rouillyv commited on
Commit
95dd19d
·
verified ·
1 Parent(s): b70873d

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 sha256:4e1353db4412924b2b0c5bd9d648ce779754a662f8b2c903eb62d9bd6217fe72
3
+ size 24945
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e54e1c02293e6e444c2f9c9111ce567e144ea591643301631c7c809f26f9ea06
3
+ size 24334
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:75633c77c6197b4d41a1f252297019cdfa3f49a31c2b4d998f495cf19a920c57
3
+ size 21381
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:abd8b705fe1e94a0ca8d873793f87890d97d3dc3f84af4565e7c99f04209f432
3
+ size 22433
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:248b58afeeb4145d42974ec398918393088fe794ed9d48352c4472bfdbc5c2a5
3
+ size 11753
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab and place sponge"], "length": 501}
2
+ {"episode_index": 1, "tasks": ["Grab and place sponge"], "length": 500}
3
+ {"episode_index": 2, "tasks": ["Grab and place sponge"], "length": 501}
4
+ {"episode_index": 3, "tasks": ["Grab and place sponge"], "length": 501}
5
+ {"episode_index": 4, "tasks": ["Grab and place sponge"], "length": 501}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-26.612245559692383, -99.07368469238281, -19.836585998535156, 19.860322952270508, -60.53529357910156, 0.4739336371421814], "max": [-5.469387531280518, 30.18947410583496, 100.0, 88.91313934326172, -1.0233534574508667, 42.890995025634766], "mean": [-17.577579498291016, -11.42581844329834, 8.139824867248535, 59.40026092529297, -30.607765197753906, 12.501873016357422], "std": [4.965766906738281, 49.98470687866211, 46.388118743896484, 18.906774520874023, 18.916730880737305, 16.875171661376953], "count": [501]}, "observation.state": {"min": [-26.692209243774414, -98.63945770263672, -16.613271713256836, 22.177419662475586, -59.365901947021484, 1.0834236145019531], "max": [12.473392486572266, 31.012405395507812, 100.0, 100.0, 22.41992950439453, 42.36186218261719], "mean": [-17.215381622314453, -10.935108184814453, 11.502116203308105, 60.3183479309082, -29.746030807495117, 12.380873680114746], "std": [5.80322265625, 51.184532165527344, 46.433589935302734, 18.864280700683594, 19.647363662719727, 16.352060317993164], "count": [501]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.505306158574541]], [[0.5230390522875816]], [[0.5062897661842515]]], "std": [[[0.2101731038798289]], [[0.17503941161163908]], [[0.2022024498079433]]], "count": [105]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.4758466289293495]], [[0.4562313608776844]], [[0.4458347455648926]]], "std": [[[0.2646231064914367]], [[0.25084359848998933]], [[0.25308370958003973]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.666666666666668], "mean": [8.333333333333334], "std": [4.82086514442592], "count": [501]}, "frame_index": {"min": [0], "max": [500], "mean": [250.0], "std": [144.62595433277758], "count": [501]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [501]}, "index": {"min": [0], "max": [500], "mean": [250.0], "std": [144.62595433277758], "count": [501]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [501]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-30.693878173828125, -9.642105102539062, -43.16840744018555, 49.541683197021484, -65.99317932128906, 22.51184844970703], "max": [-15.918367385864258, 49.1368408203125, 16.47753143310547, 100.0, -2.387824773788452, 42.812007904052734], "mean": [-22.019729614257812, 27.939851760864258, -34.77054977416992, 79.35738372802734, -43.5278434753418, 41.81455993652344], "std": [3.299070119857788, 14.08762264251709, 12.868104934692383, 13.646985054016113, 18.798357009887695, 3.06374192237854], "count": [500]}, "observation.state": {"min": [-30.52362632751465, -6.6026411056518555, -41.96796417236328, 51.07526779174805, -65.57748413085938, 23.293607711791992], "max": [-16.134525299072266, 49.01960754394531, 16.79633903503418, 99.73118591308594, -2.8793270587921143, 42.47020721435547], "mean": [-22.07836151123047, 29.438838958740234, -32.140071868896484, 80.30743408203125, -43.98490524291992, 41.983577728271484], "std": [3.2571346759796143, 13.148331642150879, 12.622655868530273, 13.45439624786377, 18.180416107177734, 