robotchip commited on
Commit
2ee9ae9
·
verified ·
1 Parent(s): 9c5ac66

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:ef9b5defd3512c6740af7a27f50b5c23b7fbc87de5d1d1c98ee55f179da47b47
3
+ size 19380
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a70c7a3255bf47bfe4115c26f9c43e8334c40b09b1b6db306cc8c2c106acf65d
3
+ size 36982
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:15c45fa05b762e867f0d7503f58dd0cce44d37f8bc719dcf0de39cfac6dbe0a1
3
+ size 32886
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b863a7e6ce9e3c2c0cc71119fd0593b53d54679af1277588183d42f04f124b51
3
+ size 31209
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3beaf6a3e72772e27b48fa5e249f9c46785ea301297eb3634f58bee277feb1ea
3
+ size 27371
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a green fabric and put it in the bin."], "length": 342}
2
+ {"episode_index": 1, "tasks": ["Grasp a green fabric and put it in the bin."], "length": 729}
3
+ {"episode_index": 2, "tasks": ["Grasp a green fabric and put it in the bin."], "length": 642}
4
+ {"episode_index": 3, "tasks": ["Grasp a green fabric and put it in the bin."], "length": 617}
5
+ {"episode_index": 4, "tasks": ["Grasp a green fabric and put it in the bin."], "length": 587}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-13.447265625, 74.70703125, 45.615234375, -45.087890625, -2.1691973209381104, 113.291015625], "max": [65.654296875, 184.21875, 92.373046875, -24.169921875, 53.57917404174805, 197.314453125], "mean": [11.444541931152344, 131.59413146972656, 68.37710571289062, -31.989360809326172, 24.425357818603516, 144.96458435058594], "std": [25.02016830444336, 30.33201026916504, 12.222697257995605, 7.099600315093994, 19.482938766479492, 26.17103385925293], "count": [342]}, "observation.state": {"min": [-13.447265625, 78.3984375, 46.23046875, -44.6484375, -1.3427561521530151, 113.02734375], "max": [64.86328125, 181.7578125, 92.28515625, -23.994140625, 52.932865142822266, 195.908203125], "mean": [10.959343910217285, 133.8463592529297, 68.43338775634766, -31.609529495239258, 24.046052932739258, 145.14950561523438], "std": [24.53583526611328, 29.777345657348633, 12.489824295043945, 7.054994106292725, 18.8713436126709, 26.41082000732422], "count": [342]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.996078431372549]], [[1.0]]], "mean": [[[0.47998307189542483]], [[0.4789233088235294]], [[0.42911361723856206]]], "std": [[[0.1639078135994749]], [[0.17625686542040434]], [[0.19286415431571652]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5486095118464052]], [[0.5359844934640523]], [[0.5368785702614379]]], "std": [[[0.25508808771813235]], [[0.2889606406052763]], [[0.2844130868231623]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.366666666666667], "mean": [5.683333333333334], "std": [3.2908824663617824], "count": [342]}, "frame_index": {"min": [0], "max": [341], "mean": [170.5], "std": [98.72647399085346], "count": [342]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [342]}, "index": {"min": [0], "max": [341], "mean": [170.5], "std": [98.72647399085346], "count": [342]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [342]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-32.34375, 102.48046875, 41.044921875, -50.625, 4.663774490356445, 123.92578125], "max": [68.818359375, 184.130859375, 85.869140625, -22.060546875, 83.83948516845703, 197.75390625], "mean": [-0.7020399570465088, 143.25189208984375, 60.75373840332031, -39.7763557434082, 50.33290100097656, 143.98709106445312], "std": [24.8072452545166, 19.7864990234375, 10.964402198791504, 5.2931718826293945, 29.669696807861328, 26.137094497680664], "count": [729]}, "observation.state": {"min": [-31.81640625, 106.34765625, 42.451171875, -50.537109375, 5.795053005218506, 123.75], "max": [68.203125, 181.40625, 85.517578125, -22.67578125, 83.18021392822266, 196.171875], "mean": [-0.6685233116149902, 144.3486785888672, 61.11347961425781, -39.811920166015625, 50.19242858886719, 143.32032775878906], "std": [24.699953079223633, 18.691408157348633, 10.730280876159668, 5.297357082366943, 29.020654678344727, 