["touch the blue cube"], "length": 211}
|
| 74 |
+
{"episode_index": 73, "tasks": ["touch the blue cube"], "length": 128}
|
| 75 |
+
{"episode_index": 74, "tasks": ["touch the blue cube"], "length": 137}
|
| 76 |
+
{"episode_index": 75, "tasks": ["touch the blue cube"], "length": 118}
|
| 77 |
+
{"episode_index": 76, "tasks": ["touch the blue cube"], "length": 179}
|
| 78 |
+
{"episode_index": 77, "tasks": ["touch the blue cube"], "length": 128}
|
| 79 |
+
{"episode_index": 78, "tasks": ["touch the blue cube"], "length": 182}
|
| 80 |
+
{"episode_index": 79, "tasks": ["touch the blue cube"], "length": 230}
|
| 81 |
+
{"episode_index": 80, "tasks": ["touch the blue cube"], "length": 140}
|
| 82 |
+
{"episode_index": 81, "tasks": ["touch the blue cube"], "length": 210}
|
| 83 |
+
{"episode_index": 82, "tasks": ["touch the blue cube"], "length": 232}
|
| 84 |
+
{"episode_index": 83, "tasks": ["touch the blue cube"], "length": 143}
|
| 85 |
+
{"episode_index": 84, "tasks": ["touch the blue cube"], "length": 109}
|
| 86 |
+
{"episode_index": 85, "tasks": ["touch the blue cube"], "length": 152}
|
| 87 |
+
{"episode_index": 86, "tasks": ["touch the blue cube"], "length": 165}
|
| 88 |
+
{"episode_index": 87, "tasks": ["touch the blue cube"], "length": 138}
|
| 89 |
+
{"episode_index": 88, "tasks": ["touch the blue cube"], "length": 140}
|
| 90 |
+
{"episode_index": 89, "tasks": ["touch the blue cube"], "length": 193}
|
| 91 |
+
{"episode_index": 90, "tasks": ["touch the blue cube"], "length": 141}
|
| 92 |
+
{"episode_index": 91, "tasks": ["touch the blue cube"], "length": 189}
|
| 93 |
+
{"episode_index": 92, "tasks": ["touch the blue cube"], "length": 222}
|
| 94 |
+
{"episode_index": 93, "tasks": ["touch the blue cube"], "length": 135}
|
| 95 |
+
{"episode_index": 94, "tasks": ["touch the blue cube"], "length": 141}
|
| 96 |
+
{"episode_index": 95, "tasks": ["touch the blue cube"], "length": 153}
|
| 97 |
+
{"episode_index": 96, "tasks": ["touch the blue cube"], "length": 155}
|
| 98 |
+
{"episode_index": 97, "tasks": ["touch the blue cube"], "length": 136}
|
| 99 |
+
{"episode_index": 98, "tasks": ["touch the blue cube"], "length": 175}
|
pick_objects_multiscene0/scene6/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_objects_multiscene0/scene6/meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "SO100",
|
| 4 |
+
"total_episodes": 99,
|
| 5 |
+
"total_frames": 15216,
|
| 6 |
+
"total_tasks": 3,
|
| 7 |
+
"total_videos": 198,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:99"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"a_1",
|
| 24 |
+
"a_2",
|
| 25 |
+
"a_3",
|
| 26 |
+
"a_4",
|
| 27 |
+
"a_5",
|
| 28 |
+
"a_6"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.images.front_cam": {
|
| 32 |
+
"dtype": "video",
|
| 33 |
+
"shape": [
|
| 34 |
+
480,
|
| 35 |
+
640,
|
| 36 |
+
3
|
| 37 |
+
],
|
| 38 |
+
"names": [
|
| 39 |
+
"height",
|
| 40 |
+
"width",
|
| 41 |
+
"channels"
|
| 42 |
+
],
|
| 43 |
+
"info": {
|
| 44 |
+
"video.height": 480,
|
| 45 |
+
"video.width": 640,
|
| 46 |
+
"video.codec": "av1",
|
| 47 |
+
"video.pix_fmt": "yuv420p",
|
| 48 |
+
"video.is_depth_map": false,
|
| 49 |
+
"video.fps": 30,
|
| 50 |
+
"video.channels": 3,
|
| 51 |
+
"has_audio": false
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"observation.images.wrist_cam": {
|
| 55 |
+
"dtype": "video",
|
| 56 |
+
"shape": [
|
| 57 |
+
480,
|
| 58 |
+
640,
|
| 59 |
+
3
|
| 60 |
+
],
|
| 61 |
+
"names": [
|
| 62 |
+
"height",
|
| 63 |
+
"width",
|
| 64 |
+
"channels"
|
| 65 |
+
],
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 480,
|
| 68 |
+
"video.width": 640,
|
| 69 |
+
"video.codec": "av1",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 30,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"action": {
|
| 78 |
+
"dtype": "float32",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
],
|
| 82 |
+
"names": [
|
| 83 |
+
"a_1",
|
| 84 |
+
"a_2",
|
| 85 |
+
"a_3",
|
| 86 |
+
"a_4",
|
| 87 |
+
"a_5",
|
| 88 |
+
"a_6"
|
| 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 |
+
}
|
pick_objects_multiscene0/scene6/meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"single_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 5
|
| 6 |
+
},
|
| 7 |
+
"gripper": {
|
| 8 |
+
"start": 5,
|
| 9 |
+
"end": 6
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"single_arm": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 5
|
| 16 |
+
},
|
| 17 |
+
"gripper": {
|
| 18 |
+
"start": 5,
|
| 19 |
+
"end": 6
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front": {
|
| 24 |
+
"original_key": "observation.images.front_cam"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist_cam"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
+
"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
pick_objects_multiscene0/scene6/meta/stats.json
ADDED
|
@@ -0,0 +1,202 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"mean": [
|
| 4 |
+
0.02950916439294815,
|
| 5 |
+
1.5347687005996704,
|
| 6 |
+
-1.3353537321090698,
|
| 7 |
+
0.8248674273490906,
|
| 8 |
+
-0.028367063030600548,
|
| 9 |
+
0.45180702209472656
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
0.8145480751991272,
|
| 13 |
+
0.6454171538352966,
|
| 14 |
+
0.5740764737129211,
|
| 15 |
+
0.30634385347366333,
|
| 16 |
+
0.8413273692131042,
|
| 17 |
+
0.3217315673828125
|
| 18 |
+
],
|
| 19 |
+
"min": [
|
| 20 |
+
-1.395604133605957,
|
| 21 |
+
-8.619423397249193e-08,
|
| 22 |
+
-2.863326072692871,
|
| 23 |
+
-0.8031238913536072,
|
| 24 |
+
-1.8158107995986938,
|
| 25 |
+
0.0389973521232605
|
| 26 |
+
],
|
| 27 |
+
"max": [
|
| 28 |
+
1.4890891313552856,
|
| 29 |
+
2.979055643081665,
|
| 30 |
+
-0.19493873417377472,
|
| 31 |
+
1.200013279914856,
|
| 32 |
+
1.7867165803909302,
|
| 33 |
+
1.8183338642120361
|
| 34 |
+
],
|
| 35 |
+
"q01": [
|
| 36 |
+
-1.3789960324764252,
|
| 37 |
+
0.09410946033895017,
|
| 38 |
+
-2.8551373362541197,
|
| 39 |
+
-0.34696172624826427,
|
| 40 |
+
-1.4461090326309205,
|
| 41 |
+
0.04383839387446642
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
1.4413904786109926,
|
| 45 |
+
2.8566345572471623,
|
| 46 |
+
-0.40038515031337735,
|
| 47 |
+
1.2000019550323486,
|
| 48 |
+
1.3850846230983733,
|
| 49 |
+
1.4742110073566441
|
| 50 |
+
]
|
| 51 |
+
},
|
| 52 |
+
"action": {
|
| 53 |
+
"mean": [
|
| 54 |
+
0.029381252825260162,
|
| 55 |
+
1.5429918766021729,
|
| 56 |
+
-1.3414913415908813,
|
| 57 |
+
0.8300310373306274,
|
| 58 |
+
-0.028216835111379623,
|
| 59 |
+
0.44739672541618347
|
| 60 |
+
],
|
| 61 |
+
"std": [
|
| 62 |
+
0.8167588710784912,
|
| 63 |
+
0.642077624797821,
|
| 64 |
+
0.574192464351654,
|
| 65 |
+
0.30197498202323914,
|
| 66 |
