Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/info.json +104 -0
- meta/stats.json +210 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b03e3d639ba96adfe36f029227eac2b855fa820e452d2212b51e75f7714d0a2e
|
| 3 |
+
size 36090
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:acefaddbe58030beca2e7cebb075fb340aaa6e878f4f3d9714ccedc50309d221
|
| 3 |
+
size 28822
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["False"], "length": 781}
|
| 2 |
+
{"episode_index": 1, "tasks": ["False"], "length": 551}
|
meta/info.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "koch",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 1332,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 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 |
+
"main_shoulder_pan",
|
| 24 |
+
"main_shoulder_lift",
|
| 25 |
+
"main_elbow_flex",
|
| 26 |
+
"main_wrist_flex",
|
| 27 |
+
"main_wrist_roll",
|
| 28 |
+
"main_gripper"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"main_shoulder_pan",
|
| 38 |
+
"main_shoulder_lift",
|
| 39 |
+
"main_elbow_flex",
|
| 40 |
+
"main_wrist_flex",
|
| 41 |
+
"main_wrist_roll",
|
| 42 |
+
"main_gripper"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.phone": {
|
| 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.fps": 30.0,
|
| 59 |
+
"video.height": 480,
|
| 60 |
+
"video.width": 640,
|
| 61 |
+
"video.channels": 3,
|
| 62 |
+
"video.codec": "av1",
|
| 63 |
+
"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"timestamp": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"names": null
|
| 74 |
+
},
|
| 75 |
+
"frame_index": {
|
| 76 |
+
"dtype": "int64",
|
| 77 |
+
"shape": [
|
| 78 |
+
1
|
| 79 |
+
],
|
| 80 |
+
"names": null
|
| 81 |
+
},
|
| 82 |
+
"episode_index": {
|
| 83 |
+
"dtype": "int64",
|
| 84 |
+
"shape": [
|
| 85 |
+
1
|
| 86 |
+
],
|
| 87 |
+
"names": null
|
| 88 |
+
},
|
| 89 |
+
"index": {
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"task_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"mean": [
|
| 4 |
+
11.408821105957031,
|
| 5 |
+
121.8060531616211,
|
| 6 |
+
145.3311767578125,
|
| 7 |
+
19.67337417602539,
|
| 8 |
+
-10.31131362915039,
|
| 9 |
+
20.601638793945312
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
40.193321228027344,
|
| 13 |
+
18.66753578186035,
|
| 14 |
+
25.093101501464844,
|
| 15 |
+
18.855541229248047,
|
| 16 |
+
38.202823638916016,
|
| 17 |
+
6.471359729766846
|
| 18 |
+
],
|
| 19 |
+
"max": [
|
| 20 |
+
94.482421875,
|
| 21 |
+
135.3515625,
|
| 22 |
+
177.1875,
|
| 23 |
+
51.416015625,
|
| 24 |
+
63.45703125,
|
| 25 |
+
32.607421875
|
| 26 |
+
],
|
| 27 |
+
"min": [
|
| 28 |
+
-53.4375,
|
| 29 |
+
77.16796875,
|
| 30 |
+
116.982421875,
|
| 31 |
+
-18.017578125,
|
| 32 |
+
-112.587890625,
|
| 33 |
+
8.4375
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
"observation.state": {
|
| 37 |
+
"mean": [
|
| 38 |
+
11.245184898376465,
|
| 39 |
+
118.87825775146484,
|
| 40 |
+
145.5621337890625,
|
| 41 |
+
19.51686668395996,
|
| 42 |
+
-10.3319673538208,
|
| 43 |
+
22.916555404663086
|
| 44 |
+
],
|
| 45 |
+
"std": [
|
| 46 |
+
39.7794075012207,
|
| 47 |
+
17.183629989624023,
|
| 48 |
+
24.36396026611328,
|
| 49 |
+
19.14065933227539,
|
| 50 |
+
37.64902114868164,
|
| 51 |
+
2.535796880722046
|
| 52 |
+
],
|
| 53 |
+
"max": [
|
| 54 |
+
93.427734375,
|
| 55 |
+
130.517578125,
|
| 56 |
+
176.484375,
