satvikahuja commited on
Commit
a15de62
·
verified ·
1 Parent(s): 24eaec9

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 sha256:64325d007745259ecdb8a2cfce3f9334bc66c28e69527154ee2f3c1a0e490a72
3
+ size 41681
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d7677c99e59b63e1ea1f63ae2a8bddcea624b67de95a61a2de790eeec6ff5a5
3
+ size 32996
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the cube"], "length": 888}
2
+ {"episode_index": 1, "tasks": ["Grab the cube"], "length": 889}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-20.104711532592773, -93.60393524169922, -42.818180084228516, 7.081457138061523, -14.383394241333008, 0.32867708802223206], "max": [5.026177883148193, 42.107421875, 99.81818389892578, 48.75153350830078, 1.0012210607528687, 68.61133575439453], "mean": [-7.235025882720947, -37.91474914550781, 48.67668914794922, 37.33303451538086, -3.762988328933716, 16.40822410583496], "std": [3.745985269546509, 50.63789749145508, 46.326786041259766, 13.708213806152344, 4.4548540115356445, 22.133996963500977], "count": [888]}, "observation.state": {"min": [-19.629810333251953, -93.76316833496094, -36.47058868408203, 8.60484504699707, -13.894993782043457, 0.9408602118492126, 0.0], "max": [7.062834739685059, 41.67720031738281, 99.09502410888672, 48.12030029296875, 0.7570207715034485, 67.94355010986328, 0.0], "mean": [-7.276897430419922, -37.44258499145508, 50.78753662109375, 37.67146682739258, -3.9267234802246094, 22.20098304748535, 0.0], "std": [3.8355801105499268, 51.06095886230469, 44.39152526855469, 13.138593673706055, 4.423264980316162, 21.975406646728516, 0.0], "count": [888]}, "observation.images.gripper": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5544669508492698]], [[0.40370770167634956]], [[0.5454751472605504]]], "std": [[[0.18666679831856176]], [[0.1732665587776836]], [[0.22834093195112]]], "count": [162]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4197235788348261]], [[0.3967620430888405]], [[0.3482064169289115]]], "std": [[[0.2250604515950572]], [[0.23012634382092623]], [[0.2427401374637924]]], "count": [162]}, "timestamp": {"min": [0.0], "max": [29.566666666666666], "mean": [14.783333333333331], "std": [8.544778565927894], "count": [888]}, "frame_index": {"min": [0], "max": [887], "mean": [443.5], "std": [256.3433569778368], "count": [888]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [888]}, "index": {"min": [0], "max": [887], "mean": [443.5], "std": [256.3433569778368], "count": [888]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [888]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-5.863874435424805, -93.43993377685547, -4.545454502105713, 36.7171516418457, -0.21978022158145905, 0.4108463525772095], "max": [9.73822021484375, 24.477245330810547, 93.2727279663086, 56.69259262084961, 7.643467426300049, 65.32456970214844], "mean": [3.8006114959716797, -64.74559783935547, 68.5555191040039, 50.99285888671875, 2.7374331951141357, 11.900124549865723], "std": [2.965864419937134, 47.041175842285156, 38.473018646240234, 7.143681049346924, 2.1728179454803467, 19.990264892578125], "count": [889]}, "observation.state": {"min": [-5.601558685302734, -92.75179290771484, -2.7149322032928467, 14.035087585449219, 0.17094017565250397, 1.2768816947937012, 0.0], "max": [14.856307983398438, 24.905183792114258, 93.6651611328125, 56.39097595214844, 7.203907012939453, 64.51612854003906, 0.0], "mean": [3.589092969894409, -63.94783401489258, 69.99378204345703, 50.82649612426758, 2.78611159324646, 12.424928665161133, 0.0], "std": [3.084491729736328, 47.1026496887207, 37.702022552490234, 7.492036819458008, 2.1162750720977783, 19.601133346557617, 0.0], "count": [889]}, "observation.images.gripper": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5192274343379326]], [[0.3743025296538368]], [[0.5387103569051077]]], "std": [[[0.20025146590783083]], [[0.186519488008486]], [[0.25726976413003777]]], "count": [162]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4251589892815837]], [[0.39708943724952256]], [[0.34694590023938243]]], "std": [[[0.2271466421832646]], [[0.23471956740182176]], [[0.24809317106336626]]], "count": [162]}, "timestamp": {"min": [0.0], "max": [29.6], "mean": [14.8], "std": [8.554401076508967], "count": [889]}, "frame_index": {"min": [0], "max": [888], "mean": [444.0], "std": [256.632032295269], "count": [889]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [889]}, "index": {"min": [888], "max": [1776], "mean": [1332.0], "std": [256.632032295269], "count": [889]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [889]}}}
meta/info.json ADDED
@@ -0,0 +1,128 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 1777,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
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
+ 7
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
+ "ee_object_distance"
44
+ ]
45
+ },
46
+ "observation.images.gripper": {
47
+ "dtype": "video",
48
+ "shape": [
49
+ 480,
50
+ 640,
51
+ 3
52
+ ],
53
+ "names": [
54
+ "height",
55
+ "width",
56
+ "channels"
57
+ ],
58
+ "info": {
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.codec": "av1",
62
+ "video.pix_fmt": "yuv420p",
63
+ "video.is_depth_map": false,
64
+ "video.fps": 30,
65
+ "video.channels": 3,
66
+ "has_audio": false
67
+ }
68
+ },
69
+ "observation.images.top": {
70
+ "dtype": "video",
71
+ "shape": [
72
+ 720,
73
+ 1280,
74
+ 3
75
+ ],
76
+ "names": [
77
+ "height",
78
+ "width",
79
+ "channels"
80
+ ],
81
+ "info": {
82
+ "video.height": 720,
83
+ "video.width": 1280,
84
+ "video.codec": "av1",
85
+ "video.pix_fmt": "yuv420p",
86
+ "video.is_depth_map": false,
87
+ "video.fps": 30,
88
+ "video.channels": 3,
89
+ "has_audio": false
90
+ }
91
+ },
92
+ "timestamp": {
93
+ "dtype": "float32",
94
+ "shape": [
95
+ 1
96
+ ],
97
+ "names": null
98
+ },
99
+ "frame_index": {
100
+ "dtype": "int64",
101
+ "shape": [
102
+ 1
103
+ ],
104
+ "names": null
105
+ },
106
+ "episode_index": {
107
+ "dtype": "int64",
108
+ "shape": [
109
+ 1
110
+ ],
111
+ "names": null
112
+ },
113
+ "index": {
114
+ "dtype": "int64",
115
+ "shape": [
116
+ 1
117
+ ],
118
+ "names": null
119
+ },
120
+ "task_index": {
121
+ "dtype": "int64",
122
+ "shape": [
123
+ 1
124
+ ],
125
+ "names": null
126
+ }
127
+ }
128
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab the cube"}
videos/chunk-000/observation.images.gripper/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bc61b5cc8b6889116481fb60b3c2b567ec6cca92dadf7c6ac5256bfd5b8565a4
3
+ size 2784807
videos/chunk-000/observation.images.gripper/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:37dc4001413ba938612cb56d89117787f886222b129dc55ff139cba07dfe64a9
3
+ size 2950803
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 sha256:0a46fac1913ecb5ff3b1d182daefaa99301c2432625b0d714b18281056841e91
3
+ size 34742424
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:a6f1056e6c3fe0a30a006282141b5c688c73361d7940c51ded4c4da34428b139
3
+ size 24685460