26.07260513305664], "count": [729]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5323425697362277]], [[0.5338435326213818]], [[0.4966827264239029]]], "std": [[[0.165978203813598]], [[0.1704960341849201]], [[0.20190202751334563]]], "count": [140]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5427930978641456]], [[0.528641573295985]], [[0.5311187835550887]]], "std": [[[0.25070200673743326]], [[0.2850525890184031]], [[0.28095264880781007]]], "count": [140]}, "timestamp": {"min": [0.0], "max": [24.266666666666666], "mean": [12.133333333333335], "std": [7.014799170853532], "count": [729]}, "frame_index": {"min": [0], "max": [728], "mean": [364.0], "std": [210.44397512560596], "count": [729]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [729]}, "index": {"min": [342], "max": [1070], "mean": [706.0], "std": [210.44397512560596], "count": [729]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [729]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-32.255859375, 36.826171875, 66.796875, -59.23828125, 8.351409912109375, 43.154296875], "max": [68.37890625, 180.791015625, 96.85546875, -24.43359375, 86.98480987548828, 198.10546875], "mean": [-3.608581066131592, 99.80229949951172, 83.04462432861328, -43.76323318481445, 53.298553466796875, 113.18712615966797], "std": [27.13393783569336, 51.41693878173828, 11.05359172821045, 7.618630409240723, 26.975521087646484, 53.78728103637695], "count": [642]}, "observation.state": {"min": [-31.552734375, 39.462890625, 66.97265625, -58.88671875, 12.367491722106934, 42.802734375], "max": [67.939453125, 180.52734375, 96.767578125, -24.78515625, 86.43109893798828, 196.083984375], "mean": [-3.6156997680664062, 101.16305541992188, 83.27790069580078, -43.79827880859375, 53.82285690307617, 111.98746490478516], "std": [27.15241241455078, 50.9293212890625, 10.952357292175293, 7.527108669281006, 25.72186851501465, 53.87948226928711], "count": [642]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5326613658586794]], [[0.53549225464464]], [[0.504886198278524]]], "std": [[[0.15667266961237603]], [[0.16105675489329527]], [[0.18435376903184386]]], "count": [127]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5423580554268952]], [[0.5232438805902938]], [[0.5289053847588905]]], "std": [[[0.24740740977155684]], [[0.2825674032171935]], [[0.27495251842566376]]], "count": [127]}, "timestamp": {"min": [0.0], "max": [21.366666666666667], "mean": [10.683333333333334], "std": [6.177640386162078], "count": [642]}, "frame_index": {"min": [0], "max": [641], "mean": [320.5], "std": [185.32921158486232], "count": [642]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [642]}, "index": {"min": [1071], "max": [1712], "mean": [1391.5], "std": [185.32921158486232], "count": [642]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [642]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-39.375, 72.158203125, 47.28515625, -48.8671875, 11.822126388549805, 103.974609375], "max": [63.28125, 178.76953125, 96.591796875, -23.291015625, 79.71800231933594, 197.75390625], "mean": [-1.6788960695266724, 129.50509643554688, 71.01679229736328, -32.563690185546875, 60.819374084472656, 147.08969116210938], "std": [23.017196655273438, 35.08588409423828, 12.517205238342285, 7.123493671417236, 21.631895065307617, 37.625553131103516], "count": [617]}, "observation.state": {"min": [-39.0234375, 75.849609375, 47.4609375, -48.427734375, 14.275617599487305, 103.53515625], "max": [63.28125, 179.12109375, 96.50390625, -23.73046875, 78.798583984375, 195.99609375], "mean": [-1.706531047821045, 130.78878784179688, 71.5729751586914, -32.58961486816406, 61.07276916503906, 146.28665161132812], "std": [22.984603881835938, 34.525020599365234, 12.486260414123535, 7.114591121673584, 20.66168975830078, 