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Browse files- data/chunk-000/episode_000000.parquet +2 -2
- data/chunk-000/episode_000001.parquet +2 -2
- data/chunk-000/episode_000002.parquet +2 -2
- data/chunk-000/episode_000003.parquet +2 -2
- data/chunk-000/episode_000004.parquet +2 -2
- meta/episodes.jsonl +5 -11
- meta/episodes_stats.jsonl +5 -11
- meta/info.json +4 -4
- meta/tasks.jsonl +5 -11
- task_episode_mapping.txt +0 -6
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000004.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Place an orange cube on the target area."], "length": 638}
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{"episode_index": 1, "tasks": ["Place a green cube on the target area."], "length": 638}
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{"episode_index": 2, "tasks": ["Place a yellow cube on the target area."], "length": 638}
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{"episode_index": 3, "tasks": ["Place a blue cube on the target area."], "length": 638}
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{"episode_index": 4, "tasks": ["Place a red cube on the target area."], "length": 638}
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{"episode_index": 5, "tasks": ["Arrange four blocks in a horizontal row on the table, with the third block from the left as orange and the others as yellow."], "length": 2338}
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{"episode_index": 6, "tasks": ["Build a flat yellow L: lay two yellow blocks as a short base left-to-right, then place a third yellow directly in front of the rightmost block."], "length": 1700}
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{"episode_index": 7, "tasks": ["Lay four blocks in one row left-to-right: orange, green, orange, green."], "length": 2125}
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{"episode_index": 8, "tasks": ["Form a flat T: place a yellow block at the center, a blue block directly to its right as the stem, then yellow blocks directly above and below the center to form the top bar."], "length": 2338}
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{"episode_index": 9, "tasks": ["Make a flat barbell of five blocks in a row: red, yellow, yellow, yellow, red from left to right."], "length": 2763}
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{"episode_index": 10, "tasks": ["Create a small arc: place orange, yellow, green in a row left-to-right, then place a blue block directly in front of the green to bend the arc upward."], "length": 2550}
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{"episode_index": 0, "tasks": ["Place an orange cube on the target area. Steps: 1) Move the gripper to a position directly above the orange cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the orange cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."], "length": 638}
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{"episode_index": 1, "tasks": ["Place a green cube on the target area. Steps: 1) Move the gripper to a position directly above the green cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the green cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."], "length": 638}
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{"episode_index": 2, "tasks": ["Place a yellow cube on the target area. Steps: 1) Move the gripper to a position directly above the yellow cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the yellow cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."], "length": 638}
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{"episode_index": 3, "tasks": ["Place a blue cube on the target area. Steps: 1) Move the gripper to a position directly above the blue cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the blue cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."], "length": 638}
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{"episode_index": 4, "tasks": ["Place a red cube on the target area. Steps: 1) Move the gripper to a position directly above the red cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the red cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."], "length": 638}
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meta/episodes_stats.jsonl
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| 9 |
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|
| 10 |
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|
| 11 |
-
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|
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|