2.44948148727417], "count": [500]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5111853018985372]], [[0.5169872237784002]], [[0.5224282310146281]]], "std": [[[0.16482124454337124]], [[0.10952283239553195]], [[0.15305822071124334]]], "count": [105]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.4946617627606598]], [[0.47302602318705256]], [[0.4603837126517274]]], "std": [[[0.2708548315812717]], [[0.2555183653887973]], [[0.25736821792211545]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.633333333333333], "mean": [8.316666666666668], "std": [4.811242620732772], "count": [500]}, "frame_index": {"min": [0], "max": [499], "mean": [249.5], "std": [144.33727862198316], "count": [500]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [500]}, "index": {"min": [501], "max": [1000], "mean": [750.5], "std": [144.33727862198316], "count": [500]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [500]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-10.448979377746582, -20.842105865478516, -43.16840744018555, 37.58184051513672, -11.939123153686523, 0.3159557580947876], "max": [43.1020393371582, 34.31578826904297, -0.04539264738559723, 98.95242309570312, 4.906848430633545, 0.789889395236969], "mean": [15.3549165725708, 5.401494979858398, -40.823665618896484, 79.72178649902344, -8.109697341918945, 0.5847706198692322], "std": [15.498385429382324, 19.243024826049805, 8.026555061340332, 13.23470687866211, 2.940563678741455, 0.1185518130660057], "count": [501]}, "observation.state": {"min": [-9.833971977233887, -19.40776252746582, -41.87643051147461, 39.91935348510742, -45.648658752441406, 2.708559036254883], "max": [43.03959274291992, 35.174068450927734, 0.045766592025756836, 98.79032135009766, 3.979294776916504, 3.1419284343719482], "mean": [15.537332534790039, 7.3598313331604, -40.29167556762695, 80.94791412353516, -8.723194122314453, 2.868813991546631], "std": [15.458552360534668, 19.2630672454834, 7.097720623016357, 12.648638725280762, 4.7838640213012695, 0.10571877658367157], "count": [501]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5136073821195145]], [[0.5375054971988795]], [[0.5218395288671024]]], "std": [[[0.27794337443782496]], [[0.2526481836501228]], [[0.27332326067093965]]], "count": [105]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.48222546490818546]], [[0.4607734165888578]], [[0.4477043203392468]]], "std": [[[0.2682619861449774]], [[0.2554829003362872]], [[0.2569846143158519]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.666666666666668], "mean": [8.333333333333334], "std": [4.82086514442592], "count": [501]}, "frame_index": {"min": [0], "max": [500], "mean": [250.0], "std": [144.62595433277758], "count": [501]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [501]}, "index": {"min": [1001], "max": [1501], "mean": [1251.0], "std": [144.62595433277758], "count": [501]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [501]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-22.85714340209961, -91.49473571777344, -48.43395233154297, 35.5739860534668, -5.589084148406982, 2.2906792163848877], "max": [55.67346954345703, 18.484210968017578, 52.428504943847656, 95.54779815673828, -2.3353450298309326, 2.2906792163848877], "mean": [-2.9946537017822266, -32.79579544067383, -0.4292117655277252, 60.21334457397461, -3.502253770828247, 2.290663003921509], "std": [25.302783966064453, 37.1236457824707, 43.85145568847656, 12.84439468383789, 1.401795506477356, 1.621246337890625e-05], "count": [501]}, "observation.state": {"min": [-22.775650024414062, -91.3565444946289, -46.9107551574707, 37.76881790161133, -5.596894264221191, 2.816901445388794], "max": [55.47041320800781, 19.087635040283203, 52.49427795410156, 95.0268783569336, -2.8146231174468994, 2.816901445388794], "mean": [-2.9683475494384766, -32.20663070678711, 1.5066320896148682, 60.79281997680664, -3.718899965286255, 2.8168952465057373], "std": [25.186750411987305, 37.50932693481445, 42.80584716796875, 12.495003700256348, 1.2534157037734985, 6.198883056640625e-06], "count": [501]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5533800303454715]], [[0.5551137760659819]], [[0.5551610371926549]]], "std": [[[0.30268474223639164]], [[0.3020457919435133]], [[0.30615950036698386]]], "count": [105]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.4873094868502957]], [[0.4656527077497666]], [[0.45164100140056024]]], "std": [[[0.2663447883799722]], [[0.25362945740591436]], [[0.2553670258534267]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.666666666666668], "mean": [8.333333333333334], "std": [4.82086514442592], "count": [501]}, "frame_index": {"min": [0], "max": [500], "mean": [250.0], "std": [144.62595433277758], "count": [501]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [501]}, "index": {"min": [1502], "max": [2002], "mean": [1752.0], "std": [144.62595433277758], "count": [501]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [501]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-13.63265323638916, -99.41053009033203, 