+
0.8409737348556519,
|
| 67 |
+
0.3184810280799866
|
| 68 |
+
],
|
| 69 |
+
"min": [
|
| 70 |
+
-1.3955903053283691,
|
| 71 |
+
-8.619423397249193e-08,
|
| 72 |
+
-2.863326072692871,
|
| 73 |
+
-0.7730910778045654,
|
| 74 |
+
-1.7858165502548218,
|
| 75 |
+
0.03854745998978615
|
| 76 |
+
],
|
| 77 |
+
"max": [
|
| 78 |
+
1.4890891313552856,
|
| 79 |
+
2.9790353775024414,
|
| 80 |
+
-0.19493873417377472,
|
| 81 |
+
1.200013279914856,
|
| 82 |
+
1.7567365169525146,
|
| 83 |
+
1.7883274555206299
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-1.3790083706378937,
|
| 87 |
+
0.1068798255175352,
|
| 88 |
+
-2.8551730275154115,
|
| 89 |
+
-0.31686679720878597,
|
| 90 |
+
-1.4443778216838836,
|
| 91 |
+
0.043396187387406825
|
| 92 |
+
],
|
| 93 |
+
"q99": [
|
| 94 |
+
1.441670620441437,
|
| 95 |
+
2.8549866080284128,
|
| 96 |
+
-0.4026836976408958,
|
| 97 |
+
1.2000019550323486,
|
| 98 |
+
1.3850801467895508,
|
| 99 |
+
1.4442045986652379
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"timestamp": {
|
| 103 |
+
"mean": [
|
| 104 |
+
2.670883893966675
|
| 105 |
+
],
|
| 106 |
+
"std": [
|
| 107 |
+
1.6928759813308716
|
| 108 |
+
],
|
| 109 |
+
"min": [
|
| 110 |
+
0.0
|
| 111 |
+
],
|
| 112 |
+
"max": [
|
| 113 |
+
8.066666603088379
|
| 114 |
+
],
|
| 115 |
+
"q01": [
|
| 116 |
+
0.03333333507180214
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
6.833333492279053
|
| 120 |
+
]
|
| 121 |
+
},
|
| 122 |
+
"frame_index": {
|
| 123 |
+
"mean": [
|
| 124 |
+
80.12651062011719
|
| 125 |
+
],
|
| 126 |
+
"std": [
|
| 127 |
+
50.786277770996094
|
| 128 |
+
],
|
| 129 |
+
"min": [
|
| 130 |
+
0.0
|
| 131 |
+
],
|
| 132 |
+
"max": [
|
| 133 |
+
242.0
|
| 134 |
+
],
|
| 135 |
+
"q01": [
|
| 136 |
+
1.0
|
| 137 |
+
],
|
| 138 |
+
"q99": [
|
| 139 |
+
205.0
|
| 140 |
+
]
|
| 141 |
+
},
|
| 142 |
+
"episode_index": {
|
| 143 |
+
"mean": [
|
| 144 |
+
49.801063537597656
|
| 145 |
+
],
|
| 146 |
+
"std": [
|
| 147 |
+
28.839529037475586
|
| 148 |
+
],
|
| 149 |
+
"min": [
|
| 150 |
+
0.0
|
| 151 |
+
],
|
| 152 |
+
"max": [
|
| 153 |
+
98.0
|
| 154 |
+
],
|
| 155 |
+
"q01": [
|
| 156 |
+
0.0
|
| 157 |
+
],
|
| 158 |
+
"q99": [
|
| 159 |
+
98.0
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
"index": {
|
| 163 |
+
"mean": [
|
| 164 |
+
7607.5
|
| 165 |
+
],
|
| 166 |
+
"std": [
|
| 167 |
+
4392.48095703125
|
| 168 |
+
],
|
| 169 |
+
"min": [
|
| 170 |
+
0.0
|
| 171 |
+
],
|
| 172 |
+
"max": [
|
| 173 |
+
15215.0
|
| 174 |
+
],
|
| 175 |
+
"q01": [
|
| 176 |
+
152.15
|
| 177 |
+
],
|
| 178 |
+
"q99": [
|
| 179 |
+
15062.85
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"task_index": {
|
| 183 |
+
"mean": [
|
| 184 |
+
1.01596999168396
|
| 185 |
+
],
|
| 186 |
+
"std": [
|
| 187 |
+
0.8269386291503906
|
| 188 |
+
],
|
| 189 |
+
"min": [
|
| 190 |
+
0.0
|
| 191 |
+
],
|
| 192 |
+
"max": [
|
| 193 |
+
2.0
|
| 194 |
+
],
|
| 195 |
+
"q01": [
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
"q99": [
|
| 199 |
+
2.0
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
}
|
pick_objects_multiscene0/scene6/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "touch the red cube"}
|
| 2 |
+
{"task_index": 1, "task": "touch the green cube"}
|
| 3 |
+
{"task_index": 2, "task": "touch the blue cube"}
|
pick_objects_multiscene0/scene7/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["touch the red cube"], "length": 211}
|
| 2 |
+
{"episode_index": 1, "tasks": ["touch the red cube"], "length": 165}
|
| 3 |
+
{"episode_index": 2, "tasks": ["touch the red cube"], "length": 142}
|
| 4 |
+
{"episode_index": 3, "tasks": ["touch the red cube"], "length": 178}
|
| 5 |
+
{"episode_index": 4, "tasks": ["touch the red cube"], "length": 133}
|
| 6 |
+
{"episode_index": 5, "tasks": ["touch the red cube"], "length": 131}
|
| 7 |
+
{"episode_index": 6, "tasks": ["touch the red cube"], "length": 163}
|
| 8 |
+
{"episode_index": 7, "tasks": ["touch the red cube"], "length": 130}
|
| 9 |
+
{"episode_index": 8, "tasks": ["touch the red cube"], "length": 205}
|
| 10 |
+
{"episode_index": 9, "tasks": ["touch the red cube"], "length": 165}
|
| 11 |
+
{"episode_index": 10, "tasks": ["touch the red cube"], "length": 127}
|
| 12 |
+
{"episode_index": 11, "tasks": ["touch the red cube"], "length": 135}
|
| 13 |
+
{"episode_index": 12, "tasks": ["touch the red cube"], "length": 149}
|
| 14 |
+
{"episode_index": 13, "tasks": ["touch the red cube"], "length": 162}
|
| 15 |
+
{"episode_index": 14, "tasks": ["touch the red cube"], "length": 133}
|
| 16 |
+
{"episode_index": 15, "tasks": ["touch the red cube"], "length": 204}
|
| 17 |
+
{"episode_index": 16, "tasks": ["touch the red cube"], "length": 150}
|
| 18 |
+
{"episode_index": 17, "tasks": ["touch the red cube"], "length": 127}
|
| 19 |
+
{"episode_index": 18, "tasks": ["touch the red cube"], "length": 110}
|
| 20 |
+
{"episode_index": 19, "tasks": ["touch the red cube"], "length": 114}
|
| 21 |
+
{"episode_index": 20, "tasks": ["touch the red cube"], "length": 167}
|
| 22 |
+
{"episode_index": 21, "tasks": ["touch the red cube"], "length": 161}
|
| 23 |
+
{"episode_index": 22, "tasks": ["touch the red cube"], "length": 190}
|
| 24 |
+
{"episode_index": 23, "tasks": ["touch the red cube"], "length": 156}
|
| 25 |
+
{"episode_index": 24, "tasks": ["touch the red cube"], "length": 131}
|
| 26 |
+
{"episode_index": 25, "tasks": ["touch the red cube"], "length": 136}
|
| 27 |
+
{"episode_index": 26, "tasks": ["touch the red cube"], "length": 131}
|
| 28 |
+
{"episode_index": 27, "tasks": ["touch the red cube"], "length": 150}
|
| 29 |
+
{"episode_index": 28, "tasks": ["touch the red cube"], "length": 155}
|
| 30 |
+
{"episode_index": 29, "tasks": ["touch the red cube"], "length": 193}
|
| 31 |
+
{"episode_index": 30, "tasks": ["touch the red cube"], "length": 143}
|
| 32 |
+
{"episode_index": 31, "tasks": ["touch the red cube"], "length": 161}
|
| 33 |
+
{"episode_index": 32, "tasks": ["touch the red cube"], "length": 155}
|
| 34 |
+
{"episode_index": 33, "tasks": ["touch the green cube"], "length": 117}
|
| 35 |
+
{"episode_index": 34, "tasks": ["touch the green cube"], "length": 141}
|
| 36 |
+
{"episode_index": 35, "tasks": ["touch the green cube"], "length": 140}
|
| 37 |
+
{"episode_index": 36, "tasks": ["touch the green cube"], "length": 129}
|
| 38 |
+
{"episode_index": 37, "tasks": ["touch the green cube"], "length": 135}
|
| 39 |
+
{"episode_index": 38, "tasks": ["touch the green cube"], "length": 133}
|
| 40 |
+
{"episode_index": 39, "tasks": ["touch the green cube"], "length": 141}
|
| 41 |
+
{"episode_index": 40, "tasks": ["touch the green cube"], "length": 158}
|
| 42 |
+
