robotchip commited on
Commit
248fe48
·
verified ·
1 Parent(s): 78fdfb3

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 sha256:89f76e1bce8b43c4466ac78b24bd53e3c804d46a0887aeadb131d2a851f700cc
3
+ size 57121
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5f039c07f4a6c2a19b44468f3c91de365b95586e56cb70017eeefa3e003bd99b
3
+ size 57846
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:488c07b1acdea7bd503bb185a9dbff993e67923aabeab206dcc79605014b0f1e
3
+ size 62284
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 804}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 811}
3
+ {"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 879}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-38.72018814086914, 53.64662551879883, 56.06941223144531, -40.465065002441406, 7.635219573974609, 64.18278503417969], "max": [57.64729690551758, 175.77377319335938, 98.11311340332031, -8.006260871887207, 99.10061645507812, 197.57215881347656], "mean": [-6.79865026473999, 128.13172912597656, 73.28411102294922, -20.45240592956543, 35.62093734741211, 153.5841064453125], "std": [19.648771286010742, 38.4150276184082, 8.430663108825684, 9.0819673538208, 28.938091278076172, 48.5169792175293], "count": [804]}, "observation.state": {"min": [-38.583984375, 56.162109375, 58.0078125, -38.3203125, 12.014134407043457, 64.16015625], "max": [57.216796875, 176.396484375, 97.91015625, -7.998046875, 98.44522857666016, 196.34765625], "mean": [-6.6512651443481445, 130.1736602783203, 73.79863739013672, -20.444299697875977, 35.61779022216797, 153.38487243652344], "std": [19.665040969848633, 38.535682678222656, 8.317639350891113, 8.94477653503418, 28.32976531982422, 48.63816452026367], "count": [804]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5024675040849673]], [[0.5084912813180827]], [[0.47845471269063183]]], "std": [[[0.16177404753047012]], [[0.16457707512584255]], [[0.18875389927055783]]], "count": [150]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5225973161764706]], [[0.5031352723311546]], [[0.5054081781045752]]], "std": [[[0.25984899185334964]], [[0.29713174030542083]], [[0.29703417246948216]]], "count": [150]}, "timestamp": {"min": [0.0], "max": [26.766666666666666], "mean": [13.383333333333333], "std": [7.73648762299409], "count": [804]}, "frame_index": {"min": [0], "max": [803], "mean": [401.5], "std": [232.09462868982268], "count": [804]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [804]}, "index": {"min": [0], "max": [803], "mean": [401.5], "std": [232.09462868982268], "count": [804]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [804]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-28.869108200073242, 45.22638702392578, 59.56272888183594, -38.69183349609375, 5.964202880859375, 53.869598388671875], "max": [68.18641662597656, 177.55101013183594, 98.30755615234375, -8.530365943908691, 88.30164337158203, 197.1179962158203], "mean": [0.23275725543498993, 106.20278930664062, 76.74239349365234, -21.586278915405273, 38.859214782714844, 128.2698974609375], "std": [22.404640197753906, 48.141597747802734, 10.879565238952637, 7.586234092712402, 24.963340759277344, 55.45224380493164], "count": [811]}, "observation.state": {"min": [-28.828125, 48.251953125, 48.603515625, -38.232421875, 8.26855182647705, 53.26171875], "max": [68.291015625, 181.0546875, 97.998046875, 2.109375, 87.2791519165039, 196.34765625], "mean": [0.3036615550518036, 108.168212890625, 76.96309661865234, -21.442169189453125, 38.85432434082031, 127.66049194335938], "std": [22.34119987487793, 48.56085205078125, 10.984108924865723, 7.743252754211426, 24.515050888061523, 56.165252685546875], "count": [811]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5143997059364585]], [[0.5199918625286759]], [[0.48724307449249016]]], "std": [[[0.14241789855826212]], [[0.14638382012448237]], [[0.17111502055704314]]], "count": [151]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5190706239449422]], [[0.4998695272259014]], [[0.5020345544950872]]], "std": [[[0.26066361077789124]], [[0.29697183107429853]], [[0.2976774091053729]]], "count": [151]}, "timestamp": {"min": [0.0], "max": [27.0], "mean": [13.5], "std": [7.803845206050668], "count": [811]}, "frame_index": {"min": [0], "max": [810], "mean": [405.0], "std": [234.11535618152004], "count": [811]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [811]}, "index": {"min": [804], "max": [1614], "mean": [1209.0], "std": [234.11535618152004], "count": [811]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [811]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-27.244312286376953, 