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:e0f85feb883183c61f023beb07246ca4bb04d2bea516431f447e5d5086bcb6d5
+size 36929

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27096a44ccd95a694428af3c912a4a0f391186ff64c0a3864ed9b136f04c74b1
+size 57864

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05e891b03b7c022bc5a158b6b702a35fa177b1e65747bfca19e08237fba081da
+size 72558

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73cd94e71b9116c167692e5777f9dee54ee5b8a463d1fd6fc5271913262c8595
+size 39017

data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d495431b1f35b266644816593e4020514aa030dbb7cd2f6f3b50a04b4255b5e6
+size 72296

meta/episodes.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "tasks": ["Grasp the red ball block and put it in the bin."], "length": 498}
+{"episode_index": 1, "tasks": ["Grasp the red ball block and put it in the bin."], "length": 814}
+{"episode_index": 2, "tasks": ["Grasp the red ball block and put it in the bin."], "length": 1049}
+{"episode_index": 3, "tasks": ["Grasp the red ball block and put it in the bin."], "length": 525}
+{"episode_index": 4, "tasks": ["Grasp the red ball block and put it in the bin."], "length": 1046}

meta/episodes_stats.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "stats": {"action": {"min": [-4.950745582580566, 58.53564453125, 50.109832763671875, 44.86833190917969, 130.74258422851562, -0.2554354667663574], "max": [86.4367904663086, 187.1464080810547, 173.41256713867188, 93.14114379882812, 177.13758850097656, 56.41889572143555], "mean": [14.894147872924805, 123.28361511230469, 103.6835708618164, 74.60790252685547, 159.1610107421875, 12.086529731750488], "std": [23.335935592651367, 48.79457473754883, 43.894718170166016, 11.255474090576172, 11.854089736938477, 19.482027053833008], "count": [498]}, "observation.state": {"min": [-5.009765625, 58.974609375, 52.470703125, 46.0546875, 130.78125, 0.6705783605575562], "max": [86.220703125, 187.91015625, 176.220703125, 93.076171875, 176.66015625, 56.077117919921875], "mean": [14.879812240600586, 122.62504577636719, 104.94621276855469, 74.83494567871094, 159.18060302734375, 12.682912826538086], "std": [23.291580200195312, 49.280067443847656, 43.81952667236328, 11.21136474609375, 11.764330863952637, 19.054000854492188], "count": [498]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3625273148148148]], [[0.47525961328976035]], [[0.5894979147214442]]], "std": [[[0.32867380710440625]], [[0.3076782814594475]], [[0.33777683054495417]]], "count": [105]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3184315690164955]], [[0.560696860410831]], [[0.7642841581076876]]], "std": [[[0.2841116207330246]], [[0.2658565215326701]], [[0.3304484747563996]]], "count": [105]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34178487978524746]], [[0.6207325027233116]], [[0.8264936935885466]]], "std": [[[0.2254355932337687]], [[0.20694416516350808]], [[0.2656940536640737]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.566666666666666], "mean": [8.283333333333333], "std": [4.791997573115072], "count": [498]}, "frame_index": {"min": [0], "max": [497], "mean": [248.5], "std": [143.75992719345217], "count": [498]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [498]}, "index": {"min": [0], "max": [497], "mean": [248.5], "std": [143.75992719345217], "count": [498]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [498]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-22.298526763916016, 49.806541442871094, 42.19657897949219, 28.07263946533203, 130.89566040039062, -0.9504051208496094], "max": [101.09801483154297, 188.72268676757812, 173.1473846435547, 93.63253784179688, 181.21044921875, 55.687896728515625], "mean": [14.956618309020996, 110.87088012695312, 91.80262756347656, 70.7266616821289, 159.35304260253906, 15.583961486816406], "std": [27.479158401489258, 48.72837448120117, 42.8689079284668, 15.055293083190918, 11.228676795959473, 20.262351989746094], "count": [814]}, "observation.state": {"min": [-22.412109375, 48.955078125, 45.087890625, 29.091796875, 131.1328125, 0.16764459013938904], "max": [101.162109375, 188.876953125, 172.96875, 93.515625, 181.142578125, 55.40653991699219], "mean": [14.940110206604004, 110.01321411132812, 93.24099731445312, 71.06111145019531, 159.41891479492188, 16.921937942504883], "std": [27.4874324798584, 49.30587387084961, 42.57782745361328, 15.03369426727295, 11.229225158691406, 19.46345329284668], "count": [814]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3495649872613519]], [[0.4819747417333161]], [[0.6014314343610251]]], "std": [[[0.32817247292255997]], [[0.29889137782063485]], [[0.3245242552075374]]], "count": [152]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31041426809210526]], [[0.5539709832946337]], [[0.7566292475597696]]], "std": [[[0.28123895038637003]], [[0.2623457941098746]], [[0.32122840070273057]]], "count": [152]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3512507686188511]], [[0.6023923302051083]], [[0.7937942627708978]]], "std": [[[0.25191628401409627]], [[0.21714729703980273]], [[0.275880088062296]]], "count": [152]}, "timestamp": {"min": [0.0], "max": [27.1], "mean": [13.55], "std": [7.832712741374402], "count": [814]}, "frame_index": {"min": [0], "max": [813], "mean": [406.5], "std": [234.98138224123204], "count": [814]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [814]}, "index": {"min": [498], "max": [1311], "mean": [904.5], "std": [234.98138224123204], "count": [814]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [814]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-14.258008003234863, 33.67332458496094, 22.407669067382812, 37.76762390136719, 128.20907592773438, -0.3234438896179199], "max": [101.95108795166016, 188.2058868408203, 173.3026580810547, 93.31260681152344, 181.3612518310547, 52.439483642578125], "mean": [20.162094116210938, 111.3651351928711, 93.84335327148438, 73.24197387695312, 156.3008270263672, 14.210331916809082], "std": [24.70063591003418, 53.7285041809082, 49.65790557861328, 