{"episode_index": 41, "tasks": ["touch the green cube"], "length": 175}
|
| 43 |
+
{"episode_index": 42, "tasks": ["touch the green cube"], "length": 164}
|
| 44 |
+
{"episode_index": 43, "tasks": ["touch the green cube"], "length": 111}
|
| 45 |
+
{"episode_index": 44, "tasks": ["touch the green cube"], "length": 134}
|
| 46 |
+
{"episode_index": 45, "tasks": ["touch the green cube"], "length": 154}
|
| 47 |
+
{"episode_index": 46, "tasks": ["touch the green cube"], "length": 140}
|
| 48 |
+
{"episode_index": 47, "tasks": ["touch the green cube"], "length": 149}
|
| 49 |
+
{"episode_index": 48, "tasks": ["touch the green cube"], "length": 139}
|
| 50 |
+
{"episode_index": 49, "tasks": ["touch the green cube"], "length": 129}
|
| 51 |
+
{"episode_index": 50, "tasks": ["touch the green cube"], "length": 172}
|
| 52 |
+
{"episode_index": 51, "tasks": ["touch the green cube"], "length": 117}
|
| 53 |
+
{"episode_index": 52, "tasks": ["touch the green cube"], "length": 169}
|
| 54 |
+
{"episode_index": 53, "tasks": ["touch the green cube"], "length": 153}
|
| 55 |
+
{"episode_index": 54, "tasks": ["touch the green cube"], "length": 171}
|
| 56 |
+
{"episode_index": 55, "tasks": ["touch the green cube"], "length": 139}
|
| 57 |
+
{"episode_index": 56, "tasks": ["touch the green cube"], "length": 164}
|
| 58 |
+
{"episode_index": 57, "tasks": ["touch the green cube"], "length": 175}
|
| 59 |
+
{"episode_index": 58, "tasks": ["touch the green cube"], "length": 132}
|
| 60 |
+
{"episode_index": 59, "tasks": ["touch the green cube"], "length": 99}
|
| 61 |
+
{"episode_index": 60, "tasks": ["touch the green cube"], "length": 142}
|
| 62 |
+
{"episode_index": 61, "tasks": ["touch the green cube"], "length": 222}
|
| 63 |
+
{"episode_index": 62, "tasks": ["touch the green cube"], "length": 147}
|
| 64 |
+
{"episode_index": 63, "tasks": ["touch the green cube"], "length": 153}
|
| 65 |
+
{"episode_index": 64, "tasks": ["touch the green cube"], "length": 138}
|
| 66 |
+
{"episode_index": 65, "tasks": ["touch the green cube"], "length": 162}
|
| 67 |
+
{"episode_index": 66, "tasks": ["touch the blue cube"], "length": 137}
|
| 68 |
+
{"episode_index": 67, "tasks": ["touch the blue cube"], "length": 139}
|
| 69 |
+
{"episode_index": 68, "tasks": ["touch the blue cube"], "length": 126}
|
| 70 |
+
{"episode_index": 69, "tasks": ["touch the blue cube"], "length": 150}
|
| 71 |
+
{"episode_index": 70, "tasks": ["touch the blue cube"], "length": 174}
|
| 72 |
+
{"episode_index": 71, "tasks": ["touch the blue cube"], "length": 102}
|
| 73 |
+
{"episode_index": 72, "tasks": ["touch the blue cube"], "length": 147}
|
| 74 |
+
{"episode_index": 73, "tasks": ["touch the blue cube"], "length": 153}
|
| 75 |
+
{"episode_index": 74, "tasks": ["touch the blue cube"], "length": 141}
|
| 76 |
+
{"episode_index": 75, "tasks": ["touch the blue cube"], "length": 184}
|
| 77 |
+
{"episode_index": 76, "tasks": ["touch the blue cube"], "length": 187}
|
| 78 |
+
{"episode_index": 77, "tasks": ["touch the blue cube"], "length": 146}
|
| 79 |
+
{"episode_index": 78, "tasks": ["touch the blue cube"], "length": 187}
|
| 80 |
+
{"episode_index": 79, "tasks": ["touch the blue cube"], "length": 167}
|
| 81 |
+
{"episode_index": 80, "tasks": ["touch the blue cube"], "length": 129}
|
| 82 |
+
{"episode_index": 81, "tasks": ["touch the blue cube"], "length": 149}
|
| 83 |
+
{"episode_index": 82, "tasks": ["touch the blue cube"], "length": 123}
|
| 84 |
+
{"episode_index": 83, "tasks": ["touch the blue cube"], "length": 181}
|
| 85 |
+
{"episode_index": 84, "tasks": ["touch the blue cube"], "length": 218}
|
| 86 |
+
{"episode_index": 85, "tasks": ["touch the blue cube"], "length": 130}
|
| 87 |
+
{"episode_index": 86, "tasks": ["touch the blue cube"], "length": 176}
|
| 88 |
+
{"episode_index": 87, "tasks": ["touch the blue cube"], "length": 181}
|
| 89 |
+
{"episode_index": 88, "tasks": ["touch the blue cube"], "length": 137}
|
| 90 |
+
{"episode_index": 89, "tasks": ["touch the blue cube"], "length": 143}
|
| 91 |
+
{"episode_index": 90, "tasks": ["touch the blue cube"], "length": 131}
|
| 92 |
+
{"episode_index": 91, "tasks": ["touch the blue cube"], "length": 118}
|
| 93 |
+
{"episode_index": 92, "tasks": ["touch the blue cube"], "length": 209}
|
| 94 |
+
{"episode_index": 93, "tasks": ["touch the blue cube"], "length": 133}
|
| 95 |
+
{"episode_index": 94, "tasks": ["touch the blue cube"], "length": 129}
|
| 96 |
+
{"episode_index": 95, "tasks": ["touch the blue cube"], "length": 134}
|
| 97 |
+
{"episode_index": 96, "tasks": ["touch the blue cube"], "length": 114}
|
| 98 |
+
{"episode_index": 97, "tasks": ["touch the blue cube"], "length": 130}
|
| 99 |
+
{"episode_index": 98, "tasks": ["touch the blue cube"], "length": 147}
|
pick_objects_multiscene0/scene7/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_objects_multiscene0/scene7/meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "SO100",
|
| 4 |
+
"total_episodes": 99,
|
| 5 |
+
"total_frames": 14859,
|
| 6 |
+
"total_tasks": 3,
|
| 7 |
+
"total_videos": 198,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:99"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"a_1",
|
| 24 |
+
"a_2",
|
| 25 |
+
"a_3",
|
| 26 |
+
"a_4",
|
| 27 |
+
"a_5",
|
| 28 |
+
"a_6"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.images.front_cam": {
|
| 32 |
+
"dtype": "video",
|
| 33 |
+
"shape": [
|
| 34 |
+
480,
|
| 35 |
+
640,
|
| 36 |
+
3
|
| 37 |
+
],
|
| 38 |
+
"names": [
|
| 39 |
+
"height",
|
| 40 |
+
"width",
|
| 41 |
+
"channels"
|
| 42 |
+
],
|
| 43 |
+
"info": {
|
| 44 |
+
"video.height": 480,
|
| 45 |
+
"video.width": 640,
|
| 46 |
+
"video.codec": "av1",
|
| 47 |
+
"video.pix_fmt": "yuv420p",
|
| 48 |
+
"video.is_depth_map": false,
|
| 49 |
+
"video.fps": 30,
|
| 50 |
+
"video.channels": 3,
|
| 51 |
+
"has_audio": false
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"observation.images.wrist_cam": {
|
| 55 |
+
"dtype": "video",
|
| 56 |
+
"shape": [
|
| 57 |
+
480,
|
| 58 |
+
640,
|
| 59 |
+
3
|
| 60 |
+
],
|
| 61 |
+
"names": [
|
| 62 |
+
"height",
|
| 63 |
+
"width",
|
| 64 |
+
"channels"
|
| 65 |
+
],
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 480,
|
| 68 |
+
"video.width": 640,
|
| 69 |
+
"video.codec": "av1",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 30,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"action": {
|
| 78 |
+
"dtype": "float32",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
],
|
| 82 |
+
"names": [
|
| 83 |
+
"a_1",
|
| 84 |
+
"a_2",
|
| 85 |
+
"a_3",
|
| 86 |
+
"a_4",
|
| 87 |
+
"a_5",
|
| 88 |
+
"a_6"
|
| 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 |
+
}
|
