sancov commited on
Commit
b97930a
·
verified ·
1 Parent(s): 8b24c87

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:e5263372c83edbed8c5d99a84acf3f8745e0a45d84d4581bfe84b3b6dfa84882
3
+ size 99160
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c621152827e9eee6fa52dfe951f3abebb443d506fa8c0b2a6964ed79442d78c6
3
+ size 97959
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8669f54748ba14b524720676bc6f834e7eebcd61834e4c48246f048ab79f1cc8
3
+ size 97295
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cec5075f89a20d546453da68dd2c1ab0057446f6d7747ba896ea1a786fdd976a
3
+ size 102805
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3870b71602eece98d27be0f4d8624565616ac7cc6c2245a538a24cc1ba1ea581
3
+ size 101769
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["grab the red ring and put it on the black box"], "length": 1399}
2
+ {"episode_index": 1, "tasks": ["grab the red ring and put it on the black box"], "length": 1366}
3
+ {"episode_index": 2, "tasks": ["grab the red ring and put it on the black box"], "length": 1378}
4
+ {"episode_index": 3, "tasks": ["grab the red ring and put it on the black box"], "length": 1441}
5
+ {"episode_index": 4, "tasks": ["grab the red ring and put it on the black box"], "length": 1440}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-15.12607192993164, -100.89315795898438, -10.77750015258789, -102.38764953613281, 45.75900650024414, 1.1134014129638672], "max": [93.43115997314453, 12.144363403320312, 101.37503814697266, 86.70497131347656, 57.38994598388672, 21.908767700195312], "mean": [36.719547271728516, -35.85783767700195, 40.5501823425293, 29.860458374023438, 51.63778305053711, 10.063549041748047], "std": [35.6660270690918, 36.74065017700195, 28.41019630432129, 53.250633239746094, 2.3508808612823486, 6.388526916503906], "count": [1399]}, "observation.state": {"min": [-14.694551467895508, -99.44223022460938, -5.632582187652588, -98.224853515625, 45.986534118652344, 1.9749835729599], "max": [92.73527526855469, 13.067728996276855, 99.22010040283203, 86.5595932006836, 57.22423553466797, 21.59315299987793], "mean": [36.52294158935547, -34.627262115478516, 42.86661148071289, 30.43679428100586, 51.60347366333008, 10.985681533813477], "std": [35.57693862915039, 37.323768615722656, 27.516151428222656, 52.814422607421875, 2.3484671115875244, 5.010354042053223], "count": [1399]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5085342017472193]], [[0.5597255976952183]], [[0.5515126759402592]]], "std": [[[0.22925099116856087]], [[0.2597955869641207]], [[0.2869549148341493]]], "count": [228]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5080897286363376]], [[0.5180617295894967]], [[0.5009914072354088]]], "std": [[[0.22925062836452595]], [[0.2526283583516311]], [[0.2889538031807681]]], "count": [228]}, "timestamp": {"min": [0.0], "max": [46.6], "mean": [23.3], "std": [13.461880337539114], "count": [1399]}, "frame_index": {"min": [0], "max": [1398], "mean": [699.0], "std": [403.85641012617344], "count": [1399]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1399]}, "index": {"min": [0], "max": [1398], "mean": [699.0], "std": [403.85641012617344], "count": [1399]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1399]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-16.760143280029297, -102.02404022216797, -3.3433837890625, -100.91156005859375, 44.649383544921875, 1.072439193725586], "max": [93.01555633544922, 7.46075439453125, 100.72794342041016, 105.72259521484375, 54.643890380859375, 22.893129348754883], "mean": [28.94795799255371, -44.20982360839844, 48.64044189453125, 21.793657302856445, 49.508583068847656, 12.677918434143066], "std": [31.453475952148438, 36.78346252441406, 26.74201774597168, 55.41371536254883, 2.6252076625823975, 7.890249729156494], "count": [1366]}, "observation.state": {"min": [-16.345624923706055, -99.44223022460938, 1.386481761932373, -98.224853515625, 44.84722900390625, 1.4483212232589722], "max": [92.40505981445312, 8.60557746887207, 99.22010040283203, 98.9011001586914, 54.47954559326172, 22.4489803314209], "mean": [28.979957580566406, -43.352081298828125, 50.812904357910156, 21.74681282043457, 49.52052688598633, 13.59172534942627], "std": [31.37077522277832, 37.38712692260742, 25.725704193115234, 55.35837173461914, 2.6066136360168457, 