| 1 |
+
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|
| 2 |
+
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|
| 3 |
+
{"episode_index": 2, "stats": {"exterior_image_1_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.458752220506258]], [[0.40305399007321185]], [[0.37851247828000245]]], "std": [[[0.2495491114271761]], [[0.21729179015093733]], [[0.21325108030396644]]], "count": [126]}, "exterior_image_2_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.458752220506258]], [[0.40305399007321185]], [[0.37851247828000245]]], "std": [[[0.2495491114271761]], [[0.21729179015093733]], [[0.21325108030396644]]], "count": [126]}, "wrist_image_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4999945476702586]], [[0.3225382179161347]], [[0.19383352237224255]]], "std": [[[0.14590592379026526]], [[0.1491961235341549]], [[0.10025459763478269]]], "count": [126]}, "joint_position": {"min": [-0.254881888628006, -0.7850000262260437, -0.5109593272209167, -2.5439419746398926, -0.2453276664018631, 1.5709999799728394, -0.06703699380159378], "max": [0.7030389308929443, 0.7313736081123352, 0.28466254472732544, -1.901278018951416, 0.40057697892189026, 2.869511127471924, 2.8973004817962646], "mean": [0.26175400614738464, 0.3213321268558502, -0.057372935116291046, -2.2610533237457275, 0.028363866731524467, 2.5582563877105713, 1.5117477178573608], "std": [0.3165161609649658, 0.25625503063201904, 0.23007772862911224, 0.17947416007518768, 0.1667698323726654, 0.2433401495218277, 1.0630491971969604], "count": [638]}, "gripper_position": {"min": [-0.07154714316129684], "max": [1.1418741941452026], "mean": [0.5200520157814026], "std": [0.38113895058631897], "count": [638]}, "actions": {"min": [-0.3450572192668915, -0.26182830333709717, -0.27901947498321533, -0.27863502502441406, -0.38439613580703735, -0.22055624425411224, -0.43648478388786316, -0.070765420794487], "max": [0.23072092235088348, 0.4488801658153534, 0.2676263451576233, 0.2552461624145508, 0.2650073766708374, 0.26988744735717773, 0.6257771849632263, 1.141579508781433], "mean": [-0.0008353731245733798, 0.019432730972766876, -0.011992237530648708, -0.003309448016807437, 0.0008474986534565687, 0.022280234843492508, -0.013828020542860031, 0.5199676752090454], "std": [0.09298641979694366, 0.1446666121482849, 0.08897755295038223, 0.07401686906814575, 0.08193086832761765, 0.11561892926692963, 0.230660542845726, 0.38122424483299255], "count": [638]}, "timestamp": {"min": [0.0], "max": [42.46666666666667], "mean": [21.233333333333334], "std": [12.278300642461344], "count": [638]}, "frame_index": {"min": [0], "max": [637], "mean": [318.5], "std": [184.17450963692016], "count": [638]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [638]}, "index": {"min": [1276], "max": [1913], "mean": [1594.5], "std": [184.17450963692016], "count": [638]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [638]}}}
|
| 4 |
+
{"episode_index": 3, "stats": {"exterior_image_1_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.44789418247457713]], [[0.39917070312748115]], [[0.37536913947126466]]], "std": [[[0.2468968833781202]], [[0.21748806975449078]], [[0.21015495064314774]]], "count": [126]}, "exterior_image_2_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.44789418247457713]], [[0.39917070312748115]], [[0.37536913947126466]]], "std": [[[0.2468968833781202]], [[0.21748806975449078]], [[0.21015495064314774]]], "count": [126]}, "wrist_image_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4517591318521456]], [[0.2929068148836916]], [[0.21598084794433647]]], "std": [[[0.14725504756090183]], [[0.12475023132361486]], [[0.1511760405891149]]], "count": [126]}, "joint_position": {"min": [-1.6290768384933472, -0.7850000262260437, 0.0, -2.6950159072875977, -0.9832170009613037, 1.5706963539123535, 0.24248448014259338], "max": [0.09723300486803055, 0.47841277718544006, 2.508969783782959, -2.335143804550171, 1.0754770040512085, 2.8870275020599365, 2.88906192779541], "mean": [-0.7189434170722961, -0.05360906943678856, 1.0919703245162964, -2.5123131275177, 0.09055861830711365, 2.602938652038574, 1.6104449033737183], "std": [0.46192115545272827, 0.37652772665023804, 0.7702633738517761, 0.10349136590957642, 0.5491659641265869, 0.23952387273311615, 0.919119656085968], "count": [638]}, "gripper_position": {"min": [-0.09619848430156708], "max": [1.571556806564331], "mean": [0.5693997740745544], "std": [0.43979763984680176], "count": [638]}, "actions": {"min": [-0.41608926653862, -0.45233574509620667, -0.7181810736656189, -0.2332734912633896, -0.42513009905815125, -0.21843908727169037, -0.6179952025413513, -0.08648744970560074], "max": [0.6358799934387207, 