Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ff63a79a3acdd9f8ca18f4de713aed3fc3273a6626da8104babb0ae12a24822
+size 23966

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e78cdcc775ea83927ac3f27543a071906d1e220a833e60aefbdd7781365b9bc
+size 24773

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d87c52a1dceee5ca9adfb2da12c48a7679d53351235a6dbb8dbf014277620cb0
+size 27841

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde4d73d7f3ea31b9383694d981462ce9866bc59c503dbf684936dbcbed8a06d
+size 24056

data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43a90fe64d7044485dcfa734b7cd3ccc94633586f9e97b3068f6607d1da6a031
+size 27345

meta/episodes.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "tasks": ["Grasp the yellow block and put it in the green bin."], "length": 441}
+{"episode_index": 1, "tasks": ["Grasp the yellow block and put it in the green bin."], "length": 487}
+{"episode_index": 2, "tasks": ["Grasp the yellow block and put it in the green bin."], "length": 524}
+{"episode_index": 3, "tasks": ["Grasp the yellow block and put it in the green bin."], "length": 483}
+{"episode_index": 4, "tasks": ["Grasp the yellow block and put it in the green bin."], "length": 545}

meta/episodes_stats.jsonl

@@ -0,0 +1,5 @@
+{"episode_index": 0, "stats": {"action": {"min": [-24.2578125, 67.8515625, 11.953125, 45.087890625, 145.283203125, -0.11185682564973831], "max": [10.8984375, 186.767578125, 172.353515625, 91.93359375, 190.107421875, 46.53243637084961], "mean": [-6.241031646728516, 140.67425537109375, 120.4604263305664, 69.22492980957031, 169.7417755126953, 7.5108819007873535], "std": [11.034998893737793, 47.77496337890625, 50.56211471557617, 11.792067527770996, 12.372405052185059, 14.645444869995117], "count": [441]}, "observation.state": {"min": [-24.345703125, 66.97265625, 14.58984375, 47.900390625, 145.634765625, 0.7544006705284119], "max": [10.986328125, 186.767578125, 173.056640625, 91.40625, 189.66796875, 45.68315124511719], "mean": [-6.2216997146606445, 140.0125274658203, 121.57488250732422, 69.3955307006836, 169.76927185058594, 9.669974327087402], "std": [11.064014434814453, 48.18644714355469, 50.03086853027344, 11.615468978881836, 12.329493522644043, 13.853261947631836], "count": [441]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31853018586601306]], [[0.5751175449346405]], [[0.796410714869281]]], "std": [[[0.2315101120216457]], [[0.2104025621840397]], [[0.3027400541901899]]], "count": [100]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.28696074959150325]], [[0.5505403186274509]], [[0.7608477246732026]]], "std": [[[0.2556768294609517]], [[0.25257376367746587]], [[0.3290100479555519]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.666666666666666], "mean": [7.333333333333333], "std": [4.243513568660693], "count": [441]}, "frame_index": {"min": [0], "max": [440], "mean": [220.0], "std": [127.30540705982078], "count": [441]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [441]}, "index": {"min": [0], "max": [440], "mean": [220.0], "std": [127.30540705982078], "count": [441]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [441]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-3.8671875, 80.068359375, 48.603515625, 24.873046875, 148.88671875, -0.11185682564973831], "max": [25.576171875, 186.767578125, 172.353515625, 92.109375, 179.6484375, 44.74272918701172], "mean": [7.511129379272461, 146.14224243164062, 130.9659423828125, 63.9542350769043, 167.24774169921875, 6.241697311401367], "std": [6.965623378753662, 45.2140998840332, 42.17909240722656, 14.679281234741211, 7.759417533874512, 13.158968925476074], "count": [487]}, "observation.state": {"min": [-3.603515625, 79.189453125, 50.80078125, 25.927734375, 149.765625, 0.7544006705284119], "max": [25.576171875, 186.416015625, 172.705078125, 91.7578125, 178.681640625, 43.5037727355957], "mean": [7.509324550628662, 145.45034790039062, 131.83554077148438, 64.1159439086914, 167.18112182617188, 7.873265266418457], "std": [6.950531482696533, 45.5653076171875, 41.60624694824219, 14.473959922790527, 7.639514446258545, 12.680363655090332], "count": [487]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.28546484350212575]], [[0.5717625721809759]], [[0.8109115525255409]]], "std": [[[0.25366181529774073]], [[0.2178452369517295]], [[0.29451231140277195]]], "count": [103]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.276826757725744]], [[0.572884032536963]], [[0.7865192330573006]]], "std": [[[0.25764348909386486]], [[0.24819459684209508]], [[0.3210633245229037]]], "count": [103]}, "timestamp": {"min": [0.0], "max": [16.2], "mean": [8.1], "std": [4.686149805543993], "count": [487]}, "frame_index": {"min": [0], "max": [486], "mean": [243.0], "std": [140.5844941663198], "count": [487]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [487]}, "index": {"min": [441], "max": [927], "mean": [684.0], "std": [140.5844941663198], "count": [487]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [487]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-46.7578125, 35.244140625, 16.259765625, 38.3203125, 147.216796875, 0.0], "max": [44.6484375, 186.767578125, 172.353515625, 92.109375, 193.623046875, 51.677852630615234], "mean": [-2.402399778366089, 129.6791229248047, 100.77188873291016, 79.25296783447266, 169.41233825683594, 