6.594715118408203], "count": [1366]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5365971146271009]], [[0.5681359947624883]], [[0.5680079392434058]]], "std": [[[0.22760759019003607]], [[0.2584507998629976]], [[0.28957188105456055]]], "count": [224]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5132044717626634]], [[0.534427005828373]], [[0.5239507506127451]]], "std": [[[0.22040575409856814]], [[0.2480760402016699]], [[0.28658831895228204]]], "count": [224]}, "timestamp": {"min": [0.0], "max": [45.5], "mean": [22.749999999999996], "std": [13.144337606403417], "count": [1366]}, "frame_index": {"min": [0], "max": [1365], "mean": [682.5], "std": [394.3301281921025], "count": [1366]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1366]}, "index": {"min": [1399], "max": [2764], "mean": [2081.5], "std": [394.3301281921025], "count": [1366]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1366]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-23.496910095214844, -101.1897201538086, 27.025062561035156, -102.26567077636719, 44.78992462158203, 0.9663200378417969], "max": [81.34565734863281, 2.5713233947753906, 100.63397216796875, 98.08863830566406, 55.42795944213867, 17.45111083984375], "mean": [11.325712203979492, -48.59743118286133, 55.16082000732422, 21.354949951171875, 47.987022399902344, 9.67154598236084], "std": [23.687240600585938, 35.240440368652344, 23.836576461791992, 64.1725845336914, 2.4507107734680176, 4.7687458992004395], "count": [1378]}, "observation.state": {"min": [-23.170061111450195, -99.44223022460938, 30.58925437927246, -98.224853515625, 45.00259017944336, 1.4483212232589722], "max": [80.62741088867188, 2.3904383182525635, 99.22010040283203, 97.5486068725586, 55.30813217163086, 17.182355880737305], "mean": [11.15119457244873, -47.730892181396484, 56.928688049316406, 22.057659149169922, 47.96038818359375, 9.620696067810059], "std": [23.699180603027344, 35.8282470703125, 23.362159729003906, 63.883731842041016, 2.45920467376709, 4.572451591491699], "count": [1378]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[1.0]], [[1.0]]], "mean": [[[0.5376477673665336]], [[0.5707500063262768]], [[0.57132524292903]]], "std": [[[0.21902334084912206]], [[0.24850311897351027]], [[0.28724254495677176]]], "count": [226]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4926931828040951]], [[0.5387512227789345]], [[0.5199621390407195]]], "std": [[[0.20713800916934544]], [[0.2308544438227434]], [[0.2747276388400749]]], "count": [226]}, "timestamp": {"min": [0.0], "max": [45.9], "mean": [22.95], "std": [13.259807690913169], "count": [1378]}, "frame_index": {"min": [0], "max": [1377], "mean": [688.5], "std": [397.794230727395], "count": [1378]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1378]}, "index": {"min": [2765], "max": [4142], "mean": [3453.5], "std": [397.794230727395], "count": [1378]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1378]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-5.515331268310547, -101.48928833007812, 5.35980224609375, -101.2835693359375, 44.60744857788086, 1.1721391677856445], "max": [94.34539794921875, 17.148632049560547, 100.18253326416016, 80.14207458496094, 58.82160949707031, 20.372373580932617], "mean": [28.060558319091797, -39.53960037231445, 47.49278259277344, 15.90422534942627, 50.89891815185547, 11.689980506896973], "std": [31.544601440429688, 34.470951080322266, 25.826852798461914, 49.94767379760742, 3.3200175762176514, 6.987685203552246], "count": [1441]}, "observation.state": {"min": [-4.678040504455566, -99.44223022460938, 9.965337753295898, -98.05579376220703, 44.743656158447266, 1.9749835729599], "max": [93.72592163085938, 17.21115493774414, 99.22010040283203, 79.71259307861328, 58.67426300048828, 19.94733428955078], "mean": [28.04323959350586, -38.2738151550293, 49.984222412109375, 16.497392654418945, 50.842926025390625, 12.620984077453613], "std": [31.428674697875977, 34.97425842285156, 24.743179321289062, 49.75041198730469, 3.303096294403076, 