qwerdfdsad commited on
Commit
332c189
·
verified ·
1 Parent(s): 4d2cdee

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d8c9a0cd35226af86f9e65ec97c4cc203363e439dabd6f57a20308442883812c
3
+ size 24631
data/chunk-000/episode_000005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3bc945eb1dba3acd804306661b4259f88fb38d4c01dfab977617a95ed4ad3a64
3
+ size 24778
data/chunk-000/episode_000006.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:39767701ffab6355e5fefd3ab6440c7988464a8c0f60c03e24e97c33cf48c73a
3
+ size 23777
data/chunk-000/episode_000007.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d8ac67e69507f321fb89ab22ab6c246ad83878ac110b3581f3896c53da697bfd
3
+ size 25670
data/chunk-000/episode_000008.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9abfcc001d64769027599d1f2860db86ebde03ff7c568adeed66563032980774
3
+ size 24813
meta/episodes.jsonl CHANGED
@@ -2,3 +2,8 @@
2
  {"episode_index": 1, "tasks": ["picking_box"], "length": 95}
3
  {"episode_index": 2, "tasks": ["picking_box"], "length": 91}
4
  {"episode_index": 3, "tasks": ["picking_box"], "length": 89}
 
 
 
 
 
 
2
  {"episode_index": 1, "tasks": ["picking_box"], "length": 95}
3
  {"episode_index": 2, "tasks": ["picking_box"], "length": 91}
4
  {"episode_index": 3, "tasks": ["picking_box"], "length": 89}
5
+ {"episode_index": 4, "tasks": ["picking_box"], "length": 89}
6
+ {"episode_index": 5, "tasks": ["picking_box"], "length": 90}
7
+ {"episode_index": 6, "tasks": ["picking_box"], "length": 86}
8
+ {"episode_index": 7, "tasks": ["picking_box"], "length": 94}
9
+ {"episode_index": 8, "tasks": ["picking_box"], "length": 89}
meta/info.json CHANGED
@@ -1,15 +1,15 @@
1
  {
2
  "codebase_version": "v2.0",
3
  "robot_type": "bi_ur5",
4
- "total_episodes": 4,
5
- "total_frames": 386,
6
  "total_tasks": 1,
7
- "total_videos": 4,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 30,
11
  "splits": {
12
- "train": "0:4"
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",
 
