qiyn commited on
Commit
a3c81ca
·
verified ·
1 Parent(s): 8b876fe

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cdff6dfe4610868a7b8a6de1c249c4994a3cb5dba2413252589f97a936d1db15
3
+ size 8450
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bad20d97aaf6b3cb4452e69d1a6b4b5b0d6ef1071f67157a5a9e57de4aa7a09d
3
+ size 8455
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["data"], "length": 298}
2
+ {"episode_index": 1, "tasks": ["data"], "length": 298}
meta/info.json ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "stretch",
4
+ "total_episodes": 2,
5
+ "total_frames": 596,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 12
21
+ ],
22
+ "names": [
23
+ "left_arm_joint_1",
24
+ "left_arm_joint_2",
25
+ "left_arm_joint_3",
26
+ "left_arm_joint_4",
27
+ "left_arm_joint_5",
28
+ "left_arm_joint_6",
29
+ "right_arm_joint_1",
30
+ "right_arm_joint_2",
31
+ "right_arm_joint_3",
32
+ "right_arm_joint_4",
33
+ "right_arm_joint_5",
34
+ "right_arm_joint_6"
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "left_arm_joint_1",
44
+ "left_arm_joint_2",
45
+ "left_arm_joint_3",
46
+ "left_arm_joint_4",
47
+ "left_arm_joint_5",
48
+ "left_arm_joint_6",
49
+ "right_arm_joint_1",
50
+ "right_arm_joint_2",
51
+ "right_arm_joint_3",
52
+ "right_arm_joint_4",
53
+ "right_arm_joint_5",
54
+ "right_arm_joint_6"
55
+ ]
56
+ },
57
+ "observation.images.navigation": {
58
+ "dtype": "video",
59
+ "shape": [
60
+ 720,
61
+ 1280,
62
+ 3
63
+ ],
64
+ "names": [
65
+ "height",
66
+ "width",
67
+ "channels"
68
+ ],
69
+ "info": {
70
+ "video.fps": 30.0,
71
+ "video.height": 480,
72
+ "video.width": 640,
73
+ "video.channels": 3,
74
+ "video.codec": "h264",
75
+ "video.pix_fmt": "yuv420p",
76
+ "video.is_depth_map": false,
77
+ "has_audio": false
78
+ }
79
+ },
80
+ "timestamp": {
81
+ "dtype": "float32",
82
+ "shape": [
83
+ 1
84
+ ],
85
+ "names": null
86
+ },
87
+ "frame_index": {
88
+ "dtype": "int64",
89
+ "shape": [
90
+ 1
91
+ ],
92
+ "names": null
93
+ },
94
+ "episode_index": {
95
+ "dtype": "int64",
96
+ "shape": [
97
+ 1
98
+ ],
99
+ "names": null
100
+ },
101
+ "index": {
102
+ "dtype": "int64",
103
+ "shape": [
104
+ 1
105
+ ],
106
+ "names": null
107
+ },
108
+ "task_index": {
109
+ "dtype": "int64",
110
+ "shape": [
111
+ 1
112
+ ],
113
+ "names": null
114
+ }
115
+ }
116
+ }
meta/stats.json ADDED
@@ -0,0 +1,258 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 0.0,
5
+ 0.0,
6
+ 0.0,
7
+ 0.0,
8
+ 0.0,
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0
16
+ ],
17
+ "std": [
18
+ 0.0,
19
+ 0.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 0.0
30
+ ],
31
+ "max": [
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0
44
+ ],
45
+ "min": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0,
53
+ 0.0,
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 0.0
58
+ ]
59
+ },
60
+ "observation.state": {
61
+ "mean": [
62
+ 0.5235987901687622,
63
+ 0.7853981852531433,
64
+ 1.0471975803375244,
65
+ 1.3089969158172607,
66
+ 1.5707963705062866,
67
+ 2.094395160675049,
68
+ 0.5235987901687622,
69
+ 0.7853981852531433,
70