5.484961032867432], "count": [1441]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9568627450980393]], [[0.9764705882352941]]], "mean": [[[0.6109686404246963]], [[0.5904613725139555]], [[0.5989351068753681]]], "std": [[[0.21149184517350605]], [[0.21982432367604707]], [[0.22348441953003942]]], "count": [233]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5926666850753177]], [[0.5540229012384639]], [[0.5378246619821033]]], "std": [[[0.21000470647317387]], [[0.21478675033715489]], [[0.22821179934200359]]], "count": [233]}, "timestamp": {"min": [0.0], "max": [48.0], "mean": [24.0], "std": [13.866025626208348], "count": [1441]}, "frame_index": {"min": [0], "max": [1440], "mean": [720.0], "std": [415.9807687862505], "count": [1441]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1441]}, "index": {"min": [4143], "max": [5583], "mean": [4863.0], "std": [415.9807687862505], "count": [1441]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1441]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-17.929866790771484, -100.76249694824219, 17.42782974243164, -102.27574157714844, 45.15453338623047, 0.8765497207641602], "max": [91.6263427734375, 7.486591339111328, 99.5136947631836, 83.79750061035156, 54.76665496826172, 24.852794647216797], "mean": [21.33909034729004, -39.43136215209961, 49.72966766357422, 22.865806579589844, 49.636474609375, 10.508428573608398], "std": [27.741085052490234, 33.79587936401367, 22.717449188232422, 51.44647216796875, 2.1540637016296387, 6.304679870605469], "count": [1440]}, "observation.state": {"min": [-17.446340560913086, -99.44223022460938, 18.630849838256836, -98.224853515625, 45.20973587036133, 1.382488489151001], "max": [90.75399017333984, 9.482071876525879, 98.96013641357422, 83.51648712158203, 54.63490295410156, 24.687294006347656], "mean": [21.245851516723633, -37.87593460083008, 51.452816009521484, 23.61276626586914, 49.63182067871094, 10.934229850769043], "std": [27.666818618774414, 34.3635139465332, 22.31475067138672, 50.86187744140625, 2.176673173904419, 5.6090521812438965], "count": [1440]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9764705882352941]]], "mean": [[[0.6179981503688743]], [[0.5865988193918482]], [[0.5934510785716289]]], "std": [[[0.20927196869508705]], [[0.22048794191266705]], [[0.2247573882632946]]], "count": [233]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5904772784650342]], [[0.5536292629176134]], [[0.5466640578978372]]], "std": [[[0.20825826934158062]], [[0.21568868810629305]], [[0.22551693640727005]]], "count": [233]}, "timestamp": {"min": [0.0], "max": [47.96666666666667], "mean": [23.983333333333334], "std": [13.856403119403225], "count": [1440]}, "frame_index": {"min": [0], "max": [1439], "mean": [719.5], "std": [415.69209358209673], "count": [1440]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1440]}, "index": {"min": [5584], "max": [7023], "mean": [6303.5], "std": [415.69209358209673], "count": [1440]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1440]}}}
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": 7024,
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.wrist": {
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 the red ring and put it on the black box"}
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:de08064349cec3cb822935f87f125e6fb34b31c055f53d187205d91b0979cc15
3
+ size 5440681
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 sha256:08442c512f0aa5cd1d461f77bfdf5e829f3e38df41c006ef11fdc50894518e98
3
+ size 5239268
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 sha256:55c776d979df0ee23093c3efbaf12e8f5c5c51b03e6b07a1d1f2f0875f5dc114
3
+ size 5385360
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 sha256:6dbba4e96fe5c728ac2848ae9be449033dc1c1dc275a7e45e4f2561f03d1e749
3
+ size 4338215
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:ff51f4ce8f6efa51c644708d60809a538e77fe56ab0f0cd2c84eb05c4a49667d
3
+ size 4564503
videos/chunk-000/observation.images.wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f102b52e77d256fc420621e2e12f63cecbea9cf8ab560286bd5a1fa1782ccdf4
3
+ size 4675425
videos/chunk-000/observation.images.wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c89a57f20698f401a27f9e58ac2c8481f0524d2139af13b83b58eb54dfcd706b
3
+ size 4648533
videos/chunk-000/observation.images.wrist/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c3d9ed3fe9148040ef029579f39aca39c73d22b8562db22c36cec649da3917b1
3
+ size 4343965
videos/chunk-000/observation.images.wrist/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:85b00bfbad4e039a2807629d2dd69e317a45c60203e7126eaad4278ec8faa6aa
3
+ size 4761027
videos/chunk-000/observation.images.wrist/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e5db2a0f312444a96fb97976281f046b515f474decdedd81f63dcf4b30f04b18
3
+ size 4088731