1
  {
2
  "codebase_version": "v2.0",
3
  "robot_type": "bi_ur5",
4
+ "total_episodes": 9,
5
+ "total_frames": 834,
6
  "total_tasks": 1,
7
+ "total_videos": 9,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 30,
11
  "splits": {
12
+ "train": "0:9"
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",
meta/stats.json CHANGED
@@ -1,217 +1,217 @@
1
  {
2
  "action": {
3
  "mean": [
4
- 2.093445301055908,
5
- -1.3698679208755493,
6
- 1.4364835023880005,
7
- -1.573235273361206,
8
- -1.6511986255645752,
9
- -1.0201241970062256,
10
- 0.4285909831523895,
11
- -1.9351732730865479,
12
- -1.6285030841827393,
13
- -1.6902953386306763,
14
- -1.481879472732544,
15
- 1.61067533493042,
16
- 0.8465295433998108,
17
- 0.38961318135261536
18
  ],
19
  "std": [
20
- 0.10208335518836975,
21
- 0.10677874833345413,
22
- 0.09068135172128677,
23
- 0.11311512440443039,
24
- 0.05619578808546066,
25
- 0.44170284271240234,
26
- 0.40497809648513794,
27
- 0.0391862727701664,
28
- 0.059649597853422165,
29
- 0.1360251009464264,
30
- 0.18301735818386078,
31
- 0.06720396131277084,
32
- 0.4343860447406769,
33
- 0.42024731636047363
34
  ],
35
  "max": [
36
- 2.2564857006073,
37
  -1.187367558479309,
38
- 1.650525450706482,
39
- -1.4112622737884521,
40
  -1.4825019836425781,
41
- 0.06125323474407196,
42
  1.0,
43
  -1.785576343536377,
44
- -1.5631264448165894,
45
- -1.4588156938552856,
46
- -1.1873011589050293,
47
- 1.84641695022583,
48
- 1.248642921447754,
49
  1.0
50
  ],
51
  "min": [
52
- 1.903685450553894,
53
- -1.5953400135040283,
54
- 1.2640156745910645,
55
- -1.843782901763916,
56
- -1.7594759464263916,
57
  -1.6566931009292603,
58
  0.0,
59
- -2.0371055603027344,
60
  -1.803943157196045,
61
- -1.9572795629501343,
62
  -1.7410680055618286,
63
- 1.5110174417495728,
64
  -0.4601942300796509,
65
  3.4531343171169404e-13
66
  ]
67
  },
68
  "observation.state": {
69
  "mean": [
70
- 2.089916706085205,
71
- -1.3737988471984863,
72
- 1.4375371932983398,
73
- -1.5713086128234863,
74
- -1.6515148878097534,
75
- -1.0101176500320435,
76
- 0.785486102104187,
77
- -1.9359641075134277,
78
- -1.6281489133834839,
79
- -1.6874725818634033,
80
- -1.482942819595337,
81
- 1.6085689067840576,
82
- 0.846355676651001,
83
- 0.7197468280792236
84
  ],
85
  "std": [
86
- 0.10475524514913559,
87
- 0.10897037386894226,
88
- 0.08942089229822159,
89
- 0.11391402781009674,
90
- 0.05493843927979469,
91
- 0.4553638696670532,
92
- 0.3129224479198456,
93
- 0.03762473538517952,
94
- 0.059533726423978806,
95
- 0.1387089639902115,
96
- 0.18355579674243927,
97
- 0.06542021781206131,
98
- 0.4297672212123871,
99
- 0.28809019923210144
100
  ],
101
  "max": [
102
- 2.2564404010772705,
103
  -1.1898902654647827,
104
- 1.6477112770080566,
105
- -1.4110468626022339,
106
  -1.490627646446228,
107
- 0.06203446909785271,
108
  1.3966121673583984,
109
  -1.8311313390731812,
110
- -1.5635932683944702,
111
- -1.4396222829818726,
112
- -1.1873458623886108,
113
- 1.821612000465393,
114
- 1.245559811592102,
115
  1.3980070352554321
116
  ],
117
  "min": [
118
- 1.9046839475631714,
119
- -1.5954006910324097,
120
- 1.2648534774780273,
121
- -1.8417519330978394,
122
- -1.7594822645187378,
123
  -1.6539028882980347,
124
- 0.3937016427516937,
125
- -2.0351150035858154,
126