0.24765996634960175, 0.5967074036598206, 0.2421569675207138, 1.0127735137939453, 0.2909803092479706, 0.6263493895530701, 1.5713863372802734], "mean": [-0.020368846133351326, 0.019360674545168877, 0.007293301168829203, -0.003028849372640252, -0.0005687977536581457, 0.022158443927764893, -0.012927789241075516, 0.569326639175415], "std": [0.21328872442245483, 0.1437217742204666, 0.2740631103515625, 0.0677349865436554, 0.23126621544361115, 0.1158423200249672, 0.24677298963069916, 0.43985551595687866], "count": [638]}, "timestamp": {"min": [0.0], "max": [42.46666666666667], "mean": [21.233333333333334], "std": [12.278300642461344], "count": [638]}, "frame_index": {"min": [0], "max": [637], "mean": [318.5], "std": [184.17450963692016], "count": [638]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [638]}, "index": {"min": [1914], "max": [2551], "mean": [2232.5], "std": [184.17450963692016], "count": [638]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [638]}}}
|
| 5 |
+
{"episode_index": 4, "stats": {"exterior_image_1_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.45604681976957445]], [[0.4014891912866337]], [[0.37483118619471595]]], "std": [[[0.25270820706154135]], [[0.22469770846974588]], [[0.21761597404335725]]], "count": [126]}, "exterior_image_2_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9725490196078431]], [[0.9725490196078431]]], "mean": [[[0.45604681976957445]], [[0.4014891912866337]], [[0.37483118619471595]]], "std": [[[0.25270820706154135]], [[0.22469770846974588]], [[0.21761597404335725]]], "count": [126]}, "wrist_image_left": {"min": [[[0.09019607843137255]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5069442093553691]], [[0.3202061696454375]], [[0.22798541291516608]]], "std": [[[0.11439475268586717]], [[0.11961094946360126]], [[0.11895601683292632]]], "count": [126]}, "joint_position": {"min": [-0.35426706075668335, -0.7850000262260437, -0.35824915766716003, -2.502298355102539, -0.2389950305223465, 1.5709999799728394, 0.7850000262260437], "max": [0.14816410839557648, 0.5648919343948364, 0.27226170897483826, -2.26249098777771, 0.2735216021537781, 2.8845298290252686, 2.4700767993927], "mean": [-0.03469042852520943, 0.24688567221164703, -0.009570260532200336, -2.385443925857544, -0.0020895658526569605, 2.610337495803833, 1.7267192602157593], "std": [0.16698279976844788, 0.2403869777917862, 0.18641702830791473, 0.06660561263561249, 0.1309969425201416, 0.23756928741931915, 0.547320544719696], "count": [638]}, "gripper_position": {"min": [-0.09276703000068665], "max": [1.1629199981689453], "mean": [0.4915114641189575], "std": [0.37325042486190796], "count": [638]}, "actions": {"min": [-0.1561918407678604, -0.2569618821144104, -0.1233583614230156, -0.11089324206113815, -0.2141796350479126, -0.2169656604528427, -0.15021799504756927, -0.0929485335946083], "max": [0.21839874982833862, 0.3307860791683197, 0.2310575395822525, 0.20433424413204193, 0.12591183185577393, 0.3286456763744354, 0.44028279185295105, 1.1566190719604492], "mean": [-0.004688404034823179, 0.019499674439430237, -0.008414831943809986, -0.0032751308754086494, 0.0005999041022732854, 0.02240116149187088, 0.023377174511551857, 0.49134430289268494], "std": [0.04965418204665184, 0.13376624882221222, 0.05438084527850151, 0.023433184251189232, 0.04941874369978905, 0.11704576760530472, 0.13838937878608704, 0.3733149766921997], "count": [638]}, "timestamp": {"min": [0.0], "max": [42.46666666666667], "mean": [21.233333333333334], "std": [12.278300642461344], "count": [638]}, "frame_index": {"min": [0], "max": [637], "mean": [318.5], "std": [184.17450963692016], "count": [638]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [638]}, "index": {"min": [2552], "max": [3189], "mean": [2870.5], "std": [184.17450963692016], "count": [638]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [638]}}}
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meta/info.json
CHANGED
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@@ -1,15 +1,15 @@
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| 1 |
{
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| 2 |
"codebase_version": "v2.1",
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| 3 |
"robot_type": "panda",
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| 4 |
-
"total_episodes":
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| 5 |
-
"total_frames":
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| 6 |
-
"total_tasks":
