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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- data/chunk-000/episode_000004.parquet +3 -0
- data/chunk-000/episode_000005.parquet +3 -0
- data/chunk-000/episode_000006.parquet +3 -0
- data/chunk-000/episode_000007.parquet +3 -0
- data/chunk-000/episode_000008.parquet +3 -0
- data/chunk-000/episode_000009.parquet +3 -0
- data/chunk-000/episode_000010.parquet +3 -0
- data/chunk-000/episode_000011.parquet +3 -0
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- data/chunk-000/episode_000013.parquet +3 -0
- data/chunk-000/episode_000014.parquet +3 -0
- data/chunk-000/episode_000015.parquet +3 -0
- meta/episodes.jsonl +16 -0
- meta/episodes_stats.jsonl +16 -0
- meta/info.json +123 -0
- meta/tasks.jsonl +1 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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data/chunk-000/episode_000008.parquet
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data/chunk-000/episode_000010.parquet
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data/chunk-000/episode_000014.parquet
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data/chunk-000/episode_000015.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["handover"], "length": 630}
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{"episode_index": 1, "tasks": ["handover"], "length": 656}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"kinova_wrist_image": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4562303405572755]], [[0.44842262951496387]], [[0.45091457997936013]]], "std": [[[0.34854287180613047]], [[0.34945355624790697]], [[0.35388993885558834]]], "count": [125]}, "kinova_top_image": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.445363527830487]], [[0.4508656072106262]], [[0.42681463314358]]], "std": [[[0.2639749375038629]], [[0.26954673696892095]], [[0.2692986550366089]]], "count": [125]}, "arx_wrist_image": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38119708333333335]], [[0.3846036258169935]], [[0.380273295751634]]], "std": [[[0.3233495424211352]], [[0.33021052115665156]], [[0.3302738122078539]]], "count": [125]}, "arx_top_image": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35720508006535945]], [[0.37034686274509804]], [[0.3651980751633987]]], "std": [[[0.30213811124419393]], [[0.303654207361858]], [[0.2989659527547581]]], "count": [125]}, "state": {"min": [-0.5294864773750305, 0.11957775801420212, 3.2543623447418213, -2.551724433898926, -0.23358355462551117, 1.0620874166488647, 2.959646701812744, 0.008733650669455528, -0.15604783594608307, -0.37321847677230835, -0.3033139109611511, -0.25463491678237915, 0.7551308274269104, 0.4396505653858185, -1.104180932044983, 0.016212711110711098, 1.5344853401184082, 0.0008294195285998285], "max": [-0.10181959718465805, 0.6613972187042236, 3.624417781829834, -2.221456527709961, 0.1816152036190033, 1.4831821918487549, 3.0171966552734375, 0.8034934401512146, 0.15523765981197357, 0.37321099638938904, 0.30341076850891113, 0.47474631667137146, 1.5829328298568726, 2.0002670288085938, 0.24357213079929352, 0.30422675609588623, 2.0273518562316895, 0.8104119896888733], "mean": [-0.18635956943035126, 0.4456734359264374, 3.416447639465332, -2.388136386871338, 0.09249787777662277, 1.3098218441009521, 2.9733102321624756, 0.3877040445804596, 0.0006088639493100345, 0.0021658269688487053, 0.001290742657147348, -0.06459403783082962, 1.3525103330612183, 1.6529264450073242, -0.8638274669647217, 0.16763263940811157, 1.9087986946105957, 0.4482811391353607], "std": [0.0832568109035492, 0.25247547030448914, 0.115569107234478, 0.13565132021903992, 0.10181405395269394, 0.19799329340457916, 0.01296823937445879, 0.3919924199581146, 0.01505263615399599, 0.03594827651977539, 0.02802218869328499, 0.19190378487110138, 0.20150022208690643, 0.5509136915206909, 0.38354989886283875, 0.08888216316699982, 0.15080149471759796, 0.311232328414917], "count": [630]}, "actions": {"min": [-0.5572288036346436, 0.09819233417510986, 3.255936861038208, -2.5851521492004395, -0.36686426401138306, 1.0168583393096924, 2.8932180404663086, 0.0, -0.15604783594608307, -0.37321847677230835, -0.3033139109611511, -0.23999974131584167, 0.7420498728752136, 0.4265623688697815, -1.0547131299972534, -0.0059828124940395355, 1.4957624673843384, 0.0], "max": [-0.07534802705049515, 0.6810031533241272, 3.615623950958252, -2.1900501251220703, 0.2586131989955902, 1.5684540271759033, 3.0538876056671143, 1.0, 0.15523765981197357, 0.37321099638938904, 0.30341076850891113, 0.481762170791626, 1.6003358364105225, 2.0248210430145264, 0.28266894817352295, 0.32837456464767456, 2.0739479064941406, 0.9858420491218567], "mean": [-0.1754007786512375, 0.4587506055831909, 3.4198734760284424, -2.3903348445892334, 0.0826418474316597, 1.366284728050232, 2.93979811668396, 0.48191532492637634, 0.0006088639493100345, 0.0021658269688487053, 0.001290742657147348, -0.06531127542257309, 1.3502929210662842, 1.672768235206604, -0.816957414150238, 0.15506727993488312, 1.9339605569839478, 0.517961323261261], "std": [0.07814711332321167, 0.259612500667572, 0.1140797883272171, 0.1303294599056244, 0.0987982526421547, 0.23385575413703918, 0.042232610285282135, 0.4898189902305603, 0.01505263615399599, 0.03594827651977539, 0.02802218869328499, 0.19270756840705872, 0.20035585761070251, 0.5501936078071594, 0.3851325809955597, 0.09332846105098724, 0.15830032527446747, 0.3915218114852905], "count": [630]}, "timestamp": {"min": [0.0], "max": [62.9], "mean": [31.45], "std": [18.186510568733812], "count": [630]}, "frame_index": {"min": [0], "max": [629], "mean": [314.5], "std": [181.86510568733812], "count": [630]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [630]}, "index": {"min": [0], "max": [629], "mean": [314.5], "std": [181.86510568733812], "count": [630]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [630]}}}