+ 1.0471975803375244,
71
+ 1.3089969158172607,
72
+ 1.5707963705062866,
73
+ 2.094395160675049
74
+ ],
75
+ "std": [
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 0.0,
80
+ 0.0,
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 0.0,
87
+ 0.0
88
+ ],
89
+ "max": [
90
+ 0.5235987901687622,
91
+ 0.7853981852531433,
92
+ 1.0471975803375244,
93
+ 1.3089969158172607,
94
+ 1.5707963705062866,
95
+ 2.094395160675049,
96
+ 0.5235987901687622,
97
+ 0.7853981852531433,
98
+ 1.0471975803375244,
99
+ 1.3089969158172607,
100
+ 1.5707963705062866,
101
+ 2.094395160675049
102
+ ],
103
+ "min": [
104
+ 0.5235987901687622,
105
+ 0.7853981852531433,
106
+ 1.0471975803375244,
107
+ 1.3089969158172607,
108
+ 1.5707963705062866,
109
+ 2.094395160675049,
110
+ 0.5235987901687622,
111
+ 0.7853981852531433,
112
+ 1.0471975803375244,
113
+ 1.3089969158172607,
114
+ 1.5707963705062866,
115
+ 2.094395160675049
116
+ ]
117
+ },
118
+ "observation.images.navigation": {
119
+ "mean": [
120
+ [
121
+ [
122
+ 0.584955096244812
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.5379836559295654
128
+ ]
129
+ ],
130
+ [
131
+ [
132
+ 0.5448743104934692
133
+ ]
134
+ ]
135
+ ],
136
+ "std": [
137
+ [
138
+ [
139
+ 0.4832378923892975
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.4929291903972626
145
+ ]
146
+ ],
147
+ [
148
+ [
149
+ 0.48864859342575073
150
+ ]
151
+ ]
152
+ ],
153
+ "max": [
154
+ [
155
+ [
156
+ 1.0
157
+ ]
158
+ ],
159
+ [
160
+ [
161
+ 1.0
162
+ ]
163
+ ],
164
+ [
165
+ [
166
+ 1.0
167
+ ]
168
+ ]
169
+ ],
170
+ "min": [
171
+ [
172
+ [
173
+ 0.0
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ 0.0
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 0.0
184
+ ]
185
+ ]
186
+ ]
187
+ },
188
+ "timestamp": {
189
+ "mean": [
190
+ 4.950000762939453
191
+ ],
192
+ "std": [
193
+ 2.867490291595459
194
+ ],
195
+ "max": [
196
+ 9.899999618530273
197
+ ],
198
+ "min": [
199
+ 0.0
200
+ ]
201
+ },
202
+ "frame_index": {
203
+ "mean": [
204
+ 148.49998474121094
205
+ ],
206
+ "std": [
207
+ 86.02470397949219
208
+ ],
209
+ "max": [
210
+ 297.0
211
+ ],
212
+ "min": [
213
+ 0.0
214
+ ]
215
+ },
216
+ "episode_index": {
217
+ "mean": [
218
+ 0.5
219
+ ],
220
+ "std": [
221
+ 0.5
222
+ ],
223
+ "max": [
224
+ 1.0
225
+ ],
226
+ "min": [
227
+ 0.0
228
+ ]
229
+ },
230
+ "index": {
231
+ "mean": [
232
+ 297.5000305175781
233
+ ],
234
+ "std": [
235
+ 172.0501251220703
236
+ ],
237
+ "max": [
238
+ 595.0
239
+ ],
240
+ "min": [
241
+ 0.0
242
+ ]
243
+ },
244
+ "task_index": {
245
+ "mean": [
246
+ 0.0
247
+ ],
248
+ "std": [
249
+ 0.0
250
+ ],
251
+ "max": [
252
+ 0.0
253
+ ],
254
+ "min": [
255
+ 0.0
256
+ ]
257
+ }
258
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "data"}
videos/chunk-000/observation.images.navigation/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ec4424809eed22c8fd547a711af90c8a229fd8093713a489b7d9d33bc72430c
3
+ size 1430607
videos/chunk-000/observation.images.navigation/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d4b9135e1d2e38e2ca0ecf3a3832df6f993956cab20b956a1f81113942df82c1
3
+ size 1418529