pick_objects_multiscene0/scene7/meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"single_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 5
|
| 6 |
+
},
|
| 7 |
+
"gripper": {
|
| 8 |
+
"start": 5,
|
| 9 |
+
"end": 6
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"single_arm": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 5
|
| 16 |
+
},
|
| 17 |
+
"gripper": {
|
| 18 |
+
"start": 5,
|
| 19 |
+
"end": 6
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front": {
|
| 24 |
+
"original_key": "observation.images.front_cam"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist_cam"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
+
"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
pick_objects_multiscene0/scene7/meta/stats.json
ADDED
|
@@ -0,0 +1,202 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"mean": [
|
| 4 |
+
-0.005635345820337534,
|
| 5 |
+
1.50496244430542,
|
| 6 |
+
-1.2983676195144653,
|
| 7 |
+
0.7894148230552673,
|
| 8 |
+
0.0059388671070337296,
|
| 9 |
+
0.45483553409576416
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
0.8000752925872803,
|
| 13 |
+
0.6129453778266907,
|
| 14 |
+
0.5344654321670532,
|
| 15 |
+
0.32557517290115356,
|
| 16 |
+
0.8313120603561401,
|
| 17 |
+
0.3071947395801544
|
| 18 |
+
],
|
| 19 |
+
"min": [
|
| 20 |
+
-1.513966679573059,
|
| 21 |
+
-2.054970764220343e-06,
|
| 22 |
+
-2.8613393306732178,
|
| 23 |
+
-0.8057925701141357,
|
| 24 |
+
-1.7829922437667847,
|
| 25 |
+
0.0344257727265358
|
| 26 |
+
],
|
| 27 |
+
"max": [
|
| 28 |
+
1.405008316040039,
|
| 29 |
+
2.979839563369751,
|
| 30 |
+
-1.1074394024035428e-05,
|
| 31 |
+
1.2000144720077515,
|
| 32 |
+
1.8122845888137817,
|
| 33 |
+
1.8059464693069458
|
| 34 |
+
],
|
| 35 |
+
"q01": [
|
| 36 |
+
-1.4397019314765929,
|
| 37 |
+
0.04322534240782266,
|
| 38 |
+
-2.854750061035156,
|
| 39 |
+
-0.4111908149719238,
|
| 40 |
+
-1.374734697341919,
|
| 41 |
+
0.04362542167305947
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
1.3490272736549378,
|
| 45 |
+
2.8322999715805053,
|
| 46 |
+
-0.37144946634769427,
|
| 47 |
+
1.2000013589859009,
|
| 48 |
+
1.4361664104461669,
|
| 49 |
+
1.3891471290588382
|
| 50 |
+
]
|
| 51 |
+
},
|
| 52 |
+
"action": {
|
| 53 |
+
"mean": [
|
| 54 |
+
-0.006002224516123533,
|
| 55 |
+
1.5132238864898682,
|
| 56 |
+
-1.3042707443237305,
|
| 57 |
+
0.7955752015113831,
|
| 58 |
+
0.006096047814935446,
|
| 59 |
+
0.45039981603622437
|
| 60 |
+
],
|
| 61 |
+
"std": [
|
| 62 |
+
0.8024826049804688,
|
| 63 |
+
0.6093826293945312,
|
| 64 |
+
0.5343623161315918,
|
| 65 |
+
0.3201725482940674,
|
| 66 |
+
0.8306791186332703,
|
| 67 |
+
0.3045744299888611
|
| 68 |
+
],
|
| 69 |
+
"min": [
|
| 70 |
+
-1.513966679573059,
|
| 71 |
+
-2.054970764220343e-06,
|
| 72 |
+
-2.8613393306732178,
|
| 73 |
+
-0.7757890224456787,
|
| 74 |
+
-1.7529867887496948,
|
| 75 |
+
0.0344257727265358
|
| 76 |
+
],
|
| 77 |
+
"max": [
|
| 78 |
+
1.405008316040039,
|
| 79 |
+
2.979839563369751,
|
| 80 |
+
-0.0007202281849458814,
|
| 81 |
+
1.2000138759613037,
|
| 82 |
+
1.7822906970977783,
|
| 83 |
+
1.7759400606155396
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-1.452634654045105,
|
| 87 |
+
0.0494662719219923,
|
| 88 |
+
-2.854882550239563,
|
| 89 |
+
-0.3812242329120636,
|
| 90 |
+
-1.3734972715377807,
|
| 91 |
+
0.04362135909497738
|
| 92 |
+
],
|
| 93 |
+
"q99": [
|
| 94 |
+
1.349028787612915,
|
| 95 |
+
2.8314832210540772,
|
| 96 |
+
-0.3869947081804275,
|
| 97 |
+
1.2000013589859009,
|
| 98 |
+
1.4361629986763,
|
| 99 |
+
1.359140720367432
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"timestamp": {
|
| 103 |
+
"mean": [
|
| 104 |
+
2.556508779525757
|
| 105 |
+
],
|
| 106 |
+
"std": [
|
| 107 |
+
1.5708715915679932
|
| 108 |
+
],
|
| 109 |
+
"min": [
|
| 110 |
+
0.0
|
| 111 |
+
],
|
| 112 |
+
"max": [
|
| 113 |
+
7.366666793823242
|
| 114 |
+
],
|
| 115 |
+
"q01": [
|
| 116 |
+
0.03333333507180214
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
6.233333110809326
|
| 120 |
+
]
|
| 121 |
+
},
|
| 122 |
+
"frame_index": {
|
| 123 |
+
"mean": [
|
| 124 |
+
76.69526672363281
|
| 125 |
+
],
|
| 126 |
+
"std": [
|
| 127 |
+
47.12614822387695
|
| 128 |
+
],
|
| 129 |
+
"min": [
|
| 130 |
+
0.0
|
| 131 |
+
],
|
| 132 |
+
"max": [
|
| 133 |
+
221.0
|
| 134 |
+
],
|
| 135 |
+
"q01": [
|
| 136 |
+
1.0
|
| 137 |
+
],
|
| 138 |
+
"q99": [
|
| 139 |
+
187.0
|
| 140 |
+
]
|
| 141 |
+
},
|
| 142 |
+
"episode_index": {
|
| 143 |
+
"mean": [
|
| 144 |
+
48.78181457519531
|
| 145 |
+
],
|
| 146 |
+
"std": [
|
| 147 |
+
28.71463966369629
|
| 148 |
+
],
|
| 149 |
+
"min": [
|
| 150 |
+
0.0
|
| 151 |
+
],
|
| 152 |
+
"max": [
|
| 153 |
+
98.0
|
| 154 |
+
],
|
| 155 |
+
"q01": [
|
| 156 |
+
0.0
|
| 157 |
+
],
|
| 158 |
+
"q99": [
|
| 159 |
+
97.0
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
"index": {
|
| 163 |
+
"mean": [
|
| 164 |
+
7429.0
|
| 165 |
+
],
|
| 166 |
+
"std": [
|
| 167 |
+
4289.42333984375
|
| 168 |
+
],
|
| 169 |
+
"min": [
|
| 170 |
+
0.0
|
| 171 |
+
],
|
| 172 |
+
"max": [
|
| 173 |
+
14858.0
|
| 174 |
+
],
|
| 175 |
+
"q01": [
|
| 176 |
+
148.58
|
| 177 |
+
],
|
| 178 |
+
"q99": [
|
| 179 |
+
14709.42
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"task_index": {
|
| 183 |
+
"mean": [
|
| 184 |
+
0.9925298094749451
|
| 185 |
+
],
|
| 186 |
+
"std": [
|
| 187 |
+
0.8209424018859863
|
| 188 |
+
],
|
| 189 |
+
"min": [
|
| 190 |
+
0.0
|
| 191 |
+
],
|
| 192 |
+
"max": [
|
| 193 |
+
2.0
|
| 194 |
+
],
|
| 195 |
+
"q01": [
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
"q99": [
|
| 199 |
+
2.0
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
}
|
pick_objects_multiscene0/scene7/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "touch the red cube"}
|
| 2 |
+
{"task_index": 1, "task": "touch the green cube"}
|
| 3 |
+
{"task_index": 2, "task": "touch the blue cube"}
|
pick_objects_multiscene0/scene8/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["touch the red cube"], "length": 172}
|
| 2 |
+
{"episode_index": 1, "tasks": ["touch the red cube"], "length": 126}
|
| 3 |
+
{"episode_index": 2, "tasks": ["touch the red cube"], "length": 175}
|
| 4 |
+
{"episode_index": 3, "tasks": ["touch the red cube"], "length": 114}
|
| 5 |
+
{"episode_index": 4, "tasks": ["touch the red cube"], "length": 165}
|
| 6 |
+
{"episode_index": 5, "tasks": ["touch the red cube"], "length": 126}
|
| 7 |
+
{"episode_index": 6, "tasks": ["touch the red cube"], "length": 183}
|
| 8 |
+
{"episode_index": 7, "tasks": ["touch the red cube"], "length": 154}
|
| 9 |
+
{"episode_index": 8, "tasks": ["touch the red cube"], "length": 130}
|
| 10 |
+
{"episode_index": 9, "tasks": ["touch the red cube"], "length": 113}
|
| 11 |
+