|
| 57 |
+
51.240234375,
|
| 58 |
+
62.490234375,
|
| 59 |
+
31.46484375
|
| 60 |
+
],
|
| 61 |
+
"min": [
|
| 62 |
+
-52.470703125,
|
| 63 |
+
78.046875,
|
| 64 |
+
115.83984375,
|
| 65 |
+
-14.4140625,
|
| 66 |
+
-110.830078125,
|
| 67 |
+
13.53515625
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"observation.images.phone": {
|
| 71 |
+
"mean": [
|
| 72 |
+
[
|
| 73 |
+
[
|
| 74 |
+
0.4253612458705902
|
| 75 |
+
]
|
| 76 |
+
],
|
| 77 |
+
[
|
| 78 |
+
[
|
| 79 |
+
0.4178134500980377
|
| 80 |
+
]
|
| 81 |
+
],
|
| 82 |
+
[
|
| 83 |
+
[
|
| 84 |
+
0.39825645089149475
|
| 85 |
+
]
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"std": [
|
| 89 |
+
[
|
| 90 |
+
[
|
| 91 |
+
0.2904832363128662
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
[
|
| 95 |
+
[
|
| 96 |
+
0.2624357044696808
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
[
|
| 100 |
+
[
|
| 101 |
+
0.22228774428367615
|
| 102 |
+
]
|
| 103 |
+
]
|
| 104 |
+
],
|
| 105 |
+
"max": [
|
| 106 |
+
[
|
| 107 |
+
[
|
| 108 |
+
1.0
|
| 109 |
+
]
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
[
|
| 113 |
+
1.0
|
| 114 |
+
]
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
[
|
| 118 |
+
1.0
|
| 119 |
+
]
|
| 120 |
+
]
|
| 121 |
+
],
|
| 122 |
+
"min": [
|
| 123 |
+
[
|
| 124 |
+
[
|
| 125 |
+
0.0
|
| 126 |
+
]
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
[
|
| 130 |
+
0.0
|
| 131 |
+
]
|
| 132 |
+
],
|
| 133 |
+
[
|
| 134 |
+
[
|
| 135 |
+
0.0
|
| 136 |
+
]
|
| 137 |
+
]
|
| 138 |
+
]
|
| 139 |
+
},
|
| 140 |
+
"timestamp": {
|
| 141 |
+
"mean": [
|
| 142 |
+
11.414290428161621
|
| 143 |
+
],
|
| 144 |
+
"std": [
|
| 145 |
+
6.950366020202637
|
| 146 |
+
],
|
| 147 |
+
"max": [
|
| 148 |
+
26.0
|
| 149 |
+
],
|
| 150 |
+
"min": [
|
| 151 |
+
0.0
|
| 152 |
+
]
|
| 153 |
+
},
|
| 154 |
+
"frame_index": {
|
| 155 |
+
"mean": [
|
| 156 |
+
342.42864990234375
|
| 157 |
+
],
|
| 158 |
+
"std": [
|
| 159 |
+
208.51101684570312
|
| 160 |
+
],
|
| 161 |
+
"max": [
|
| 162 |
+
780.0
|
| 163 |
+
],
|
| 164 |
+
"min": [
|
| 165 |
+
0.0
|
| 166 |
+
]
|
| 167 |
+
},
|
| 168 |
+
"episode_index": {
|
| 169 |
+
"mean": [
|
| 170 |
+
0.41366368532180786
|
| 171 |
+
],
|
| 172 |
+
"std": [
|
| 173 |
+
0.49248960614204407
|
| 174 |
+
],
|
| 175 |
+
"max": [
|
| 176 |
+
1.0
|
| 177 |
+
],
|
| 178 |
+
"min": [
|
| 179 |
+
0.0
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"index": {
|
| 183 |
+
"mean": [
|
| 184 |
+
665.5001831054688
|
| 185 |
+
],
|
| 186 |
+
"std": [
|
| 187 |
+
384.5152282714844
|
| 188 |
+
],
|
| 189 |
+
"max": [
|
| 190 |
+
1331.0
|
| 191 |
+
],
|
| 192 |
+
"min": [
|
| 193 |
+
0.0
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"task_index": {
|
| 197 |
+
"mean": [
|
| 198 |
+
0.0
|
| 199 |
+
],
|
| 200 |
+
"std": [
|
| 201 |
+
0.0
|
| 202 |
+
],
|
| 203 |
+
"max": [
|
| 204 |
+
0.0
|
| 205 |
+
],
|
| 206 |
+
"min": [
|
| 207 |
+
0.0
|
| 208 |
+
]
|
| 209 |
+
}
|
| 210 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "False"}
|
videos/chunk-000/observation.images.phone/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cec59c23eff4f1680f561dce330e239ac94ab10075d892989775afed44b5532c
|
| 3 |
+
size 13094167
|
videos/chunk-000/observation.images.phone/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dd024623745fcae78f6eb447dc0a5c56a8c56da5002ccfb9168cc3f9cebdd9b3
|
| 3 |
+
size 9264363
|