100.0, 46.13705825805664, -2.5452637672424316, 2.2906792163848877], "max": [-13.63265323638916, -99.41053009033203, 100.0, 46.13705825805664, -2.492784023284912, 2.2906792163848877], "mean": [-13.632695198059082, -99.41023254394531, 100.0, 46.13685989379883, -2.496042013168335, 2.290663003921509], "std": [4.1961669921875e-05, 0.00029754638671875, 0.0, 0.0001983642578125, 0.012644077651202679, 1.621246337890625e-05], "count": [501]}, "observation.state": {"min": [-14.176244735717773, -99.03961944580078, 100.0, 47.71505355834961, -2.8146231174468994, 2.816901445388794], "max": [-14.091102600097656, -99.03961944580078, 100.0, 48.790321350097656, -2.8146231174468994, 2.816901445388794], "mean": [-14.163039207458496, -99.03931427001953, 100.0, 47.72052001953125, -2.8146169185638428, 2.8168952465057373], "std": [0.03086916171014309, 0.00030517578125, 0.0, 0.07208876311779022, 6.198883056640625e-06, 6.198883056640625e-06], "count": [501]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.547161828898226]], [[0.543597440087146]], [[0.5483496887643947]]], "std": [[[0.14649264402112616]], [[0.15540562485100673]], [[0.15822601230729527]]], "count": [105]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5072402699968876]], [[0.4852495467631497]], [[0.4790794992997199]]], "std": [[[0.28613082710075755]], [[0.28487778630664323]], [[0.28745031867181026]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.666666666666668], "mean": [8.333333333333334], "std": [4.82086514442592], "count": [501]}, "frame_index": {"min": [0], "max": [500], "mean": [250.0], "std": [144.62595433277758], "count": [501]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [501]}, "index": {"min": [2003], "max": [2503], "mean": [2253.0], "std": [144.62595433277758], "count": [501]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [501]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 2504,
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
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.front": {
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.top": {
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": "Grab and place sponge"}
videos/chunk-000/observation.images.front/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8425cb993d7989e5fded0b9c56d5c31be103139e1237d6d6a76002c28a649206
3
+ size 4063852
videos/chunk-000/observation.images.front/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b92bd854d7b849f503d85c49a8de742527f9ad7f5a6d7d1006945abbfcb6cdd6
3
+ size 1502042
videos/chunk-000/observation.images.front/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:50e85c71e9008985948e185546acdef7903cb8eed873adb1a1b61bc0aa4e997b
3
+ size 8059562
videos/chunk-000/observation.images.front/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f2467528f504f80db128a6c11a27f2a71a0368a093f05995ba2561e5642aa7eb
3
+ size 8362020
videos/chunk-000/observation.images.front/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:75426b25c4ace00099ee26c4285b13bd86d7622905b3c8d426dc19bb2bf593d8
3
+ size 3058351
videos/chunk-000/observation.images.top/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:455f1ed0092c29614c6de4f4bf5174342fa085958c8881846ba0ad1a65740f9e
3
+ size 4948305
videos/chunk-000/observation.images.top/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c530768e599c51fe18d77fbce9f6d65562fa56cefc4d8cd48ec905e4062384b3
3
+ size 5148604
videos/chunk-000/observation.images.top/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2c4cdcb0248da406f3fd7790a92b024de7c500eda130f70d0615fafd2a66342b
3
+ size 5044202
videos/chunk-000/observation.images.top/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:284324c7ad0f4e37136944b623148bcb7c838c4dcb62662d88cf2c5d3ef0a3f2
3
+ size 4915169
videos/chunk-000/observation.images.top/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6b98d2daa57132fd0f66016268a3e2879f7b219338135c88082335f2ea609df6
3
+ size 5930960