{"episode_index": 10, "tasks": ["touch the red cube"], "length": 178}
|
| 12 |
+
{"episode_index": 11, "tasks": ["touch the red cube"], "length": 173}
|
| 13 |
+
{"episode_index": 12, "tasks": ["touch the red cube"], "length": 157}
|
| 14 |
+
{"episode_index": 13, "tasks": ["touch the red cube"], "length": 179}
|
| 15 |
+
{"episode_index": 14, "tasks": ["touch the red cube"], "length": 156}
|
| 16 |
+
{"episode_index": 15, "tasks": ["touch the red cube"], "length": 164}
|
| 17 |
+
{"episode_index": 16, "tasks": ["touch the red cube"], "length": 172}
|
| 18 |
+
{"episode_index": 17, "tasks": ["touch the red cube"], "length": 146}
|
| 19 |
+
{"episode_index": 18, "tasks": ["touch the red cube"], "length": 141}
|
| 20 |
+
{"episode_index": 19, "tasks": ["touch the red cube"], "length": 136}
|
| 21 |
+
{"episode_index": 20, "tasks": ["touch the red cube"], "length": 167}
|
| 22 |
+
{"episode_index": 21, "tasks": ["touch the red cube"], "length": 192}
|
| 23 |
+
{"episode_index": 22, "tasks": ["touch the red cube"], "length": 236}
|
| 24 |
+
{"episode_index": 23, "tasks": ["touch the red cube"], "length": 130}
|
| 25 |
+
{"episode_index": 24, "tasks": ["touch the red cube"], "length": 125}
|
| 26 |
+
{"episode_index": 25, "tasks": ["touch the red cube"], "length": 127}
|
| 27 |
+
{"episode_index": 26, "tasks": ["touch the red cube"], "length": 138}
|
| 28 |
+
{"episode_index": 27, "tasks": ["touch the red cube"], "length": 113}
|
| 29 |
+
{"episode_index": 28, "tasks": ["touch the red cube"], "length": 124}
|
| 30 |
+
{"episode_index": 29, "tasks": ["touch the red cube"], "length": 154}
|
| 31 |
+
{"episode_index": 30, "tasks": ["touch the red cube"], "length": 169}
|
| 32 |
+
{"episode_index": 31, "tasks": ["touch the red cube"], "length": 159}
|
| 33 |
+
{"episode_index": 32, "tasks": ["touch the red cube"], "length": 152}
|
| 34 |
+
{"episode_index": 33, "tasks": ["touch the green cube"], "length": 136}
|
| 35 |
+
{"episode_index": 34, "tasks": ["touch the green cube"], "length": 171}
|
| 36 |
+
{"episode_index": 35, "tasks": ["touch the green cube"], "length": 138}
|
| 37 |
+
{"episode_index": 36, "tasks": ["touch the green cube"], "length": 146}
|
| 38 |
+
{"episode_index": 37, "tasks": ["touch the green cube"], "length": 119}
|
| 39 |
+
{"episode_index": 38, "tasks": ["touch the green cube"], "length": 163}
|
| 40 |
+
{"episode_index": 39, "tasks": ["touch the green cube"], "length": 132}
|
| 41 |
+
{"episode_index": 40, "tasks": ["touch the green cube"], "length": 126}
|
| 42 |
+
{"episode_index": 41, "tasks": ["touch the green cube"], "length": 224}
|
| 43 |
+
{"episode_index": 42, "tasks": ["touch the green cube"], "length": 112}
|
| 44 |
+
{"episode_index": 43, "tasks": ["touch the green cube"], "length": 123}
|
| 45 |
+
{"episode_index": 44, "tasks": ["touch the green cube"], "length": 179}
|
| 46 |
+
{"episode_index": 45, "tasks": ["touch the green cube"], "length": 243}
|
| 47 |
+
{"episode_index": 46, "tasks": ["touch the green cube"], "length": 139}
|
| 48 |
+
{"episode_index": 47, "tasks": ["touch the green cube"], "length": 134}
|
| 49 |
+
{"episode_index": 48, "tasks": ["touch the green cube"], "length": 143}
|
| 50 |
+
{"episode_index": 49, "tasks": ["touch the green cube"], "length": 202}
|
| 51 |
+
{"episode_index": 50, "tasks": ["touch the green cube"], "length": 131}
|
| 52 |
+
{"episode_index": 51, "tasks": ["touch the green cube"], "length": 117}
|
| 53 |
+
{"episode_index": 52, "tasks": ["touch the green cube"], "length": 169}
|
| 54 |
+
{"episode_index": 53, "tasks": ["touch the green cube"], "length": 157}
|
| 55 |
+
{"episode_index": 54, "tasks": ["touch the green cube"], "length": 148}
|
| 56 |
+
{"episode_index": 55, "tasks": ["touch the green cube"], "length": 138}
|
| 57 |
+
{"episode_index": 56, "tasks": ["touch the green cube"], "length": 102}
|
| 58 |
+
{"episode_index": 57, "tasks": ["touch the green cube"], "length": 180}
|
| 59 |
+
{"episode_index": 58, "tasks": ["touch the green cube"], "length": 107}
|
| 60 |
+
{"episode_index": 59, "tasks": ["touch the green cube"], "length": 107}
|
| 61 |
+
{"episode_index": 60, "tasks": ["touch the green cube"], "length": 182}
|
| 62 |
+
{"episode_index": 61, "tasks": ["touch the green cube"], "length": 143}
|
| 63 |
+
{"episode_index": 62, "tasks": ["touch the green cube"], "length": 178}
|
| 64 |
+
{"episode_index": 63, "tasks": ["touch the green cube"], "length": 185}
|
| 65 |
+
{"episode_index": 64, "tasks": ["touch the green cube"], "length": 149}
|
| 66 |
+
{"episode_index": 65, "tasks": ["touch the green cube"], "length": 185}
|
| 67 |
+
{"episode_index": 66, "tasks": ["touch the blue cube"], "length": 188}
|
| 68 |
+
{"episode_index": 67, "tasks": ["touch the blue cube"], "length": 163}
|
| 69 |
+
{"episode_index": 68, "tasks": ["touch the blue cube"], "length": 133}
|
| 70 |
+
{"episode_index": 69, "tasks": ["touch the blue cube"], "length": 148}
|
| 71 |
+
{"episode_index": 70, "tasks": ["touch the blue cube"], "length": 216}
|
| 72 |
+
{"episode_index": 71, "tasks": ["touch the blue cube"], "length": 123}
|
| 73 |
+
{"episode_index": 72, "tasks": ["touch the blue cube"], "length": 197}
|
| 74 |
+
{"episode_index": 73, "tasks": ["touch the blue cube"], "length": 167}
|
| 75 |
+
{"episode_index": 74, "tasks": ["touch the blue cube"], "length": 141}
|
| 76 |
+
{"episode_index": 75, "tasks": ["touch the blue cube"], "length": 119}
|
| 77 |
+
{"episode_index": 76, "tasks": ["touch the blue cube"], "length": 150}
|
| 78 |
+
{"episode_index": 77, "tasks": ["touch the blue cube"], "length": 140}
|
| 79 |
+
{"episode_index": 78, "tasks": ["touch the blue cube"], "length": 117}
|
| 80 |
+
{"episode_index": 79, "tasks": ["touch the blue cube"], "length": 114}
|
| 81 |
+
{"episode_index": 80, "tasks": ["touch the blue cube"], "length": 127}
|
| 82 |
+
{"episode_index": 81, "tasks": ["touch the blue cube"], "length": 157}
|
| 83 |
+
{"episode_index": 82, "tasks": ["touch the blue cube"], "length": 170}
|
| 84 |
+
{"episode_index": 83, "tasks": ["touch the blue cube"], "length": 161}
|
| 85 |
+
{"episode_index": 84, "tasks": ["touch the blue cube"], "length": 122}
|
| 86 |
+
{"episode_index": 85, "tasks": ["touch the blue cube"], "length": 116}
|
| 87 |
+
{"episode_index": 86, "tasks": ["touch the blue cube"], "length": 207}
|
| 88 |
+
{"episode_index": 87, "tasks": ["touch the blue cube"], "length": 160}
|
| 89 |
+
{"episode_index": 88, "tasks": ["touch the blue cube"], "length": 163}
|
| 90 |
+
{"episode_index": 89, "tasks": ["touch the blue cube"], "length": 189}
|
| 91 |
+
{"episode_index": 90, "tasks": ["touch the blue cube"], "length": 179}
|
| 92 |
+
