Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d22f2317e228fefb3c81261b3eb9aae8e7ecea6a77be1b9692417a5eb8340e0
+size 151066

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:433371bc8ec767134c9b935276341a54c415dbf921fba9f2ad7b750913c6c5a2
+size 148701

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bf9a82da415b75c414e67d7c7baf0539bd9e87a34b010384fd9efa604cbd35b
+size 147027

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a7033257bf49dbbcced73288f274990bd60b39c5a1512a73d780f70d0d53cce
+size 146701

data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83ec61edcef38d9024397df3a900f5369d002eff0362e17e671fb4790b873b18
+size 147114

meta/episodes.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 2201}
+{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 2141}
+{"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 2138}
+{"episode_index": 3, "tasks": ["Grasp a lego block and put it in the bin."], "length": 2167}
+{"episode_index": 4, "tasks": ["Grasp a lego block and put it in the bin."], "length": 2148}

meta/episodes_stats.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "stats": {"action": {"min": [-36.22273254394531, 38.98664855957031, 30.787315368652344, 46.53380584716797, 129.538330078125, -0.6151008605957031], "max": [95.32310485839844, 187.6925506591797, 172.3021240234375, 93.01831817626953, 182.55404663085938, 54.00819396972656], "mean": [11.677781105041504, 108.82186889648438, 92.01643371582031, 75.62952423095703, 159.0911407470703, 13.692130088806152], "std": [30.45187759399414, 42.675628662109375, 37.11404037475586, 11.951141357421875, 12.534847259521484, 17.12369155883789], "count": [2201]}, "observation.state": {"min": [-36.123046875, 38.14453125, 35.15625, 47.109375, 129.55078125, 1.005867600440979], "max": [95.009765625, 187.646484375, 172.6171875, 93.1640625, 182.197265625, 53.39480209350586], "mean": [11.68034839630127, 107.4086685180664, 93.54857635498047, 75.88312530517578, 159.14366149902344, 15.391861915588379], "std": [30.492733001708984, 43.54475402832031, 36.94636917114258, 11.938957214355469, 12.530604362487793, 16.126686096191406], "count": [2201]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.381080695920632]], [[0.5201536176776007]], [[0.6431548094445463]]], "std": [[[0.2908925708750551]], [[0.30069643764397924]], [[0.34730274093448743]]], "count": [321]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3116723678048582]], [[0.5617673725642905]], [[0.7547815751430375]]], "std": [[[0.2501351182640966]], [[0.27029828135390205]], [[0.3419768462029157]]], "count": [321]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3230075158308391]], [[0.6338834339940544]], [[0.8606288253619204]]], "std": [[[0.20570741129255946]], [[0.21985511789736772]], [[0.2814120514812388]]], "count": [321]}, "timestamp": {"min": [0.0], "max": [73.33333333333333], "mean": [36.66666666666667], "std": [21.17913018883343], "count": [2201]}, "frame_index": {"min": [0], "max": [2200], "mean": [1100.0], "std": [635.3739056650029], "count": [2201]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2201]}, "index": {"min": [0], "max": [2200], "mean": [1100.0], "std": [635.3739056650029], "count": [2201]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2201]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-42.425018310546875, 29.258270263671875, 3.9544677734375, 44.56322479248047, 98.86544036865234, -0.47275304794311523], "max": [97.9852523803711, 187.50953674316406, 172.6561279296875, 93.09280395507812, 194.31619262695312, 59.14277648925781], "mean": [3.1715047359466553, 99.11642456054688, 80.5433120727539, 78.62142181396484, 153.80189514160156, 15.822821617126465], "std": [29.434215545654297, 45.096649169921875, 42.503868103027344, 12.664493560791016, 26.075908660888672, 18.241519927978516], "count": [2141]}, "observation.state": {"min": [-41.923828125, 28.30078125, 8.173828125, 45.0, 99.404296875, 0.7544006705284119], "max": [97.734375, 187.55859375, 172.6171875, 93.1640625, 193.974609375, 58.75942611694336], "mean": [3.2797038555145264, 97.79277801513672, 82.27464294433594, 78.7867202758789, 153.79855346679688, 16.80609703063965], "std": [29.589031219482422, 46.03881072998047, 42.263248443603516, 12.67554759979248, 26.069595336914062, 17.583620071411133], "count": [2141]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36743487859581203]], [[0.5081751319158236]], [[0.6403966386182923]]], "std": [[[0.2986509655536875]], [[0.3056767883334149]], [[0.346897894505996]]], "count": [314]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2946334919185296]], [[0.551080145367595]], [[0.7454293742974897]]], "std": [[[0.25142078078139796]], [[0.2790235939773518]], [[0.35097256213429645]]], "count": [314]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29853061123600183]], [[0.6206553614545606]], [[0.8546950240154448]]], "std": [[[0.21664069093862254]], [[0.22605830880448055]], [[0.28482079417545386]]], "count": [314]}, "timestamp": {"min": [0.0], "max": [71.33333333333333], "mean": [35.666666666666664], "std": [20.601779858384404], "count": [2141]}, "frame_index": {"min": [0], "max": [2140], "mean": [1070.0], "std": [618.0533957515321], "count": [2141]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2141]}, "index": {"min": [2201], "max": [4341], "mean": [3271.0], "std": [618.0533957515321], "count": [2141]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2141]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-65.45037841796875, 44.33213806152344, 41.99175262451172, 29.127601623535156, 127.75450134277344, -0.40012645721435547], "max": [64.36872100830078, 187.014404296875, 172.19747924804688, 93.28866577148438, 198.08607482910156, 56.502723693847656], "mean": [-14.034551620483398, 92.99720764160156, 87.9994888305664, 73.42591857910156, 166.14804077148438, 20.973684310913086], "std": [18.670364379882812, 26.852649688720703, 23.904163360595703, 12.99046516418457, 12.938982963562012, 