12.097055435180664, 13.382612228393555, 18.950807571411133], "count": [1049]}, "observation.state": {"min": [-14.326171875, 32.958984375, 25.83984375, 38.935546875, 128.583984375, 0.8382229804992676], "max": [101.77734375, 188.0859375, 172.96875, 93.603515625, 181.142578125, 52.13747024536133], "mean": [20.172029495239258, 110.64453125, 95.21285247802734, 73.56529998779297, 156.36878967285156, 15.412769317626953], "std": [24.684951782226562, 54.412506103515625, 49.24534606933594, 12.02984619140625, 13.40185832977295, 18.263935089111328], "count": [1049]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33932568401001706]], [[0.4855120151321398]], [[0.6124975545698352]]], "std": [[[0.3289365634779448]], [[0.3057303951919028]], [[0.33965074701557746]]], "count": [184]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2958702234743535]], [[0.5497233444781898]], [[0.7508635054791843]]], "std": [[[0.2832115985201183]], [[0.26479080256194865]], [[0.3220850816502651]]], "count": [184]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3391520529180875]], [[0.6104290636544473]], [[0.8170654371803069]]], "std": [[[0.2348712055989166]], [[0.21117657739473583]], [[0.2659947319976461]]], "count": [184]}, "timestamp": {"min": [0.0], "max": [34.93333333333333], "mean": [17.466666666666665], "std": [10.094002619817815], "count": [1049]}, "frame_index": {"min": [0], "max": [1048], "mean": [524.0], "std": [302.82007859453444], "count": [1049]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1049]}, "index": {"min": [1312], "max": [2360], "mean": [1836.0], "std": [302.82007859453444], "count": [1049]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1049]}}}
+{"episode_index": 3, "stats": {"action": {"min": [-4.271658897399902, 18.803192138671875, -13.128715515136719, 32.67582702636719, 135.52264404296875, -0.6253409385681152], "max": [100.14269256591797, 188.3772735595703, 173.38992309570312, 92.69612884521484, 179.8030548095703, 43.9823112487793], "mean": [26.478818893432617, 117.83756256103516, 91.9413833618164, 72.93095397949219, 158.13720703125, 8.685126304626465], "std": [31.095966339111328, 61.565208435058594, 61.95116424560547, 11.751818656921387, 15.467535018920898, 14.1702241897583], "count": [525]}, "observation.state": {"min": [-4.130859375, 17.578125, -9.140625, 33.837890625, 135.791015625, 1.005867600440979], "max": [100.01953125, 188.61328125, 173.232421875, 92.8125, 179.296875, 43.336124420166016], "mean": [26.488727569580078, 116.72594451904297, 93.5030517578125, 73.24893188476562, 158.1643524169922, 11.362173080444336], "std": [31.062911987304688, 62.52679443359375, 61.2681999206543, 11.674324989318848, 15.471322059631348, 13.36569595336914], "count": [525]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33167062046531154]], [[0.49177834367692036]], [[0.61537699001619]]], "std": [[[0.32595786827580786]], [[0.3081608614533092]], [[0.33959508003163436]]], "count": [109]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2719050638604065]], [[0.5486718084787431]], [[0.7611377064969719]]], "std": [[[0.2826379137300705]], [[0.2625488022011268]], [[0.3203354258709249]]], "count": [109]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3245367197337651]], [[0.5999837182197038]], [[0.8100262562211429]]], "std": [[[0.2750079963886387]], [[0.22718792911601945]], [[0.28026922645146474]]], "count": [109]}, "timestamp": {"min": [0.0], "max": [17.466666666666665], "mean": [8.733333333333333], "std": [5.051805691110926], "count": [525]}, "frame_index": {"min": [0], "max": [524], "mean": [262.0], "std": [151.5541707333278], "count": [525]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [525]}, "index": {"min": [2361], "max": [2885], "mean": [2623.0], "std": [151.5541707333278], "count": [525]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [525]}}}
+{"episode_index": 4, "stats": {"action": {"min": [-6.768130302429199, 11.082046508789062, -23.176612854003906, 36.16414260864258, 135.87911987304688, -0.6315493583679199], "max": [100.17179107666016, 187.69972229003906, 172.9143524169922, 93.82947540283203, 181.6607666015625, 55.054718017578125], "mean": [32.77976989746094, 93.30255126953125, 72.47862243652344, 71.07305145263672, 153.68301391601562, 15.718792915344238], "std": [24.720901489257812, 56.496421813964844, 55.19483184814453, 11.275184631347656, 12.009634971618652, 21.003705978393555], "count": [1046]}, "observation.state": {"min": [-6.767578125, 9.755859375, -19.16015625, 37.353515625, 136.40625, 0.5029338002204895], "max": [99.931640625, 187.55859375, 172.880859375, 93.955078125, 181.494140625, 54.56831359863281], "mean": [32.77579116821289, 92.09412384033203, 74.15704345703125, 71.37252044677734, 153.70973205566406, 17.073993682861328], "std": [24.732158660888672, 57.31259536743164, 54.65787887573242, 11.199889183044434, 12.023456573486328, 20.199565887451172], "count": [1046]}, "observation.images.base": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33365473208864604]], [[0.4968835639219258]], [[0.637965979811779]]], "std": [[[0.32621236260835695]], [[0.29550668420212295]], [[0.3351982648493231]]], "count": [183]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.28169770906996683]], [[0.5604481488178149]], [[0.7788166463534412]]], "std": [[[0.27158827788496864]], [[0.25781011807441495]], [[0.32546142728447935]]], "count": [183]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32936969847137393]], [[0.595103678926033]], [[0.810873397264188]]], "std": [[[0.2933815270863123]], [[0.2239184898810529]], [[0.28495623310466606]]], "count": [183]}, "timestamp": {"min": [0.0], "max": [34.833333333333336], "mean": [17.416666666666668], "std": [10.065135093203889], "count": [1046]}, "frame_index": {"min": [0], "max": [1045], "mean": [522.5], "std": [301.9540527961166], "count": [1046]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1046]}, "index": {"min": [2886], "max": [3931], "mean": [3408.5], "std": [301.9540527961166], "count": [1046]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1046]}}}