6.5901594161987305], "std": [26.68914794921875, 59.33548355102539, 64.21942138671875, 13.058263778686523, 9.765190124511719, 14.200478553771973], "count": [524]}, "observation.state": {"min": [-46.845703125, 34.541015625, 18.369140625, 40.341796875, 147.744140625, 0.9220452904701233], "max": [44.736328125, 186.85546875, 172.705078125, 92.021484375, 190.283203125, 50.71249008178711], "mean": [-2.4079346656799316, 128.76756286621094, 101.75482940673828, 79.34241485595703, 169.3370819091797, 8.552254676818848], "std": [26.697877883911133, 59.962066650390625, 63.67060470581055, 12.957144737243652, 9.624044418334961, 13.483263969421387], "count": [524]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3476474729417761]], [[0.573951669964622]], [[0.7792362741350363]]], "std": [[[0.2536255088113732]], [[0.2165986168957587]], [[0.28693600501463007]]], "count": [109]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.28340750921928404]], [[0.5590304742309768]], [[0.7747025019487918]]], "std": [[[0.25493209876439876]], [[0.24905794557006344]], [[0.32275053167856643]]], "count": [109]}, "timestamp": {"min": [0.0], "max": [17.433333333333334], "mean": [8.716666666666665], "std": [5.042183169135281], "count": [524]}, "frame_index": {"min": [0], "max": [523], "mean": [261.5], "std": [151.26549507405844], "count": [524]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [524]}, "index": {"min": [928], "max": [1451], "mean": [1189.5], "std": [151.26549507405844], "count": [524]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [524]}}}
+{"episode_index": 3, "stats": {"action": {"min": [-12.65625, 20.830078125, -5.185546875, 38.671875, 157.32421875, -0.11185682564973831], "max": [23.73046875, 186.85546875, 172.353515625, 92.548828125, 190.283203125, 45.07829666137695], "mean": [4.369237899780273, 130.8658447265625, 101.67415618896484, 77.65974426269531, 173.05369567871094, 4.573860168457031], "std": [9.398144721984863, 65.86154174804688, 76.38611602783203, 13.199080467224121, 8.185513496398926, 10.912496566772461], "count": [483]}, "observation.state": {"min": [-12.83203125, 19.775390625, -2.63671875, 40.25390625, 157.763671875, 0.8382229804992676], "max": [23.73046875, 186.416015625, 172.880859375, 92.4609375, 190.107421875, 44.09052658081055], "mean": [4.388890266418457, 129.9278564453125, 102.59532165527344, 77.89056396484375, 173.0267791748047, 6.6096415519714355], "std": [9.403071403503418, 66.58497619628906, 76.03559875488281, 13.041243553161621, 8.126967430114746, 10.442414283752441], "count": [483]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3472182760644711]], [[0.570319373056666]], [[0.7745058101719653]]], "std": [[[0.2344304558630024]], [[0.21260837016377807]], [[0.2898555836128698]]], "count": [103]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29081273002728597]], [[0.5572467954819468]], [[0.7680429476806905]]], "std": [[[0.2577635946450002]], [[0.2508116154932339]], [[0.3255204782446887]]], "count": [103]}, "timestamp": {"min": [0.0], "max": [16.066666666666666], "mean": [8.033333333333333], "std": [4.647659705781044], "count": [483]}, "frame_index": {"min": [0], "max": [482], "mean": [241.0], "std": [139.4297911734313], "count": [483]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [483]}, "index": {"min": [1452], "max": [1934], "mean": [1693.0], "std": [139.4297911734313], "count": [483]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [483]}}}
+{"episode_index": 4, "stats": {"action": {"min": [-65.21484375, 20.7421875, -5.888671875, 40.078125, 85.078125, -0.11185682564973831], "max": [14.326171875, 186.767578125, 172.353515625, 91.7578125, 180.0, 40.604026794433594], "mean": [-4.984930515289307, 129.68418884277344, 101.98976135253906, 77.9416275024414, 148.8228759765625, 5.286406993865967], "std": [22.1294002532959, 63.807064056396484, 69.16082000732422, 12.49170207977295, 33.81398391723633, 10.129151344299316], "count": [545]}, "observation.state": {"min": [-65.126953125, 19.86328125, -3.251953125, 41.30859375, 85.4296875, 0.7544006705284119], "max": [14.326171875, 186.591796875, 172.880859375, 91.40625, 179.6484375, 39.647945404052734], "mean": [-4.980092525482178, 128.83250427246094, 103.15381622314453, 78.10777282714844, 148.79681396484375, 7.374960422515869], "std": [22.15546989440918, 64.38845825195312, 68.52352142333984, 12.326379776000977, 33.76112747192383, 9.5521879196167], "count": [545]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34573034656570967]], [[0.575128833304155]], [[0.7738514129610178]]], "std": [[[0.24048428976107483]], [[0.22538820216699357]], [[0.3031763391675467]]], "count": [112]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2894397759103642]], [[0.5784404670722456]], [[0.7839095617413632]]], "std": [[[0.25611376955244847]], [[0.25119140038851845]], [[0.3248633881374081]]], "count": [112]}, "timestamp": {"min": [0.0], "max": [18.133333333333333], "mean": [9.066666666666668], "std": [5.244256117145903], "count": [545]}, "frame_index": {"min": [0], "max": [544], "mean": [272.0], "std": [157.3276835143771], "count": [545]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [545]}, "index": {"min": [1935], "max": [2479], "mean": [2207.0], "std": [157.3276835143771], "count": [545]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [545]}}}