  -1.8012741804122925,
127
- -1.9529870748519897,
128
  -1.7402385473251343,
129
- 1.5141416788101196,
130
  -0.45696574449539185,
131
  0.3978862464427948
132
  ]
133
  },
134
  "observation.velocity": {
135
  "mean": [
136
- 0.010049992240965366,
137
- 0.010992866940796375,
138
- -0.0029796380549669266,
139
- -0.005215063225477934,
140
- 0.0015994900604709983,
141
- -0.032562755048274994,
142
  0.0,
143
- 0.0018463076557964087,
144
- -0.0008427621214650571,
145
- -0.0071253287605941296,
146
- 0.0014735013246536255,
147
- 0.006120958831161261,
148
- 0.005428730975836515,
149
  0.0
150
  ],
151
  "std": [
152
- 0.05389015004038811,
153
- 0.05699708312749863,
154
- 0.05871163308620453,
155
- 0.08255941420793533,
156
- 0.06094686686992645,
157
- 0.3362106382846832,
158
  0.0,
159
- 0.021297637373209,
160
- 0.031154563650488853,
161
- 0.06503337621688843,
162
- 0.09681888669729233,
163
- 0.05907629802823067,
164
- 0.2886140048503876,
165
  0.0
166
  ],
167
  "max": [
168
  0.29504841566085815,
169
- 0.27072206139564514,
170
- 0.35110265016555786,
171
- 0.29394906759262085,
172
  0.40120789408683777,
173
- 1.1355292797088623,
174
  0.0,
175
  0.27106720209121704,
176
- 0.23106864094734192,
177
- 0.17727704346179962,
178
- 0.3567943572998047,
179
- 0.276787668466568,
180
  1.0137217044830322,
181
  0.0
182
  ],
183
  "min": [
184
- -0.2714379131793976,
185
- -0.23316508531570435,
186
- -0.26604339480400085,
187
  -0.5442995429039001,
188
- -0.24778585135936737,
189
- -1.6184935569763184,
190
  0.0,
191
- -0.20220424234867096,
192
- -0.178593710064888,
193
- -0.32970359921455383,
194
- -0.3539181351661682,
195
- -0.251117467880249,
196
- -1.4169429540634155,
197
  0.0
198
  ]
199
  },
200
  "observation.gripper_position": {
201
  "mean": [
202
- 0.785486102104187,
203
- 0.7197468280792236
204
  ],
205
  "std": [
206
- 0.3129224479198456,
207
- 0.28809019923210144
208
  ],
209
  "max": [
210
  1.3966121673583984,
211
  1.3980070352554321
212
  ],
213
  "min": [
214
- 0.3937016427516937,
215
  0.3978862464427948
216
  ]
217
  },
@@ -219,34 +219,34 @@
219
  "mean": [
220
  [
221
  [
222
- 0.41665053367614746
223
  ]
224
  ],
225
  [
226
  [
227
- 0.4341818690299988
228
  ]
229
  ],
230
  [
231
  [
232
- 0.42490270733833313
233
  ]
234
  ]
235
  ],
236
  "std": [
237
  [
238
  [
239
- 0.415191113948822
240
  ]
241
  ],
242
  [
243
  [
244
- 0.39671769738197327
245
  ]
246
  ],
247
  [
248
  [
249
- 0.3917553126811981
250
  ]
251
  ]
252
  ],
@@ -287,10 +287,10 @@
287
  },
288
  "timestamp": {
289
  "mean": [
290
- 1.6045769453048706
291
  ],
292
  "std": [
293
- 0.9517728090286255
294
  ],
295
  "max": [
296
  3.6666667461395264
@@ -301,10 +301,10 @@
301
  },
302
  "frame_index": {
303
  "mean": [
304
- 48.13731002807617
305
  ],
306
  "std": [
307
- 28.55318260192871
308
  ],
309
  "max": [
310
  110.0
@@ -315,13 +315,13 @@
315
  },
316
  "episode_index": {
317
  "mean": [
318
- 1.4093265533447266
319
  ],
320
  "std": [
321
- 1.1305077075958252
322
  ],
323
  "max": [
324
- 3.0
325
  ],
326
  "min": [
327
  0.0
@@ -329,13 +329,13 @@
329
  },
330
  "index": {
331
  "mean": [
332
- 192.50001525878906
333
  ],
334
  "std": [
335
- 111.42822265625
336
  ],
337
  "max": [
338
- 385.0
339
  ],
340
  "min": [
341
  0.0
 