{"episode_index": 91, "tasks": ["touch the blue cube"], "length": 163}
|
| 93 |
+
{"episode_index": 92, "tasks": ["touch the blue cube"], "length": 139}
|
| 94 |
+
{"episode_index": 93, "tasks": ["touch the blue cube"], "length": 210}
|
| 95 |
+
{"episode_index": 94, "tasks": ["touch the blue cube"], "length": 209}
|
| 96 |
+
{"episode_index": 95, "tasks": ["touch the blue cube"], "length": 129}
|
| 97 |
+
{"episode_index": 96, "tasks": ["touch the blue cube"], "length": 192}
|
| 98 |
+
{"episode_index": 97, "tasks": ["touch the blue cube"], "length": 146}
|
| 99 |
+
{"episode_index": 98, "tasks": ["touch the blue cube"], "length": 176}
|
pick_objects_multiscene0/scene8/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_objects_multiscene0/scene8/meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "SO100",
|
| 4 |
+
"total_episodes": 99,
|
| 5 |
+
"total_frames": 15285,
|
| 6 |
+
"total_tasks": 3,
|
| 7 |
+
"total_videos": 198,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:99"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"a_1",
|
| 24 |
+
"a_2",
|
| 25 |
+
"a_3",
|
| 26 |
+
"a_4",
|
| 27 |
+
"a_5",
|
| 28 |
+
"a_6"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.images.front_cam": {
|
| 32 |
+
"dtype": "video",
|
| 33 |
+
"shape": [
|
| 34 |
+
480,
|
| 35 |
+
640,
|
| 36 |
+
3
|
| 37 |
+
],
|
| 38 |
+
"names": [
|
| 39 |
+
"height",
|
| 40 |
+
"width",
|
| 41 |
+
"channels"
|
| 42 |
+
],
|
| 43 |
+
"info": {
|
| 44 |
+
"video.height": 480,
|
| 45 |
+
"video.width": 640,
|
| 46 |
+
"video.codec": "av1",
|
| 47 |
+
"video.pix_fmt": "yuv420p",
|
| 48 |
+
"video.is_depth_map": false,
|
| 49 |
+
"video.fps": 30,
|
| 50 |
+
"video.channels": 3,
|
| 51 |
+
"has_audio": false
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"observation.images.wrist_cam": {
|
| 55 |
+
"dtype": "video",
|
| 56 |
+
"shape": [
|
| 57 |
+
480,
|
| 58 |
+
640,
|
| 59 |
+
3
|
| 60 |
+
],
|
| 61 |
+
"names": [
|
| 62 |
+
"height",
|
| 63 |
+
"width",
|
| 64 |
+
"channels"
|
| 65 |
+
],
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 480,
|
| 68 |
+
"video.width": 640,
|
| 69 |
+
"video.codec": "av1",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 30,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"action": {
|
| 78 |
+
"dtype": "float32",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
],
|
| 82 |
+
"names": [
|
| 83 |
+
"a_1",
|
| 84 |
+
"a_2",
|
| 85 |
+
"a_3",
|
| 86 |
+
"a_4",
|
| 87 |
+
"a_5",
|
| 88 |
+
"a_6"
|
| 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 |
+
}
|
pick_objects_multiscene0/scene8/meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"single_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 5
|
| 6 |
+
},
|
| 7 |
+
"gripper": {
|
| 8 |
+
"start": 5,
|
| 9 |
+
"end": 6
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"single_arm": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 5
|
| 16 |
+
},
|
| 17 |
+
"gripper": {
|
| 18 |
+
"start": 5,
|
| 19 |
+
"end": 6
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front": {
|
| 24 |
+
"original_key": "observation.images.front_cam"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist_cam"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
+
"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
pick_objects_multiscene0/scene8/meta/stats.json
ADDED
|
@@ -0,0 +1,202 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"mean": [
|
| 4 |
+
-0.06271203607320786,
|
| 5 |
+
1.53913152217865,
|
| 6 |
+
-1.35212242603302,
|
| 7 |
+
0.8101922869682312,
|
| 8 |
+
0.0643644705414772,
|
| 9 |
+
0.44713881611824036
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
0.7606958746910095,
|
| 13 |
+
0.6713899374008179,
|
| 14 |
+
0.600680410861969,
|
| 15 |
+
0.3208814561367035,
|
| 16 |
+
0.7906624674797058,
|
| 17 |
+
0.2995675504207611
|
| 18 |
+
],
|
| 19 |
+
"min": [
|
| 20 |
+
-1.474957823753357,
|
| 21 |
+
-3.052589363505831e-06,
|
| 22 |
+
-2.861325263977051,
|
| 23 |
+
-0.8116005063056946,
|
| 24 |
+
-1.7798833847045898,
|
| 25 |
+
0.033406998962163925
|
| 26 |
+
],
|
| 27 |
+
"max": [
|
| 28 |
+
1.481268048286438,
|
| 29 |
+
2.9796292781829834,
|
| 30 |
+
0.0989638939499855,
|
| 31 |
+
1.2000129222869873,
|
| 32 |
+
1.7853153944015503,
|
| 33 |
+
1.80784010887146
|
| 34 |
+
],
|
| 35 |
+
"q01": [
|
| 36 |
+
-1.4259202480316162,
|
| 37 |
+
0.004417823608964682,
|
| 38 |
+
-2.854822416305542,
|
| 39 |
+
-0.3578802382946014,
|
| 40 |
+
-1.478301501274109,
|
| 41 |
+
0.041761068403720854
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
1.4725575828552246,
|
| 45 |
+
2.893882389068603,
|
| 46 |
+
-0.38753683924675003,
|
| 47 |
+
1.200001835823059,
|
| 48 |
+
1.4462531423568725,
|
| 49 |
+
1.3469031858444211
|
| 50 |
+
]
|
| 51 |
+
},
|
| 52 |
+
"action": {
|
| 53 |
+
"mean": [
|
| 54 |
+
-0.06238377094268799,
|
| 55 |
+
1.5476752519607544,
|
| 56 |
+
-1.3585058450698853,
|
| 57 |
+
0.8162059783935547,
|
| 58 |
+
0.06396820396184921,
|
| 59 |
+
0.4432305693626404
|
| 60 |
+
],
|
| 61 |
+
"std": [
|
| 62 |
+
0.7629021406173706,
|
| 63 |
+
0.6678035855293274,
|
| 64 |
+
0.6007733941078186,
|
| 65 |
+
0.31563377380371094,
|
| 66 |
+
0.790134072303772,
|
| 67 |
+
0.29742684960365295
|
| 68 |
+
],
|
| 69 |
+
"min": [
|
| 70 |
+
-1.474957823753357,
|
| 71 |
+
-3.052589363505831e-06,
|
| 72 |
+
-2.861325263977051,
|
| 73 |
+
-0.7816800475120544,
|
| 74 |
+
-1.7499010562896729,
|
| 75 |
+
0.033406998962163925
|
| 76 |
+
],
|
| 77 |
+
"max": [
|
| 78 |
+
1.481268048286438,
|
| 79 |
+
2.9796299934387207,
|
| 80 |
+
0.0989638939499855,
|
| 81 |
+
1.2000129222869873,
|
| 82 |
+
1.7553099393844604,
|
| 83 |
+
1.7778337001800537
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-1.4259237003326417,
|
| 87 |
+
0.004473908077925443,
|
| 88 |
+
-2.8549156761169434,
|
| 89 |
+
-0.327839640378952,
|
| 90 |
+
-1.4759747219085693,
|
| 91 |
+
0.04175126045942307
|
| 92 |
+
],
|
| 93 |
+
"q99": [
|
| 94 |
+
1.4728475475311278,
|
| 95 |
+
2.8911557674407957,
|
| 96 |
+
-0.38906353116035464,
|
| 97 |
+
1.200001835823059,
|
| 98 |
+
1.4443769884109496,
|
| 99 |
+
1.316896777153015
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"timestamp": {
|
| 103 |
+
"mean": [
|
| 104 |
+
2.6548402309417725
|
| 105 |
+
],
|
| 106 |
+
"std": [
|
| 107 |
+
1.655605435371399
|
| 108 |
+
],
|
| 109 |
+
"min": [
|
| 110 |
+
0.0
|
| 111 |
+
],
|
| 112 |
+
"max": [
|
| 113 |
+
8.066666603088379
|
| 114 |
+
],
|
| 115 |
+
"q01": [
|
| 116 |
+
0.03333333507180214
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
6.633333206176758
|
| 120 |
+
]
|
| 121 |
+
},
|
| 122 |
+
"frame_index": {
|
| 123 |
+
"mean": [
|
| 124 |
+
79.64521026611328
|
| 125 |
+
],
|
| 126 |
+
"std": [
|
| 127 |
+
