robotchip commited on
Commit
cbef2ab
·
verified ·
1 Parent(s): 196a132

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 sha256:0423c9bda29451734baa3dedba8d919eb002c8727b0d4eac72736e8219e3cb7d
3
+ size 609551
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:979de9d3ac5b64001a6042a5bc2fb3a831bc9543e07a637e862aa0943e39f454
3
+ size 607015
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e80e6f75d90414b12191059261c83a49dc844dd34e7720cb22a42cbf70a4b821
3
+ size 571579
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 8945}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 8936}
3
+ {"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 8939}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-46.50092697143555, 29.514610290527344, 53.171775817871094, -45.256080627441406, 4.318855285644531, 46.172630310058594], "max": [70.78305053710938, 180.77462768554688, 98.33172607421875, -5.874307632446289, 100.17410278320312, 198.3201904296875], "mean": [3.1753129959106445, 99.40113830566406, 77.1542739868164, -25.318933486938477, 45.95899963378906, 120.5674819946289], "std": [24.208538055419922, 42.09213638305664, 11.101863861083984, 6.974042892456055, 28.968517303466797, 47.48041915893555], "count": [8945]}, "observation.state": {"min": [-44.82421875, 32.51953125, 49.130859375, -44.82421875, 5.795053005218506, 47.021484375], "max": [69.9609375, 180.966796875, 98.0859375, 1.7578125, 99.57597351074219, 196.787109375], "mean": [3.2167575359344482, 101.04618835449219, 77.57643127441406, -25.301027297973633, 46.0694694519043, 119.4905776977539], "std": [24.135337829589844, 42.172332763671875, 11.065973281860352, 6.9560627937316895, 28.47397232055664, 47.76472473144531], "count": [8945]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5256854344022702]], [[0.5259657538387136]], [[0.49560276582069174]]], "std": [[[0.15445024902774415]], [[0.1618708387727925]], [[0.1823105818328271]]], "count": [919]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5248388233693912]], [[0.5065331331299295]], [[0.5079252684343596]]], "std": [[[0.2652050361466251]], [[0.3005550708649158]], [[0.3001948027715027]]], "count": [919]}, "timestamp": {"min": [0.0], "max": [298.1333333333333], "mean": [149.06666666666666], "std": [86.07330209381614], "count": [8945]}, "frame_index": {"min": [0], "max": [8944], "mean": [4472.0], "std": [2582.199062814484], "count": [8945]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [8945]}, "index": {"min": [0], "max": [8944], "mean": [4472.0], "std": [2582.199062814484], "count": [8945]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [8945]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-41.567138671875, 40.55651092529297, 49.453094482421875, -45.14623260498047, 5.315742492675781, 52.188880920410156], "max": [70.87464904785156, 179.62744140625, 98.27485656738281, -5.989580154418945, 100.4090347290039, 198.48316955566406], "mean": [-0.14699631929397583, 110.1229476928711, 76.64694213867188, -23.792593002319336, 41.7889518737793, 132.8271026611328], "std": [21.949851989746094, 42.61676788330078, 10.077253341674805, 8.848535537719727, 27.559349060058594, 50.0270881652832], "count": [8936]}, "observation.state": {"min": [-41.30859375, 44.033203125, 48.603515625, -44.6484375, 6.996466159820557, 51.240234375], "max": [69.609375, 181.0546875, 97.998046875, 1.93359375, 99.85865783691406, 196.875], "mean": [-0.08091720938682556, 111.84412384033203, 77.11420440673828, -23.80931282043457, 41.857425689697266, 131.84091186523438], "std": [21.87163543701172, 42.69486999511719, 9.988688468933105, 8.843084335327148, 27.177030563354492, 50.46171188354492], "count": [8936]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5249363129591699]], [[0.5262156804959924]], [[0.5009111670738299]]], "std": [[[0.14581917259778224]], [[0.15253400426016303]], [[0.16917113751375776]]], "count": [919]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5182699425526468]], [[0.5006774996088388]], [[0.5012164717083787]]], "std": [[[0.26301569578085243]], [[0.29815900387112865]], [[0.2989353936624418]]], "count": [919]}, "timestamp": {"min": [0.0], "max": [297.8333333333333], "mean": [148.91666666666666], "std": [85.98669955289596], "count": [8936]}, "frame_index": {"min": [0], "max": [8935], "mean": [4467.5], "std": [2579.600986586879], "count": [8936]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [8936]}, "index": {"min": [8945], "max": [17880], "mean": [13412.5], "std": [2579.600986586879], "count": [8936]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [8936]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-36.458858489990234, 27.799026489257812, 42.97776794433594, -46.107208251953125, 5.200725555419922, 45.45641326904297], "max": [70.01740264892578, 180.13894653320312, 98.75688934326172, -6.4438886642456055, 100.4066390991211, 199.1675567626953], "mean": [0.21290481090545654, 143.14781188964844, 71.92768859863281, -21.835412979125977, 31.16019630432129, 164.2506866455078], "std": [16.693206787109375, 43.964576721191406, 8.715723991394043, 7.3964409828186035, 23.78069496154785, 46.878849029541016], "count": [8939]}, "observation.state": {"min": [-35.947265625, 31.2890625, 44.82421875, -45.087890625, 6.0070672035217285, 46.494140625], "max": [69.2578125, 180.966796875, 98.349609375, 1.93359375, 99.64664459228516, 196.962890625], "mean": [0.3191651701927185, 144.69952392578125, 72.2972412109375, -21.72976303100586, 31.30270004272461, 163.5605926513672], "std": [16.6666202545166, 43.94697189331055, 8.68613338470459, 7.441363334655762, 23.45270347595215, 47.22749328613281], "count": [8939]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5259084485036307]], [[0.5255916266170958]], [[0.5081755766960393]]], "std": [[[0.12805799863121717]], [[0.13486151416614547]], [[0.1444340994793297]]], "count": [919]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5159293518459251]], [[0.49682549277418625]], [[0.49867929139374284]]], "std": [[[0.264317393146239]], [[0.30012038709978384]], [[0.30161540630135597]]], "count": [919]}, "timestamp": {"min": [0.0], "max": [297.93333333333334], "mean": [148.96666666666664], "std": [86.01556706653614], "count": [8939]}, "frame_index": {"min": [0], "max": [8938], "mean": [4469.0], "std": [2580.4670119960842], "count": [8939]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [8939]}, "index": {"min": [17881], "max": [26819], "mean": [22350.0], "std": [2580.4670119960842], "count": [8939]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [8939]}}}
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": 26820,
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 sha256:516396bd3edd47ec5ca1b896787d6eea8fcdba7405b6434ac024e019e9c7ecf0
3
+ size 21909758
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 sha256:70864d33548bfce15af647bdfc2c7816ba305c580991bc57a5574e0ea2ba7238
3
+ size 22052791
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 sha256:7c535bbb936660a596ae89dbced8886345f719cb583cb6c8c591d5735eab41b6
3
+ size 17110310
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 sha256:798a9b328181647dd3b112cdda1c5f138245e9c23a26a9fa47dec362c8df1c92
3
+ size 83298079
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 sha256:00da9bea168a7a2b174e93c67c434722b888f6fd93d129307dc6008cceb7e8b4
3
+ size 81652848
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 sha256:9c1c6687aa3306c23b0372623d4dd8979dc8d2d81ff06b276dfa9edc5a9ede83
3
+ size 81771259