1
  {
2
  "action": {
3
  "mean": [
4
+ 2.1118204593658447,
5
+ -1.4014804363250732,
6
+ 1.4699876308441162,
7
+ -1.56685471534729,
8
+ -1.6746140718460083,
9
+ -0.9927851557731628,
10
+ 0.4546692669391632,
11
+ -1.9508672952651978,
12
+ -1.619591236114502,
13
+ -1.7078920602798462,
14
+ -1.432338833808899,
15
+ 1.6143251657485962,
16
+ 0.8883212804794312,
17
+ 0.44763389229774475
18
  ],
19
  "std": [
20
+ 0.11648354679346085,
21
+ 0.11886280030012131,
22
+ 0.12937720119953156,
23
+ 0.13640663027763367,
24
+ 0.0706733912229538,
25
+ 0.45197412371635437,
26
+ 0.38704076409339905,
27
+ 0.04420079290866852,
28
+ 0.06654933840036392,
29
+ 0.14726930856704712,
30
+ 0.18462780117988586,
31
+ 0.08087042719125748,
32
+ 0.4093150198459625,
33
+ 0.4082616865634918
34
  ],
35
  "max": [
36
+ 2.3408546447753906,
37
  -1.187367558479309,
38
+ 1.857650637626648,
39
+ -1.2103122472763062,
40
  -1.4825019836425781,
41
+ 0.16547325253486633,
42
  1.0,
43
  -1.785576343536377,
44
+ -1.4833749532699585,
45
+ -1.420496940612793,
46
+ -1.0814566612243652,
47
+ 1.9354966878890991,
48
+ 1.5922566652297974,
49
  1.0
50
  ],
51
  "min": [
52
+ 1.9036701917648315,
53
+ -1.6382601261138916,
54
+ 1.1796313524246216,
55
+ -1.9342817068099976,
56
+ -1.8392421007156372,
57
  -1.6566931009292603,
58
  0.0,
59
+ -2.0509321689605713,
60
  -1.803943157196045,
61
+ -1.9711496829986572,
62
  -1.7410680055618286,
63
+ 1.4976927042007446,
64
  -0.4601942300796509,
65
  3.4531343171169404e-13
66
  ]
67
  },
68
  "observation.state": {
69
  "mean": [
70
+ 2.108144521713257,
71
+ -1.405316710472107,
72
+ 1.4708350896835327,
73
+ -1.5648928880691528,
74
+ -1.6738673448562622,
75
+ -0.9847225546836853,
76
+ 0.8177433013916016,
77
+ -1.9511520862579346,
78
+ -1.6200451850891113,
79
+ -1.7033861875534058,
80
+ -1.4356521368026733,
81
+ 1.6118078231811523,
82
+ 0.8847697973251343,
83
+ 0.7887670397758484
84
  ],
85
  "std": [
86
+ 0.11938589066267014,
87
+ 0.12048201262950897,
88
+ 0.12788888812065125,
89
+ 0.13630269467830658,
90
+ 0.07015690207481384,
91
+ 0.46130117774009705,
92
+ 0.30126702785491943,
93
+ 0.04307679459452629,
94
+ 0.06574446707963943,
95
+ 0.15101835131645203,
96
+ 0.1862642616033554,
97
+ 0.07911213487386703,
98
+ 0.4111752212047577,
99
+ 0.29344627261161804
100
  ],
101
  "max": [
102
+ 2.3404288291931152,
103
  -1.1898902654647827,
104
+ 1.8573393821716309,
105
+ -1.2129367589950562,
106
  -1.490627646446228,
107
+ 0.06439386308193207,
108
  1.3966121673583984,
109
  -1.8311313390731812,
110
+ -1.4846519231796265,
111
+ -1.407671332359314,
112
+ -1.0817960500717163,
113
+ 1.9087425470352173,
114
+ 1.591499924659729,
115
  1.3980070352554321
116
  ],
117
  "min": [
118
+ 1.9036766290664673,
119
+ -1.6361993551254272,
120
+ 1.1803808212280273,
121
+ -1.9294661283493042,
122
+ -1.8380955457687378,
123
  -1.6539028882980347,
124
+ 0.38951703906059265,
125
+ -2.05061936378479,
126
  -1.8012741804122925,
127
+ -1.9696687459945679,
128
  -1.7402385473251343,
129
+ 1.5012118816375732,
130
  -0.45696574449539185,
131
  0.3978862464427948
132
  ]
133
  },
134
  "observation.velocity": {
135
  "mean": [
136
+ 0.010628613643348217,
137
+ 0.010943819768726826,
138
+ -0.002376872580498457,
139
+ -0.004399790428578854,
140
+ -0.0017684634076431394,
141
+ -0.02880094200372696,
142
  0.0,
143
+ 0.00018753265612758696,
144
+ 0.0014586765319108963,
145
+ -0.012060770764946938,
146
+ 0.008727043867111206,
147
+ 0.00610773079097271,
148
+ 0.016805192455649376,
149
  0.0
150
  ],
151
  "std": [
152
+ 0.06277354061603546,
153
+ 0.05574804171919823,
154
+ 0.07263448089361191,
155
+ 0.09667602926492691,
156
+ 0.057937394827604294,
157
+ 0.371285617351532,
158
  0.0,
159
+ 0.024128898978233337,
160
+ 0.04248425364494324,
161
+ 0.06796060502529144,
162
+ 0.09968314319849014,
163
+ 0.0680612325668335,
164
+ 0.2877565920352936,
165
  0.0
166
  ],
167
  "max": [
168
  0.29504841566085815,
169
+ 0.33659374713897705,
170
+ 0.3917531371116638,
171
+ 0.4650838077068329,
172
  0.40120789408683777,
173
+ 1.4949122667312622,
174
  0.0,
175
  0.27106720209121704,
176
+ 0.2449256032705307,
177
+ 0.23132431507110596,
178
+ 0.44377586245536804,
179
+ 0.4284360706806183,
180
  1.0137217044830322,
181
  0.0
182
  ],
183
  "min": [
184
+ -0.31833937764167786,
185
+ -0.23829114437103271,
186
+ -0.3174956738948822,
187
  -0.5442995429039001,
188
+ -0.3621393144130707,
189
+ -2.0749967098236084,
190
  0.0,
191
+ -0.2533752918243408,
192
+ -0.30730748176574707,
193
+ -0.35596024990081787,
194
+ -0.38129010796546936,
195
+ -0.33023732900619507,
196
+ -1.8146992921829224,
197
  0.0
198
  ]
199
  },
200
  "observation.gripper_position": {
201
  "mean": [
202
+ 0.8177433013916016,
203
+ 0.7887670397758484
204
  ],
205
  "std": [
206
+ 0.30126702785491943,
207
+ 0.29344627261161804
208
  ],
209
  "max": [
210
  1.3966121673583984,
211
  1.3980070352554321
212
  ],
213
  "min": [
214
+ 0.38951703906059265,
215
  0.3978862464427948
216
  ]
217
  },
 