18.038785934448242], "count": [2138]}, "observation.state": {"min": [-65.126953125, 44.033203125, 45.17578125, 29.53125, 128.056640625, 1.005867600440979], "max": [64.16015625, 186.6796875, 172.529296875, 93.076171875, 197.666015625, 56.077117919921875], "mean": [-14.057977676391602, 91.2755126953125, 89.54896545410156, 73.54649353027344, 166.18360900878906, 21.241870880126953], "std": [18.724225997924805, 27.6711368560791, 23.88217544555664, 12.95476245880127, 12.897221565246582, 17.6866455078125], "count": [2138]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3766823814318721]], [[0.4949098419091628]], [[0.6224250785770783]]], "std": [[[0.2922721524375891]], [[0.3071384882231346]], [[0.3481623188026579]]], "count": [314]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34142635935743726]], [[0.5669037222638524]], [[0.7472427465811166]]], "std": [[[0.2368479310355705]], [[0.2677633823762817]], [[0.336632817727901]]], "count": [314]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32030846121622747]], [[0.622923693721119]], [[0.8602080991632322]]], "std": [[[0.19269993593792425]], [[0.21943766903809117]], [[0.27631291216422166]]], "count": [314]}, "timestamp": {"min": [0.0], "max": [71.23333333333333], "mean": [35.61666666666667], "std": [20.572912341771694], "count": [2138]}, "frame_index": {"min": [0], "max": [2137], "mean": [1068.5], "std": [617.1873702531509], "count": [2138]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2138]}, "index": {"min": [4342], "max": [6479], "mean": [5410.5], "std": [617.1873702531509], "count": [2138]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2138]}}}
+{"episode_index": 3, "stats": {"action": {"min": [-10.628055572509766, 28.06371307373047, -0.47061920166015625, 51.32524108886719, 119.84332275390625, -0.4280228614807129], "max": [92.94011688232422, 187.85968017578125, 173.10499572753906, 93.08768463134766, 179.3935546875, 40.2047119140625], "mean": [13.824785232543945, 83.7688980102539, 60.769317626953125, 80.15995025634766, 142.23329162597656, 13.5973539352417], "std": [18.4639892578125, 53.09990692138672, 52.76810073852539, 10.219950675964355, 15.505518913269043, 14.555529594421387], "count": [2167]}, "observation.state": {"min": [-10.546875, 26.71875, 2.98828125, 52.119140625, 120.322265625, 1.005867600440979], "max": [92.63671875, 187.822265625, 172.96875, 93.427734375, 179.12109375, 39.899410247802734], "mean": [13.85869312286377, 81.97650909423828, 62.60730743408203, 80.43268585205078, 142.24908447265625, 14.631559371948242], "std": [18.505821228027344, 53.992671966552734, 52.480201721191406, 10.201372146606445, 15.559890747070312, 13.803539276123047], "count": [2167]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3351363303076225]], [[0.4826750447155729]], [[0.6246821437960042]]], "std": [[[0.3107724587185329]], [[0.31510446967756295]], [[0.35533588292340856]]], "count": [317]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2836128572091297]], [[0.5410039612585307]], [[0.7385335759829694]]], "std": [[[0.2490118525156154]], [[0.27566640201593084]], [[0.34554767604458125]]], "count": [317]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.28715153811261623]], [[0.6163899462124492]], [[0.8561681357085421]]], "std": [[[0.21551254454257104]], [[0.22991762063888177]], [[0.29131691436104257]]], "count": [317]}, "timestamp": {"min": [0.0], "max": [72.2], "mean": [36.1], "std": [20.85196500199548], "count": [2167]}, "frame_index": {"min": [0], "max": [2166], "mean": [1083.0], "std": [625.5589500598645], "count": [2167]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2167]}, "index": {"min": [6480], "max": [8646], "mean": [7563.0], "std": [625.5589500598645], "count": [2167]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2167]}}}
+{"episode_index": 4, "stats": {"action": {"min": [-38.62518310546875, 35.91984558105469, 14.603706359863281, 47.91450500488281, 126.33451080322266, -0.6049604415893555], "max": [88.6524429321289, 187.4212188720703, 172.26287841796875, 93.34368896484375, 182.01229858398438, 47.241416931152344], "mean": [-5.014278888702393, 86.69842529296875, 71.9698257446289, 74.09455871582031, 166.1857452392578, 16.84988021850586], "std": [16.786561965942383, 33.621253967285156, 29.786514282226562, 12.18084716796875, 10.923820495605469, 15.651139259338379], "count": [2148]}, "observation.state": {"min": [-38.3203125, 36.298828125, 17.9296875, 48.515625, 126.474609375, 0.7544006705284119], "max": [88.41796875, 187.294921875, 172.6171875, 93.33984375, 182.021484375, 46.77284240722656], "mean": [-4.912382125854492, 84.98316955566406, 73.74528503417969, 74.38059997558594, 166.2007293701172, 17.2051944732666], "std": [17.100393295288086, 34.214290618896484, 29.558210372924805, 12.17207145690918, 10.907655715942383, 15.195296287536621], "count": [2148]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3820664202718124]], [[0.5159533807967631]], [[0.64747790745928]]], "std": [[[0.2993329825045863]], [[0.3041149831155399]], [[0.3453823324280649]]], "count": [315]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3482429433810561]], [[0.5640420699761386]], [[0.7330990494345887]]], "std": [[[0.2391085403982429]], [[0.2735919408228057]], [[0.3461258055210088]]], "count": [315]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3507076933551198]], [[0.639059711847702]], [[0.8536721275547255]]], "std": [[[0.19472814341459518]], [[0.213778225730928]], [[0.26647634005517395]]], "count": [315]}, "timestamp": {"min": [0.0], "max": [71.56666666666666], "mean": [35.78333333333333], "std": [20.669137397113136], "count": [2148]}, "frame_index": {"min": [0], "max": [2147], "mean": [1073.5], "std": [620.074121913394], "count": [2148]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [2148]}, "index": {"min": [8647], "max": [10794], "mean": [9720.5], "std": [620.074121913394], "count": [2148]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2148]}}}