37.572330474853516], "count": [617]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5404966539800202]], [[0.5389479747861203]], [[0.5179989621526117]]], "std": [[[0.149245766180582]], [[0.15771367096358083]], [[0.17148115209020562]]], "count": [123]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5428842094425846]], [[0.5286210761065944]], [[0.5297989664700569]]], "std": [[[0.24936545446344346]], [[0.2836842634740765]], [[0.27875083517705346]]], "count": [123]}, "timestamp": {"min": [0.0], "max": [20.533333333333335], "mean": [10.266666666666666], "std": [5.937077470345902], "count": [617]}, "frame_index": {"min": [0], "max": [616], "mean": [308.0], "std": [178.11232411037705], "count": [617]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [617]}, "index": {"min": [1713], "max": [2329], "mean": [2021.0], "std": [178.11232411037705], "count": [617]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [617]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-27.421875, 92.373046875, 45.17578125, -40.166015625, 15.835140228271484, 104.58984375], "max": [63.28125, 178.505859375, 89.296875, -17.666015625, 87.31019592285156, 198.10546875], "mean": [-1.935689926147461, 140.69857788085938, 65.07413482666016, -27.40091323852539, 63.54193115234375, 156.47193908691406], "std": [23.215734481811523, 31.458189010620117, 11.338069915771484, 6.111752510070801, 23.830291748046875, 38.39599609375], "count": [587]}, "observation.state": {"min": [-27.24609375, 96.15234375, 45.87890625, -39.90234375, 17.950531005859375, 104.58984375], "max": [62.578125, 178.9453125, 89.12109375, -17.75390625, 86.78445434570312, 196.259765625], "mean": [-1.7816193103790283, 142.21656799316406, 65.5163803100586, -27.384292602539062, 63.46175003051758, 155.544921875], "std": [23.153364181518555, 30.67197036743164, 11.229764938354492, 6.045326232910156, 23.04817008972168, 38.474998474121094], "count": [587]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.546092164071511]], [[0.5412131305953753]], [[0.5229035467128027]]], "std": [[[0.14615565065392785]], [[0.1550628872872459]], [[0.16880303942976763]]], "count": [119]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5201174994507607]], [[0.5033358237903005]], [[0.5046661895150217]]], "std": [[[0.24424285305371038]], [[0.2796701152647446]], [[0.27428831100647566]]], "count": [119]}, "timestamp": {"min": [0.0], "max": [19.533333333333335], "mean": [9.766666666666666], "std": [5.648401937224762], "count": [587]}, "frame_index": {"min": [0], "max": [586], "mean": [293.0], "std": [169.45205811674285], "count": [587]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [587]}, "index": {"min": [2330], "max": [2916], "mean": [2623.0], "std": [169.45205811674285], "count": [587]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [587]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101",
4
+ "total_episodes": 5,
5
+ "total_frames": 2917,
6
+ "total_tasks": 1,
7
+ "total_videos": 10,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:5"
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 green fabric 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 sha256:29a61ba6b016730e895956747c76cbc9ffaae6736b7d7929bf576f6891dede93
3
+ size 825051
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 sha256:1f6156233a28af51a4517f9564e77c776c469cc409b9b84a834c680c00ce52aa
3
+ size 3446848
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 sha256:7ad20f1d89d9099ccfdb0df13f5d3380d93769c205f0476ff692b376ace8603f
3
+ size 3070070
videos/chunk-000/observation.images.laptop/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2104c7bf2dd7ab6cc1f777110345c7ab0a73cb7534b80567e45eb53e15e5c31
3
+ size 1871488
videos/chunk-000/observation.images.laptop/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:64644e6420882187d7435656a6a74ac2d29d9e2a3b19ac482eb61847e9cb81d9
3
+ size 1970485
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 sha256:29783b60765f64d35e2bb230e383d9393bcab0c8194a1194b431b903790175df
3
+ size 3137345
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 sha256:51a362c854e5aeeb528f4bfd5f1e21715c5b64567da6d4bdfea21b32da74d960
3
+ size 6706172
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 sha256:0d66e48c966742f2e75090f46a56c692acf71ce666dce288c47d0b2b647a8cba
3
+ size 6099494
videos/chunk-000/observation.images.phone/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fd8b7ae6ade628865b7677d9caf6b8dd1d1da53d660262d3bd1d0f1fd5a2dfd1
3
+ size 5666573
videos/chunk-000/observation.images.phone/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:20e8798e0c59b52ae8aea194980e6f5cc0250e0f78759657b670b0ee605391dc
3
+ size 5358824