49.66816329956055
|
| 128 |
+
],
|
| 129 |
+
"min": [
|
| 130 |
+
0.0
|
| 131 |
+
],
|
| 132 |
+
"max": [
|
| 133 |
+
242.0
|
| 134 |
+
],
|
| 135 |
+
"q01": [
|
| 136 |
+
1.0
|
| 137 |
+
],
|
| 138 |
+
"q99": [
|
| 139 |
+
199.0
|
| 140 |
+
]
|
| 141 |
+
},
|
| 142 |
+
"episode_index": {
|
| 143 |
+
"mean": [
|
| 144 |
+
49.54373550415039
|
| 145 |
+
],
|
| 146 |
+
"std": [
|
| 147 |
+
28.85491943359375
|
| 148 |
+
],
|
| 149 |
+
"min": [
|
| 150 |
+
0.0
|
| 151 |
+
],
|
| 152 |
+
"max": [
|
| 153 |
+
98.0
|
| 154 |
+
],
|
| 155 |
+
"q01": [
|
| 156 |
+
0.0
|
| 157 |
+
],
|
| 158 |
+
"q99": [
|
| 159 |
+
98.0
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
"index": {
|
| 163 |
+
"mean": [
|
| 164 |
+
7642.0
|
| 165 |
+
],
|
| 166 |
+
"std": [
|
| 167 |
+
4412.3994140625
|
| 168 |
+
],
|
| 169 |
+
"min": [
|
| 170 |
+
0.0
|
| 171 |
+
],
|
| 172 |
+
"max": [
|
| 173 |
+
15284.0
|
| 174 |
+
],
|
| 175 |
+
"q01": [
|
| 176 |
+
152.84
|
| 177 |
+
],
|
| 178 |
+
"q99": [
|
| 179 |
+
15131.16
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"task_index": {
|
| 183 |
+
"mean": [
|
| 184 |
+
1.0121033191680908
|
| 185 |
+
],
|
| 186 |
+
"std": [
|
| 187 |
+
0.8198853731155396
|
| 188 |
+
],
|
| 189 |
+
"min": [
|
| 190 |
+
0.0
|
| 191 |
+
],
|
| 192 |
+
"max": [
|
| 193 |
+
2.0
|
| 194 |
+
],
|
| 195 |
+
"q01": [
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
"q99": [
|
| 199 |
+
2.0
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
}
|
pick_objects_multiscene0/scene8/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "touch the red cube"}
|
| 2 |
+
{"task_index": 1, "task": "touch the green cube"}
|
| 3 |
+
{"task_index": 2, "task": "touch the blue cube"}
|
pick_objects_multiscene0/scene9/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["touch the red cube"], "length": 154}
|
| 2 |
+
{"episode_index": 1, "tasks": ["touch the red cube"], "length": 247}
|
| 3 |
+
{"episode_index": 2, "tasks": ["touch the red cube"], "length": 173}
|
| 4 |
+
{"episode_index": 3, "tasks": ["touch the red cube"], "length": 136}
|
| 5 |
+
{"episode_index": 4, "tasks": ["touch the red cube"], "length": 135}
|
| 6 |
+
{"episode_index": 5, "tasks": ["touch the red cube"], "length": 160}
|
| 7 |
+
{"episode_index": 6, "tasks": ["touch the red cube"], "length": 266}
|
| 8 |
+
{"episode_index": 7, "tasks": ["touch the red cube"], "length": 134}
|
| 9 |
+
{"episode_index": 8, "tasks": ["touch the red cube"], "length": 165}
|
| 10 |
+
{"episode_index": 9, "tasks": ["touch the red cube"], "length": 220}
|
| 11 |
+
{"episode_index": 10, "tasks": ["touch the red cube"], "length": 159}
|
| 12 |
+
{"episode_index": 11, "tasks": ["touch the red cube"], "length": 122}
|
| 13 |
+
{"episode_index": 12, "tasks": ["touch the red cube"], "length": 227}
|
| 14 |
+
{"episode_index": 13, "tasks": ["touch the red cube"], "length": 117}
|
| 15 |
+
{"episode_index": 14, "tasks": ["touch the red cube"], "length": 235}
|
| 16 |
+
{"episode_index": 15, "tasks": ["touch the red cube"], "length": 139}
|
| 17 |
+
{"episode_index": 16, "tasks": ["touch the red cube"], "length": 169}
|
| 18 |
+
{"episode_index": 17, "tasks": ["touch the red cube"], "length": 149}
|
| 19 |
+
{"episode_index": 18, "tasks": ["touch the red cube"], "length": 120}
|
| 20 |
+
{"episode_index": 19, "tasks": ["touch the red cube"], "length": 111}
|
| 21 |
+
{"episode_index": 20, "tasks": ["touch the red cube"], "length": 197}
|
| 22 |
+
{"episode_index": 21, "tasks": ["touch the red cube"], "length": 126}
|
| 23 |
+
{"episode_index": 22, "tasks": ["touch the red cube"], "length": 224}
|
| 24 |
+
{"episode_index": 23, "tasks": ["touch the red cube"], "length": 132}
|
| 25 |
+
{"episode_index": 24, "tasks": ["touch the red cube"], "length": 111}
|
| 26 |
+
{"episode_index": 25, "tasks": ["touch the red cube"], "length": 248}
|
| 27 |
+
{"episode_index": 26, "tasks": ["touch the red cube"], "length": 147}
|
| 28 |
+
{"episode_index": 27, "tasks": ["touch the red cube"], "length": 168}
|
| 29 |
+
{"episode_index": 28, "tasks": ["touch the red cube"], "length": 140}
|
| 30 |
+
{"episode_index": 29, "tasks": ["touch the red cube"], "length": 191}
|
| 31 |
+
{"episode_index": 30, "tasks": ["touch the red cube"], "length": 158}
|
| 32 |
+
{"episode_index": 31, "tasks": ["touch the red cube"], "length": 145}
|
| 33 |
+
{"episode_index": 32, "tasks": ["touch the red cube"], "length": 113}
|
| 34 |
+
{"episode_index": 33, "tasks": ["touch the green cube"], "length": 142}
|
| 35 |
+
{"episode_index": 34, "tasks": ["touch the green cube"], "length": 162}
|
| 36 |
+
{"episode_index": 35, "tasks": ["touch the green cube"], "length": 136}
|
| 37 |
+
{"episode_index": 36, "tasks": ["touch the green cube"], "length": 129}
|
| 38 |
+
{"episode_index": 37, "tasks": ["touch the green cube"], "length": 117}
|
| 39 |
+
{"episode_index": 38, "tasks": ["touch the green cube"], "length": 152}
|
| 40 |
+
{"episode_index": 39, "tasks": ["touch the green cube"], "length": 230}
|
| 41 |
+
{"episode_index": 40, "tasks": ["touch the green cube"], "length": 138}
|
| 42 |
+
{"episode_index": 41, "tasks": ["touch the green cube"], "length": 146}
|
| 43 |
+
{"episode_index": 42, "tasks": ["touch the green cube"], "length": 125}
|
| 44 |
+
{"episode_index": 43, "tasks": ["touch the green cube"], "length": 122}
|
| 45 |
+
{"episode_index": 44, "tasks": ["touch the green cube"], "length": 147}
|
| 46 |
+
{"episode_index": 45, "tasks": ["touch the green cube"], "length": 184}
|
| 47 |
+
{"episode_index": 46, "tasks": ["touch the green cube"], "length": 133}
|
| 48 |
+
{"episode_index": 47, "tasks": ["touch the green cube"], "length": 150}
|
| 49 |
+
{"episode_index": 48, "tasks": ["touch the green cube"], "length": 190}
|
| 50 |
+
{"episode_index": 49, "tasks": ["touch the green cube"], "length": 195}
|
| 51 |
+
{"episode_index": 50, "tasks": ["touch the green cube"], "length": 131}
|
| 52 |
+
{"episode_index": 51, "tasks": ["touch the green cube"], "length": 158}
|
| 53 |
+
{"episode_index": 52, "tasks": ["touch the green cube"], "length": 175}
|
| 54 |
+
{"episode_index": 53, "tasks": ["touch the green cube"], "length": 163}
|
| 55 |
+
{"episode_index": 54, "tasks": ["touch the green cube"], "length": 107}
|
| 56 |
+
{"episode_index": 55, "tasks": ["touch the green cube"], "length": 150}
|
| 57 |
+
{"episode_index": 56, "tasks": ["touch the green cube"], "length": 186}
|
| 58 |
+
{"episode_index": 57, "tasks": ["touch the green cube"], "length": 233}
|
| 59 |
+
{"episode_index": 58, "tasks": ["touch the green cube"], "length": 132}
|
| 60 |
+
{"episode_index": 59, "tasks": ["touch the green cube"], "length": 193}
|
| 61 |
+