|
| 7 |
"total_videos": 0,
|
| 8 |
"total_chunks": 1,
|
| 9 |
"chunks_size": 1000,
|
| 10 |
"fps": 15,
|
| 11 |
"splits": {
|
| 12 |
-
"train": "0:
|
| 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",
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|
| 1 |
{
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| 2 |
"codebase_version": "v2.1",
|
| 3 |
"robot_type": "panda",
|
| 4 |
+
"total_episodes": 5,
|
| 5 |
+
"total_frames": 3190,
|
| 6 |
+
"total_tasks": 5,
|
| 7 |
"total_videos": 0,
|
| 8 |
"total_chunks": 1,
|
| 9 |
"chunks_size": 1000,
|
| 10 |
"fps": 15,
|
| 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",
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meta/tasks.jsonl
CHANGED
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@@ -1,11 +1,5 @@
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|
| 1 |
-
{"task_index": 0, "task": "Place an orange cube on the target area."}
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| 2 |
-
{"task_index": 1, "task": "Place a green cube on the target area."}
|
| 3 |
-
{"task_index": 2, "task": "Place a yellow cube on the target area."}
|
| 4 |
-
{"task_index": 3, "task": "Place a blue cube on the target area."}
|
| 5 |
-
{"task_index": 4, "task": "Place a red cube on the target area."}
|
| 6 |
-
{"task_index": 5, "task": "Arrange four blocks in a horizontal row on the table, with the third block from the left as orange and the others as yellow."}
|
| 7 |
-
{"task_index": 6, "task": "Build a flat yellow L: lay two yellow blocks as a short base left-to-right, then place a third yellow directly in front of the rightmost block."}
|
| 8 |
-
{"task_index": 7, "task": "Lay four blocks in one row left-to-right: orange, green, orange, green."}
|
| 9 |
-
{"task_index": 8, "task": "Form a flat T: place a yellow block at the center, a blue block directly to its right as the stem, then yellow blocks directly above and below the center to form the top bar."}
|
| 10 |
-
{"task_index": 9, "task": "Make a flat barbell of five blocks in a row: red, yellow, yellow, yellow, red from left to right."}
|
| 11 |
-
{"task_index": 10, "task": "Create a small arc: place orange, yellow, green in a row left-to-right, then place a blue block directly in front of the green to bend the arc upward."}
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| 1 |
+
{"task_index": 0, "task": "Place an orange cube on the target area. Steps: 1) Move the gripper to a position directly above the orange cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the orange cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."}
|
| 2 |
+
{"task_index": 1, "task": "Place a green cube on the target area. Steps: 1) Move the gripper to a position directly above the green cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the green cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."}
|
| 3 |
+
{"task_index": 2, "task": "Place a yellow cube on the target area. Steps: 1) Move the gripper to a position directly above the yellow cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the yellow cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."}
|
| 4 |
+
{"task_index": 3, "task": "Place a blue cube on the target area. Steps: 1) Move the gripper to a position directly above the blue cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the blue cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."}
|
| 5 |
+
{"task_index": 4, "task": "Place a red cube on the target area. Steps: 1) Move the gripper to a position directly above the red cube. 2) Lower to make contact and gently nudge to clear nearby blocks if needed. 3) Grasp the red cube securely. 4) Lift the cube upward. 5) Move the gripper to the target area while holding the cube. 6) Release the cube onto the target area."}
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task_episode_mapping.txt
CHANGED
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@@ -3,9 +3,3 @@
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|
| 3 |
2:place_yellow_cube
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| 4 |
3:place_blue_cube
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| 5 |
4:place_red_cube
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| 6 |
-
5:arrange_horizontal_row
|
| 7 |
-
6:arrange_yellow_L
|
| 8 |
-
7:arrange_orange_green_line
|
| 9 |
-
8:arrange_yellow_blue_T
|
| 10 |
-
9:arrange_red_barbell
|
| 11 |
-
10:arrange_rainbow_arc
|
|
|
|
| 3 |
2:place_yellow_cube
|
| 4 |
3:place_blue_cube
|
| 5 |
4:place_red_cube
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