meta/info.json

@@ -0,0 +1,150 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 5,
+    "total_frames": 10795,
+    "total_tasks": 1,
+    "total_videos": 15,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:5"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.images.base": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}

videos/chunk-000/observation.images.base/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5cbb65f098b1cdc28433202b637cc24a67399eb9e4f74adac9e74a74cebc5fa
+size 35926295

videos/chunk-000/observation.images.base/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:237e443f936f71c67165e1ad8aa1845e8a60d10ddc2b60388a373f5b0035c1b9
+size 33329480

videos/chunk-000/observation.images.base/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21706039089a6c99af16638ce4f9279e4ea846ec2a89a3422cbc9ac8bcedf91d
+size 34201044

videos/chunk-000/observation.images.base/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56a92339553484a6b1d72523a1dce5c961eea06514b7e6b7c707a33158df630
+size 33875654

videos/chunk-000/observation.images.base/episode_000004.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eb610339c7e8c1cccbda733635ccb9381196e96a25c3eefb10026a8ce528f53
+size 35477230

videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e0f989d0eccb133443715fd2411a146e59023c017b4077ec10f18f1f3428f15
+size 75337136

videos/chunk-000/observation.images.head/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f88491ced4be0f830c217b852910f092834a9d85fb4dc09766131283d973d673
+size 69962889

videos/chunk-000/observation.images.head/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb66eb8113f1b97be24643bdc2f70c3a860c8091725df3bdcaf411bc4a19057d
+size 73932117

videos/chunk-000/observation.images.head/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e805231437b0823e178cba32e08130d54184472e46f0608e33e16d8840712af
+size 69304431

videos/chunk-000/observation.images.head/episode_000004.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:555b96b915838a622f11b7efa43f09828b247918c94c5097e45fb845db8f74ea
+size 74007624

videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50c0fc75e67b023bb2c7b2492447030a81149e234317c23d74de95dd2023d891
+size 34441882

videos/chunk-000/observation.images.wrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7907abbe1534283dd60b206eb994f10d9648418ccff86c8c8811e4c994aa0d81
+size 35193746

videos/chunk-000/observation.images.wrist/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b87cee7c57309cda3b857f2999e10533866b5727df73c7a22fcea79e900c225e
+size 40802738

videos/chunk-000/observation.images.wrist/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46785cc6e1695145206be4a5dd68c1dae002b2df14eabb99f52ccd7e90e242b5
+size 38842617

videos/chunk-000/observation.images.wrist/episode_000004.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:724616bbb0a06f6533b9a2ad28caeeda2232e290ae7946da3c02aab0077fb55b
+size 39552184