55.92568588256836, 58.07743835449219, -40.386898040771484, 6.583412170410156, 70.90738677978516], "max": [59.87948989868164, 177.70758056640625, 98.59113311767578, -10.719009399414062, 95.10707092285156, 198.11805725097656], "mean": [-9.28432846069336, 116.17210388183594, 72.86421203613281, -20.929960250854492, 40.4600944519043, 135.48373413085938], "std": [15.654540061950684, 33.583133697509766, 9.675786018371582, 7.877049922943115, 26.693262100219727, 47.68026351928711], "count": [879]}, "observation.state": {"min": [-27.0703125, 62.75390625, 48.779296875, -39.990234375, 7.349823474884033, 71.015625], "max": [55.72265625, 181.0546875, 96.6796875, 2.109375, 94.62897491455078, 196.611328125], "mean": [-9.141324996948242, 118.11954498291016, 73.0669174194336, -20.789182662963867, 40.6039924621582, 135.17369079589844], "std": [15.609725952148438, 34.08470153808594, 9.649091720581055, 8.010505676269531, 26.250959396362305, 47.772525787353516], "count": [879]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5100349467685625]], [[0.5138104499045996]], [[0.4892284981021394]]], "std": [[[0.11714901788478121]], [[0.12456299301408842]], [[0.13838391976095285]]], "count": [161]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5325771754353915]], [[0.5133176417306052]], [[0.5155984845024967]]], "std": [[[0.26117998122513225]], [[0.2977190186594847]], [[0.29666324958795737]]], "count": [161]}, "timestamp": {"min": [0.0], "max": [29.266666666666666], "mean": [14.633333333333335], "std": [8.458175970074207], "count": [879]}, "frame_index": {"min": [0], "max": [878], "mean": [439.0], "std": [253.7452791022262], "count": [879]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [879]}, "index": {"min": [1615], "max": [2493], "mean": [2054.0], "std": [253.7452791022262], "count": [879]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [879]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101",
4
+ "total_episodes": 3,
5
+ "total_frames": 2494,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:3"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "main_shoulder_pan",
24
+ "main_elbow_flex",
25
+ "main_wrist_flex",
26
+ "main_wrist_roll",
27
+ "main_gripper",
28
+ "main_shoulder_lift"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "main_shoulder_pan",
38
+ "main_elbow_flex",
39
+ "main_wrist_flex",
40
+ "main_wrist_roll",
41
+ "main_gripper",
42
+ "main_shoulder_lift"
43
+ ]
44
+ },
45
+ "observation.images.laptop": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.phone": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 30,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "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
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
videos/chunk-000/observation.images.laptop/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:304e503e928bcaf04fd739ba57dd50aeee5a95fe1f32f1184d8458b62b6d3bef
3
+ size 1385132
videos/chunk-000/observation.images.laptop/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0885e9920670a59ff5f9699840143627a69f6a8448bea64377d499f157254187
3
+ size 1725319
videos/chunk-000/observation.images.laptop/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f0b3bcb588e148ec3d0d261683fa7822eeb2ca5eee39d6408e4ee8ccafc167d0
3
+ size 1884743
videos/chunk-000/observation.images.phone/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c51600839b64a7e3c9f6157e7edac80b472b844d671f7ea568d4c772d9ee6752
3
+ size 7112945
videos/chunk-000/observation.images.phone/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc42d3b40a1567a3bd44578bed52b2ff82bc5a3e3942539e2de64b2ca3c36bb4
3
+ size 7404299
videos/chunk-000/observation.images.phone/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:39b7f2fda9daf8cde03bd6f5b01e60b468862053336e81c00e8aa3260e08b1df
3
+ size 7897095