meta/info.json

@@ -0,0 +1,127 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so100",
+    "total_episodes": 5,
+    "total_frames": 2480,
+    "total_tasks": 1,
+    "total_videos": 10,
+    "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.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
+            }
+        },
+        "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
+            }
+        },
+        "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 yellow block and put it in the green bin."}

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6de63d14278a8026e63430391c51be59e2131204e1f74a8b42165eabc8e414b5
+size 17418429

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7adbae665f5fe6df1dc27d9f2e11bebd67b3ed6a4cc4258803b5a62928da453
+size 19685498

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8199f3811be317862e644399f69304060263a358451422266d4c815d782b7d59
+size 21105198

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51847daa4f4ecde08022beccf2cb4124a4feb727c3bd2f90e4adc3003f3cbd75
+size 19556320

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:687d40126e89bb35b545bc6e2886d092b099be643ec3eceee5ece8e040d892d6
+size 21831114

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a4e3f40dbf7646e96af5c679f47683bc94eaa62757a2febcc0601ff201e9d5
+size 9722976

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0063d0cd58c59df762facd805401ec65772116fd600de0b6ceec0199917eaa09
+size 10316152

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d44d62dc61adf2b6e6458d5e4dec9a9869b497f160b2cbd4fb4f328374ca7314
+size 10868130

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad68be1f339bb5ac409835edb6f88d92a17f3531ca9058b6c8440d1cd80706a9
+size 10313433

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10e48bad2837c21be78aadd1a310ced2a387875e03c820ccbb2754fa331a7375
+size 11756250