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|
| 3 |
+
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|
| 4 |
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|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
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|
| 8 |
+
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|
| 9 |
+
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|
| 10 |
+
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|
| 11 |
+
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| 12 |
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|
| 13 |
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| 14 |
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| 15 |
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|
| 16 |
+
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|
meta/info.json
ADDED
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@@ -0,0 +1,123 @@
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| 1 |
+
{
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| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
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"robot_type": "kinova-arx",
|
| 4 |
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"total_episodes": 16,
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| 5 |
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"total_frames": 10191,
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| 6 |
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"total_tasks": 1,
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| 7 |
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| 8 |
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"total_chunks": 1,
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| 9 |
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"chunks_size": 1000,
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| 10 |
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"fps": 10,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:16"
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| 13 |
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},
|
| 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 |
+
"kinova_wrist_image": {
|
| 18 |
+
"dtype": "image",
|
| 19 |
+
"shape": [
|
| 20 |
+
640,
|
| 21 |
+
380,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
+
]
|
| 29 |
+
},
|
| 30 |
+
"kinova_top_image": {
|
| 31 |
+
"dtype": "image",
|
| 32 |
+
"shape": [
|
| 33 |
+
480,
|
| 34 |
+
370,
|
| 35 |
+
3
|
| 36 |
+
],
|
| 37 |
+
"names": [
|
| 38 |
+
"height",
|
| 39 |
+
"width",
|
| 40 |
+
"channel"
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"arx_wrist_image": {
|
| 44 |
+
"dtype": "image",
|
| 45 |
+
"shape": [
|
| 46 |
+
640,
|
| 47 |
+
480,
|
| 48 |
+
3
|
| 49 |
+
],
|
| 50 |
+
"names": [
|
| 51 |
+
"height",
|
| 52 |
+
"width",
|
| 53 |
+
"channel"
|
| 54 |
+
]
|
| 55 |
+
},
|
| 56 |
+
"arx_top_image": {
|
| 57 |
+
"dtype": "image",
|
| 58 |
+
"shape": [
|
| 59 |
+
480,
|
| 60 |
+
640,
|
| 61 |
+
3
|
| 62 |
+
],
|
| 63 |
+
"names": [
|
| 64 |
+
"height",
|
| 65 |
+
"width",
|
| 66 |
+
"channel"
|
| 67 |
+
]
|
| 68 |
+
},
|
| 69 |
+
"state": {
|
| 70 |
+
"dtype": "float32",
|
| 71 |
+
"shape": [
|
| 72 |
+
18
|
| 73 |
+
],
|
| 74 |
+
"names": [
|
| 75 |
+
"state"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"actions": {
|
| 79 |
+
"dtype": "float32",
|
| 80 |
+
"shape": [
|
| 81 |
+
18
|
| 82 |
+
],
|
| 83 |
+
"names": [
|
| 84 |
+
"actions"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"timestamp": {
|
| 88 |
+
"dtype": "float32",
|
| 89 |
+
"shape": [
|
| 90 |
+
1
|
| 91 |
+
],
|
| 92 |
+
"names": null
|
| 93 |
+
},
|
| 94 |
+
"frame_index": {
|
| 95 |
+
"dtype": "int64",
|
| 96 |
+
"shape": [
|
| 97 |
+
1
|
| 98 |
+
],
|
| 99 |
+
"names": null
|
| 100 |
+
},
|
| 101 |
+
"episode_index": {
|
| 102 |
+
"dtype": "int64",
|
| 103 |
+
"shape": [
|
| 104 |
+
1
|
| 105 |
+
],
|
| 106 |
+
"names": null
|
| 107 |
+
},
|
| 108 |
+
"index": {
|
| 109 |
+
"dtype": "int64",
|
| 110 |
+
"shape": [
|
| 111 |
+
1
|
| 112 |
+
],
|
| 113 |
+
"names": null
|
| 114 |
+
},
|
| 115 |
+
"task_index": {
|
| 116 |
+
"dtype": "int64",
|
| 117 |
+
"shape": [
|
| 118 |
+
1
|
| 119 |
+
],
|
| 120 |
+
"names": null
|
| 121 |
+
}
|
| 122 |
+
}
|
| 123 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "handover"}
|