219
  "mean": [
220
  [
221
  [
222
+ 0.41913318634033203
223
  ]
224
  ],
225
  [
226
  [
227
+ 0.43681252002716064
228
  ]
229
  ],
230
  [
231
  [
232
+ 0.42763984203338623
233
  ]
234
  ]
235
  ],
236
  "std": [
237
  [
238
  [
239
+ 0.4162416160106659
240
  ]
241
  ],
242
  [
243
  [
244
+ 0.3977384865283966
245
  ]
246
  ],
247
  [
248
  [
249
+ 0.39271387457847595
250
  ]
251
  ]
252
  ],
 
287
  },
288
  "timestamp": {
289
  "mean": [
290
+ 1.5365307331085205
291
  ],
292
  "std": [
293
+ 0.9080232977867126
294
  ],
295
  "max": [
296
  3.6666667461395264
 
301
  },
302
  "frame_index": {
303
  "mean": [
304
+ 46.09592056274414
305
  ],
306
  "std": [
307
+ 27.240697860717773
308
  ],
309
  "max": [
310
  110.0
 
315
  },
316
  "episode_index": {
317
  "mean": [
318
+ 3.880095958709717
319
  ],
320
  "std": [
321
+ 2.631666898727417
322
  ],
323
  "max": [
324
+ 8.0
325
  ],
326
  "min": [
327
  0.0
 
329
  },
330
  "index": {
331
  "mean": [
332
+ 416.50006103515625
333
  ],
334
  "std": [
335
+ 240.7548828125
336
  ],
337
  "max": [
338
+ 833.0
339
  ],
340
  "min": [
341
  0.0
videos/chunk-000/observation.images.top_rgb/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8bb042327025d752c9b6ac0c5b3a7538fb71372d9f314fd8c85051ba2518dc25
3
+ size 327562
videos/chunk-000/observation.images.top_rgb/episode_000005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:00e46e973199e30fddb8dac71d3fe63a7defd7ad2f98ae6e0189e18de7f4a5b7
3
+ size 326019
videos/chunk-000/observation.images.top_rgb/episode_000006.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1440f1583a9e892d1a469837202e61943be393f3dc927af9cedc8a91d0b6119
3
+ size 323264
videos/chunk-000/observation.images.top_rgb/episode_000007.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5d25661895d577874d10d8fa01bf8148675134e1cf56d62362ec51a9bad50ee6
3
+ size 349628
videos/chunk-000/observation.images.top_rgb/episode_000008.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5434830479a3a7a69b424cdb7726e69f5ba4e680e227cddd73feb662a011575a
3
+ size 329147