shylee commited on
Commit
c974e3f
·
verified ·
1 Parent(s): bd5fc2a

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:b5963cd7603622b3807f5bb7beeb7781be1c57ef1030d778f94550e83815a168
3
+ size 288430
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b157eeb5bf9db5d1fa7383b2fb17587969b1895e5b5b5e1b8abd2df701993d33
3
+ size 361285
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9fd08f2bc039da309d92398a40ff88e391e3d8d1618d97b0df272dbd379984af
3
+ size 70124
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a dice and put it in the bin."], "length": 4672}
2
+ {"episode_index": 1, "tasks": ["Grasp a dice and put it in the bin."], "length": 5593}
3
+ {"episode_index": 2, "tasks": ["Grasp a dice and put it in the bin."], "length": 1026}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-18.83710479736328, 50.89917755126953, 64.28713989257812, 69.55169677734375, -38.72272491455078, -1.2636423110961914], "max": [35.35939025878906, 127.86320495605469, 127.95590209960938, 104.853515625, 3.9859619140625, 28.12177276611328], "mean": [-0.2521567940711975, 87.48249053955078, 97.09357452392578, 92.36893463134766, -5.51509428024292, 17.814327239990234], "std": [12.164986610412598, 13.358802795410156, 16.930864334106445, 7.1201066970825195, 8.880328178405762, 4.506717681884766], "count": [4672]}, "observation.state": {"min": [-18.6328125, 52.470703125, 64.248046875, 69.609375, -38.408203125, 0.0], "max": [35.244140625, 128.49609375, 125.419921875, 105.1171875, 3.779296875, 28.19986343383789], "mean": [-0.2546232044696808, 88.92377471923828, 96.07756805419922, 92.46321105957031, -5.526216983795166, 17.855112075805664], "std": [12.215353012084961, 13.526070594787598, 16.897438049316406, 7.079275608062744, 8.932056427001953, 4.383922100067139], "count": [4672]}, "observation.images.laptop": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.03529411764705882]]], "max": [[[0.9215686274509803]], [[0.9215686274509803]], [[0.9529411764705882]]], "mean": [[[0.5502844510960727]], [[0.5480870900572619]], [[0.5441742762739314]]], "std": [[[0.11911381736062485]], [[0.12061334592237374]], [[0.12323894832287142]]], "count": [565]}, "timestamp": {"min": [0.0], "max": [155.7], "mean": [77.85000000000001], "std": [44.95633993109314], "count": [4672]}, "frame_index": {"min": [0], "max": [4671], "mean": [2335.5], "std": [1348.6901979327943], "count": [4672]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [4672]}, "index": {"min": [0], "max": [4671], "mean": [2335.5], "std": [1348.6901979327943], "count": [4672]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [4672]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-67.77099609375, 10.999826431274414, -0.966796875, 33.18699645996094, -38.5235481262207, -1.6759777069091797], "max": [26.994415283203125, 146.31544494628906, 154.73683166503906, 104.853515625, 13.704200744628906, 31.316518783569336], "mean": [-48.965213775634766, 114.69338989257812, 113.1863021850586, 95.98900604248047, -20.135684967041016, 13.414505004882812], "std": [21.241268157958984, 17.748939514160156, 19.83865737915039, 13.229900360107422, 10.165030479431152, 10.925671577453613], "count": [5593]}, "observation.state": {"min": [-67.67578125, -8.173828125, 1.93359375, 33.310546875, -38.056640625, -0.47912389039993286], "max": [26.455078125, 146.689453125, 152.314453125, 105.029296875, 13.18359375, 30.937713623046875], "mean": [-49.0414924621582, 115.47453308105469, 111.89787292480469, 96.0111083984375, -20.059131622314453, 13.568018913269043], "std": [21.336490631103516, 18.14844512939453, 20.053743362426758, 13.241979598999023, 10.139456748962402, 10.508974075317383], "count": [5593]}, "observation.images.laptop": {"min": [[[0.06666666666666667]], [[0.058823529411764705]], [[0.03137254901960784]]], "max": [[[0.9215686274509803]], [[0.9215686274509803]], [[0.9372549019607843]]], "mean": [[[0.5672432667597483]], [[0.5636894021024302]], [[0.5557741806668488]]], "std": [[[0.09906754649512794]], [[0.10194943957822021]], [[0.10573522272263075]]], "count": [646]}, "timestamp": {"min": [0.0], "max": [186.4], "mean": [93.2], "std": [53.81866673273214], "count": [5593]}, "frame_index": {"min": [0], "max": [5592], "mean": [2796.0], "std": [1614.5600019819642], "count": [5593]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [5593]}, "index": {"min": [4672], "max": [10264], "mean": [7468.0], "std": [1614.5600019819642], "count": [5593]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [5593]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-63.59191131591797, 21.447227478027344, 53.4561767578125, 72.11442565917969, -43.507320404052734, -1.4353549480438232], "max": [1.3934860229492188, 137.25601196289062, 142.0861358642578, 104.853515625, -7.487571716308594, 34.560760498046875], "mean": [-35.23200988769531, 111.11923217773438, 113.84117889404297, 95.35769653320312, -22.065784454345703, 16.058921813964844], "std": [18.93138885498047, 18.410737991333008, 16.2613525390625, 9.692365646362305, 10.496100425720215, 12.773109436035156], "count": [1026]}, "observation.state": {"min": [-61.962890625, -8.173828125, 3.69140625, 44.033203125, -43.2421875, -0.20533882081508636], "max": [1.23046875, 137.8125, 140.625, 104.853515625, 2.197265625, 34.22313690185547], "mean": [-34.96778869628906, 111.73005676269531, 112.21780395507812, 95.03233337402344, -22.01985740661621, 16.180391311645508], "std": [19.0288028717041, 19.862468719482422, 18.211801528930664, 10.274296760559082, 10.593367576599121, 12.300872802734375], "count": [1026]}, "observation.images.laptop": {"min": [[[0.06666666666666667]], [[0.06274509803921569]], [[0.03137254901960784]]], "max": [[[0.9215686274509803]], [[0.9215686274509803]], [[0.9450980392156862]]], "mean": [[[0.542284391588127]], [[0.540956164463944]], [[0.5360826472393746]]], "std": [[[0.12897213396415355]], [[0.13278046506970687]], [[0.13483268509970373]]], "count": [181]}, "timestamp": {"min": [0.0], "max": [34.166666666666664], "mean": [17.083333333333332], "std": [9.872684913811815], "count": [1026]}, "frame_index": {"min": [0], "max": [1025], "mean": [512.5], "std": [296.18054741435446], "count": [1026]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1026]}, "index": {"min": [10265], "max": [11290], "mean": [10777.5], "std": [296.18054741435446], "count": [1026]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1026]}}}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 3,
5
+ "total_frames": 11291,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:3"
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.laptop": {
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/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a dice and put it in the bin."}
videos/chunk-000/observation.images.laptop/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7032cf3d3f0faff03859b25e5e39c7495ea219da31e84991eccbe3e99945caf0
3
+ size 21792820
videos/chunk-000/observation.images.laptop/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cf0ee9305de709ace7c1e52f120e2a847e3547024a65d3221d93203cb562c9f6
3
+ size 26094160
videos/chunk-000/observation.images.laptop/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5a605753205bbe1d15374455e0df2b6fb3ebe8d9564a1c0ba1f63ffc8c19b435
3
+ size 5030313