{"episode_index": 60, "tasks": ["touch the green cube"], "length": 153}
|
| 62 |
+
{"episode_index": 61, "tasks": ["touch the green cube"], "length": 147}
|
| 63 |
+
{"episode_index": 62, "tasks": ["touch the green cube"], "length": 133}
|
| 64 |
+
{"episode_index": 63, "tasks": ["touch the green cube"], "length": 170}
|
| 65 |
+
{"episode_index": 64, "tasks": ["touch the green cube"], "length": 132}
|
| 66 |
+
{"episode_index": 65, "tasks": ["touch the green cube"], "length": 216}
|
| 67 |
+
{"episode_index": 66, "tasks": ["touch the blue cube"], "length": 130}
|
| 68 |
+
{"episode_index": 67, "tasks": ["touch the blue cube"], "length": 154}
|
| 69 |
+
{"episode_index": 68, "tasks": ["touch the blue cube"], "length": 164}
|
| 70 |
+
{"episode_index": 69, "tasks": ["touch the blue cube"], "length": 154}
|
| 71 |
+
{"episode_index": 70, "tasks": ["touch the blue cube"], "length": 155}
|
| 72 |
+
{"episode_index": 71, "tasks": ["touch the blue cube"], "length": 214}
|
| 73 |
+
{"episode_index": 72, "tasks": ["touch the blue cube"], "length": 166}
|
| 74 |
+
{"episode_index": 73, "tasks": ["touch the blue cube"], "length": 135}
|
| 75 |
+
{"episode_index": 74, "tasks": ["touch the blue cube"], "length": 163}
|
| 76 |
+
{"episode_index": 75, "tasks": ["touch the blue cube"], "length": 142}
|
| 77 |
+
{"episode_index": 76, "tasks": ["touch the blue cube"], "length": 151}
|
| 78 |
+
{"episode_index": 77, "tasks": ["touch the blue cube"], "length": 130}
|
| 79 |
+
{"episode_index": 78, "tasks": ["touch the blue cube"], "length": 202}
|
| 80 |
+
{"episode_index": 79, "tasks": ["touch the blue cube"], "length": 192}
|
| 81 |
+
{"episode_index": 80, "tasks": ["touch the blue cube"], "length": 178}
|
| 82 |
+
{"episode_index": 81, "tasks": ["touch the blue cube"], "length": 192}
|
| 83 |
+
{"episode_index": 82, "tasks": ["touch the blue cube"], "length": 208}
|
| 84 |
+
{"episode_index": 83, "tasks": ["touch the blue cube"], "length": 211}
|
| 85 |
+
{"episode_index": 84, "tasks": ["touch the blue cube"], "length": 157}
|
| 86 |
+
{"episode_index": 85, "tasks": ["touch the blue cube"], "length": 123}
|
| 87 |
+
{"episode_index": 86, "tasks": ["touch the blue cube"], "length": 115}
|
| 88 |
+
{"episode_index": 87, "tasks": ["touch the blue cube"], "length": 143}
|
| 89 |
+
{"episode_index": 88, "tasks": ["touch the blue cube"], "length": 154}
|
| 90 |
+
{"episode_index": 89, "tasks": ["touch the blue cube"], "length": 127}
|
| 91 |
+
{"episode_index": 90, "tasks": ["touch the blue cube"], "length": 157}
|
| 92 |
+
{"episode_index": 91, "tasks": ["touch the blue cube"], "length": 103}
|
| 93 |
+
{"episode_index": 92, "tasks": ["touch the blue cube"], "length": 195}
|
| 94 |
+
{"episode_index": 93, "tasks": ["touch the blue cube"], "length": 185}
|
| 95 |
+
{"episode_index": 94, "tasks": ["touch the blue cube"], "length": 194}
|
| 96 |
+
{"episode_index": 95, "tasks": ["touch the blue cube"], "length": 142}
|
| 97 |
+
{"episode_index": 96, "tasks": ["touch the blue cube"], "length": 143}
|
| 98 |
+
{"episode_index": 97, "tasks": ["touch the blue cube"], "length": 121}
|
| 99 |
+
{"episode_index": 98, "tasks": ["touch the blue cube"], "length": 93}
|
pick_objects_multiscene0/scene9/meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "SO100",
|
| 4 |
+
"total_episodes": 99,
|
| 5 |
+
"total_frames": 15808,
|
| 6 |
+
"total_tasks": 3,
|
| 7 |
+
"total_videos": 198,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:99"
|
| 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 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"a_1",
|
| 24 |
+
"a_2",
|
| 25 |
+
"a_3",
|
| 26 |
+
"a_4",
|
| 27 |
+
"a_5",
|
| 28 |
+
"a_6"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.images.front_cam": {
|
| 32 |
+
"dtype": "video",
|
| 33 |
+
"shape": [
|
| 34 |
+
480,
|
| 35 |
+
640,
|
| 36 |
+
3
|
| 37 |
+
],
|
| 38 |
+
"names": [
|
| 39 |
+
"height",
|
| 40 |
+
"width",
|
| 41 |
+
"channels"
|
| 42 |
+
],
|
| 43 |
+
"info": {
|
| 44 |
+
"video.height": 480,
|
| 45 |
+
"video.width": 640,
|
| 46 |
+
"video.codec": "av1",
|
| 47 |
+
"video.pix_fmt": "yuv420p",
|
| 48 |
+
"video.is_depth_map": false,
|
| 49 |
+
"video.fps": 30,
|
| 50 |
+
"video.channels": 3,
|
| 51 |
+
"has_audio": false
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"observation.images.wrist_cam": {
|
| 55 |
+
"dtype": "video",
|
| 56 |
+
"shape": [
|
| 57 |
+
480,
|
| 58 |
+
640,
|
| 59 |
+
3
|
| 60 |
+
],
|
| 61 |
+
"names": [
|
| 62 |
+
"height",
|
| 63 |
+
"width",
|
| 64 |
+
"channels"
|
| 65 |
+
],
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 480,
|
| 68 |
+
"video.width": 640,
|
| 69 |
+
"video.codec": "av1",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 30,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"action": {
|
| 78 |
+
"dtype": "float32",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
],
|
| 82 |
+
"names": [
|
| 83 |
+
"a_1",
|
| 84 |
+
"a_2",
|
| 85 |
+
"a_3",
|
| 86 |
+
"a_4",
|
| 87 |
+
"a_5",
|
| 88 |
+
"a_6"
|
| 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 |
+
}
|
pick_objects_multiscene0/scene9/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "touch the red cube"}
|
| 2 |
+
{"task_index": 1, "task": "touch the green cube"}
|
| 3 |
+
{"task_index": 2, "task": "touch the blue cube"}
|
pick_objects_multiscene2/scene9/data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e435885442bd99533a74e0c678af50378cebcc6671f813c46473106f8acc0e6e
|
| 3 |
+
size 17980
|
pick_objects_multiscene2/scene9/data/chunk-000/episode_000006.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:11c00b704a65f69b4b91ae7c693c67c7f212c3db6ad68bfe2b2510ffa6cec3f0
|
| 3 |
+
size 18263
|
pick_objects_multiscene2/scene9/data/chunk-000/episode_000008.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:be97ead10113c80cf62883d4f4b10b951b174c86c1d8a2275c2976662fc51a8d
|
| 3 |
+
size 17521
|
pick_objects_multiscene2/scene9/data/chunk-000/episode_000009.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:df01ff83b4592f16da625234e1ab14d85801d709f0742bec3c4a2a0d434b165d
|
| 3 |
+
size 20625
|
pick_objects_multiscene2/scene9/data/chunk-000/episode_000011.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3c68e568d5ec214f7782a72592e0a9e8b51cb7fddf047eefba3d860fe4487e6c
|
| 3 |
+
size 16788
|
pick_objects_multiscene2/scene9/data/chunk-000/episode_000013.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3f37c9d5721be040d79aca5bfb423e47f7f84a67a64249a4d7a62533cd141a4c
|
| 3 |
+
size 17767
|
pick_objects_multiscene2/scene9/data/chunk-000/episode_000019.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d86a0a494dd17a839d300b8a71b739ec8c15792d7610bdcaea3f5e27842410a7
|
| 3 |
+
size 20587
|