shuohsuan commited on
Commit
6c28083
·
verified ·
1 Parent(s): f2e3eba

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 sha256:249e2fade5734e67527c9d90ef6dafea493aec8de0039ba4cdadca4384a9435a
3
+ size 175165
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e79867770bc7a420c631cae560f840185e19d85595e1dac8be5b6dc3392334a1
3
+ size 174523
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["1"], "length": 2490}
2
+ {"episode_index": 1, "tasks": ["1"], "length": 2475}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-74.35707092285156, -101.40428161621094, -44.88227462768555, 54.2733154296875, -50.28324508666992, -0.52996826171875], "max": [69.88882446289062, 32.8902587890625, 101.2716064453125, 100.6651382446289, 45.39863967895508, 46.794822692871094], "mean": [-25.721446990966797, -6.246477127075195, 10.5649995803833, 72.8595199584961, -16.88443946838379, 20.891727447509766], "std": [43.952396392822266, 25.075223922729492, 28.081974029541016, 12.85689926147461, 29.185075759887695, 15.114301681518555], "count": [2490]}, "observation.state": {"min": [-74.46958923339844, -99.48186492919922, -41.78892517089844, 55.725189208984375, -49.74359130859375, 0.5479452013969421], "max": [69.58981323242188, 33.4196891784668, 99.05348205566406, 99.03575897216797, 44.761905670166016, 46.23287582397461], "mean": [-25.935789108276367, -4.809922695159912, 12.071993827819824, 72.9552993774414, -16.894256591796875, 24.11572265625], "std": [43.994346618652344, 25.406166076660156, 27.787565231323242, 12.719396591186523, 29.178726196289062, 12.248003959655762], "count": [2490]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45454758058526445]], [[0.45928844047088535]], [[0.4636322014956551]]], "std": [[[0.2612567289991278]], [[0.2588238041562482]], [[0.25451355358941075]]], "count": [352]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3924816681288993]], [[0.42270257898377156]], [[0.4158315821356952]]], "std": [[[0.18573289385727634]], [[0.1811391327842338]], [[0.1689671452696619]]], "count": [352]}, "timestamp": {"min": [0.0], "max": [82.96666666666667], "mean": [41.483333333333334], "std": [23.960034239139574], "count": [2490]}, "frame_index": {"min": [0], "max": [2489], "mean": [1244.5], "std": [718.8010271741873], "count": [2490]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2490]}, "index": {"min": [0], "max": [2489], "mean": [1244.5], "std": [718.8010271741873], "count": [2490]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2490]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-74.78543090820312, -101.27011108398438, -46.407840728759766, 54.60700225830078, -50.6502799987793, -0.6790866851806641], "max": [66.17472839355469, 37.04799270629883, 100.810546875, 100.55851745605469, 44.616981506347656, 46.698768615722656], "mean": [-25.570402145385742, -2.4010841846466064, 6.364222526550293, 73.58990478515625, -17.405147552490234, 20.611772537231445], "std": [42.773014068603516, 26.5776309967041, 30.09461784362793, 12.27126693725586, 28.618091583251953, 15.414722442626953], "count": [2475]}, "observation.state": {"min": [-74.96463775634766, -99.48186492919922, -42.35683822631836, 56.126956939697266, -50.03662872314453, 0.5479452013969421], "max": [65.48797607421875, 38.514678955078125, 99.05348205566406, 98.71434020996094, 44.126983642578125, 46.71232986450195], "mean": [-25.77875518798828, -0.7261187434196472, 7.876841068267822, 73.69151306152344, -17.408058166503906, 23.984189987182617], "std": [42.81646728515625, 27.038957595825195, 29.86487579345703, 12.170316696166992, 28.605234146118164, 12.622669219970703], "count": [2475]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4694243983426704]], [[0.47451235936041086]], [[0.478086712184874]]], "std": [[[0.264303000348721]], [[0.26112672010509436]], [[0.2551256960098936]]], "count": [350]}, "observation.images.wrist": {"min": [[[0.0]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3985626826563959]], [[0.42933327497665735]], [[0.4202849964985994]]], "std": [[[0.19291599231437812]], [[0.18483127633649268]], [[0.16826345847459812]]], "count": [350]}, "timestamp": {"min": [0.0], "max": [82.46666666666667], "mean": [41.233333333333334], "std": [23.81569666013168], "count": [2475]}, "frame_index": {"min": [0], "max": [2474], "mean": [1237.0], "std": [714.4708998039505], "count": [2475]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2475]}, "index": {"min": [2490], "max": [4964], "mean": [3727.0], "std": [714.4708998039505], "count": [2475]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2475]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 4965,
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
+ 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.side": {
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": "1"}
videos/chunk-000/observation.images.side/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c2ac7f0dfb175a299b016cfdbe3116807292c6cbceeef530e012f52e936ecb77
3
+ size 21542550
videos/chunk-000/observation.images.side/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ca1d478974984283bfde912413645573c051024396253269ec5b8bf3dffcc501
3
+ size 22062965
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:e8971a85eb5858a59cf9abbe1d8043ff3f38d5408df2b725acd90f42c2c6b762
3
+ size 16017118
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:bcf7638a8f0703588805fd87eb014c664e29974140fe3c251dee89191b500952
3
+ size 15242917