Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 33}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 164}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-39.462890625, 88.76953125, 41.044921875, -18.45703125, -2.1691973209381104, 100.810546875], "max": [-5.185546875, 136.58203125, 88.857421875, -13.88671875, -1.7353579998016357, 101.77734375], "mean": [-17.01349449157715, 125.84339141845703, 54.6839485168457, -16.709871292114258, -2.1166107654571533, 101.31924438476562], "std": [13.448981285095215, 13.219634056091309, 14.952093124389648, 1.6418267488479614, 0.14159370958805084, 0.42496952414512634], "count": [33]}, "observation.state": {"min": [-38.232421875, 74.53125, 41.66015625, -18.10546875, -1.3427561521530151, 100.37109375], "max": [-5.80078125, 136.0546875, 94.833984375, -14.23828125, -1.3427561521530151, 100.986328125], "mean": [-20.06036949157715, 120.07190704345703, 60.439453125, -16.305042266845703, -1.342755675315857, 100.6321029663086], "std": [13.199688911437988, 18.944013595581055, 17.84763526916504, 1.6639708280563354, 4.76837158203125e-07, 0.15675361454486847], "count": [33]}, "observation.images.laptop": {"min": [[[0.2]], [[0.19607843137254902]], [[0.1568627450980392]]], "max": [[[0.8941176470588236]], [[0.9372549019607843]], [[0.9372549019607843]]], "mean": [[[0.48737958011487426]], [[0.48282130124777184]], [[0.46687395400079224]]], "std": [[[0.13170399944113675]], [[0.13795789701199632]], [[0.14375660721646377]]], "count": [33]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9803921568627451]], [[1.0]]], "mean": [[[0.5445906058130323]], [[0.5330048957714398]], [[0.5377904597445039]]], "std": [[[0.21680008020860483]], [[0.2533372772718251]], [[0.23768016603616576]]], "count": [33]}, "timestamp": {"min": [0.0], "max": [1.0666666666666667], "mean": [0.5333333333333333], "std": [0.3173968190463489], "count": [33]}, "frame_index": {"min": [0], "max": [32], "mean": [16.0], "std": [9.521904571390467], "count": [33]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [33]}, "index": {"min": [0], "max": [32], "mean": [16.0], "std": [9.521904571390467], "count": [33]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [33]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-7.822265625, 125.244140625, 53.173828125, -13.623046875, -1.7353579998016357, 80.947265625], "max": [-5.625, 125.419921875, 53.173828125, -13.095703125, -1.7353579998016357, 80.947265625], "mean": [-7.3506574630737305, 125.38187408447266, 53.173828125, -13.507823944091797, -1.7353549003601074, 80.947265625], "std": [0.8912009000778198, 0.07206657528877258, 0.0, 0.21563050150871277, 3.0994415283203125e-06, 0.0], "count": [164]}, "observation.state": {"min": [-7.294921875, 121.640625, 51.591796875, -13.447265625, -1.3427561521530151, 83.671875], "max": [-6.591796875, 121.640625, 51.85546875, -13.447265625, -1.3427561521530151, 83.671875], "mean": [-7.159334659576416, 121.640625, 51.6357421875, -13.447265625, -1.3427573442459106, 83.671875], "std": [0.27544066309928894, 0.0, 0.09778419137001038, 0.0, 1.1920928955078125e-06, 0.0], "count": [164]}, "observation.images.laptop": {"min": [[[0.28627450980392155]], [[0.28627450980392155]], [[0.2901960784313726]]], "max": [[[0.807843137254902]], [[0.8235294117647058]], [[0.8156862745098039]]], "mean": [[[0.5524766421568628]], [[0.5589563562091503]], [[0.5462081290849673]]], "std": [[[0.10139786209986744]], [[0.10366565300384115]], [[0.10743098030010088]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9803921568627451]], [[1.0]]], "mean": [[[0.5044405821078431]], [[0.4915703778594771]], [[0.49962119281045747]]], "std": [[[0.238366150099227]], [[0.27069528355065287]], [[0.26038324251400896]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [5.433333333333334], "mean": [2.7166666666666663], "std": [1.5780613986083616], "count": [164]}, "frame_index": {"min": [0], "max": [163], "mean": [81.5], "std": [47.341841958250846], "count": [164]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [164]}, "index": {"min": [33], "max": [196], "mean": [114.5], "std": [47.341841958250846], "count": [164]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [164]}}}
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meta/info.json
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{
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"train": "0:2"
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"features": {
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"names": [
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"main_wrist_roll",
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"main_gripper",
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
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videos/chunk-000/observation.images.laptop/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:55fd36eceea89bb4501de67921034f87cebd43ee24277ad885e5000843166746
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size 39621
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videos/chunk-000/observation.images.laptop/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:622a4cb4962a83c25e306bfb042220e0f41775e7a0ea0c7bc13ec3f089ddc33d
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size 196217
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videos/chunk-000/observation.images.phone/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 236252
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videos/chunk-000/observation.images.phone/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 1410358
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