meta/info.json

@@ -0,0 +1,150 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 5,
+    "total_frames": 3932,
+    "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 the red ball 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 sha256:0ea3d08356ce10dab0f3a3def892968680af40df9d3091ef31ce1f350a844fbd
+size 8148387

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:662f654af63663e232a79d29369d81ce6d056f237c6b3fbe023a31977e7dbb29
+size 14077743

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1614b4a2b2dc333678e27a5094fb5370ce6691e8d7ccb2630acb3ff25bafb304
+size 18852848

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e30f36d5624a65ad758c7caf6afa60c7263c59df5baf0cab5205df5d9448f83e
+size 8934354

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba184c517c0d37e56445447f682cded3896868be976b18ce39236cdb6192522
+size 19444377

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1eb7e07404189f55b8d9eaa2f9b907e618024ebeb47f593798c587690933c7
+size 16381589

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e1072cb3c6e9a763fe2d0a0b191b3ac6ae305a6ee7ce7ea5a64c3f8040411d6
+size 27238442

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:739baf2c149b7880f6df877463f6d6264dfd9586286f7ac707462aa878b4caf6
+size 35780803

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffb0213b5c97179bc3bc26774df0772f7739b9d9a67a99a91e62e6000839c384
+size 17582316

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8fc91263bb29575e453211d17decff5a74f82efc3952cd17855879779663f21
+size 36505135

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ba2a032a05614fa08b97e8a0d06d38662787c37f41f3aa03b422cedf7c314e
+size 7831941

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:039ae684be1afaa18ef36a862ded3a0d0dfb3e3c7f95068fc8d7f49a347be4ce
+size 12578270

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:926f480a0cd31f428f09485daacdbc0b36af5fce0758965c684e4ea15887a16b
+size 17238672

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a39dd953907f36f06ac51c993ead72e6a9e32e0b72cfd6a09d86f94b9b9fcf8c
+size 7573478

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af041e6f9e7052f1410419e3f65ed32f5f5eb5295c33575e2708688a9c26aabc
+size 15476821