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/episodes_stats.jsonl +2 -0
- meta/info.json +152 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.OBS_IMAGE_1/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.OBS_IMAGE_1/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.OBS_IMAGE_2/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.OBS_IMAGE_2/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.OBS_IMAGE_3/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.OBS_IMAGE_3/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:dd0f5009d58e6fe1a9357f3e9e250e6f0fffe002da6b7bbc70ceeffdfac9e87e
|
| 3 |
+
size 43530
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:02cbde388a59ab75395c6960f26d61352ae77b7fa6a8e0203fc754f35905ad31
|
| 3 |
+
size 42219
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 796}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 794}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-23.203125, 69.78515625, 65.91796875, -27.24609375, -18.45703125, 110.654296875, 6.954102993011475], "max": [29.35546875, 197.9296875, 180.791015625, -0.791015625, 75.498046875, 174.7265625, 46.731571197509766], "mean": [1.1431301832199097, 120.94664764404297, 113.50077819824219, -14.278030395507812, 32.34739303588867, 141.97775268554688, 18.96061897277832], "std": [15.366534233093262, 38.02288818359375, 36.04539489746094, 8.448028564453125, 24.438182830810547, 17.325668334960938, 14.21644115447998], "count": [796]}, "observation.state": {"min": [-22.587890625, 74.267578125, 67.5, -26.71875, -16.5234375, 111.005859375, 7.2088727951049805], "max": [28.916015625, 197.05078125, 181.0546875, -1.0546875, 75.322265625, 174.375, 46.25693130493164], "mean": [1.1670902967453003, 120.1492691040039, 115.0433120727539, -14.097280502319336, 33.22685241699219, 141.7967987060547, 19.503076553344727], "std": [15.283025741577148, 37.26957321166992, 35.68501663208008, 8.39977741241455, 24.059072494506836, 17.349863052368164, 14.236825942993164], "count": [796]}, "observation.images.OBS_IMAGE_1": {"min": [[[0.0]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5418472222222223]], [[0.5278100490196079]], [[0.460827818627451]]], "std": [[[0.29895906959664326]], [[0.2703562325846715]], [[0.24165643105806578]]], "count": [149]}, "observation.images.OBS_IMAGE_2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5347266827872088]], [[0.5402289130697022]], [[0.49458997483221473]]], "std": [[[0.33121414608648636]], [[0.31857569971030647]], [[0.2817536830331795]]], "count": [149]}, "observation.images.OBS_IMAGE_3": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5315059410229416]], [[0.5047064306707022]], [[0.4647355381190507]]], "std": [[[0.32644175149055854]], [[0.3309501500920003]], [[0.3268018417338774]]], "count": [149]}, "timestamp": {"min": [0.0], "max": [26.5], "mean": [13.25], "std": [7.659507526959913], "count": [796]}, "frame_index": {"min": [0], "max": [795], "mean": [397.5], "std": [229.78522580879738], "count": [796]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [796]}, "index": {"min": [0], "max": [795], "mean": [397.5], "std": [229.78522580879738], "count": [796]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [796]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-26.279296875, 70.83984375, 48.955078125, -45.0, -23.73046875, 93.779296875, 7.0931854248046875], "max": [20.56640625, 196.962890625, 180.439453125, 14.23828125, 54.66796875, 164.267578125, 44.22809600830078], "mean": [-2.30674147605896, 121.37242889404297, 114.24024963378906, -17.488019943237305, 31.446910858154297, 126.87261962890625, 20.964977264404297], "std": [11.779644966125488, 38.597862243652344, 42.8707160949707, 13.519012451171875, 23.839426040649414, 20.97565460205078, 11.235372543334961], "count": [794]}, "observation.state": {"min": [-25.576171875, 69.697265625, 51.416015625, -45.087890625, -22.060546875, 94.04296875, 7.347504615783691], "max": [20.0390625, 196.787109375, 180.791015625, 13.53515625, 54.404296875, 163.828125, 43.7153434753418], "mean": [-2.2665598392486572, 120.80672454833984, 116.036865234375, -17.46278190612793, 32.30744171142578, 126.6819076538086, 21.194744110107422], "std": [11.740045547485352, 38.33435821533203, 42.337276458740234, 13.434502601623535, 23.40123176574707, 21.062074661254883, 11.210482597351074], "count": [794]}, "observation.images.OBS_IMAGE_1": {"min": [[[0.0]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5418472222222223]], [[0.5278100490196079]], [[0.460827818627451]]], "std": [[[0.29895906959664326]], [[0.2703562325846715]], [[0.24165643105806578]]], "count": [149]}, "observation.images.OBS_IMAGE_2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5212003840965918]], [[0.5329761577729526]], [[0.4939395753827258]]], "std": [[[0.33654206477257476]], [[0.3244051954244326]], [[0.2882838647430822]]], "count": [149]}, "observation.images.OBS_IMAGE_3": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5153033938127825]], [[0.5034819082554722]], [[0.4682609211190069]]], "std": [[[0.33109196206994634]], [[0.3359897346722018]], [[0.3299096086515991]]], "count": [149]}, "timestamp": {"min": [0.0], "max": [26.433333333333334], "mean": [13.216666666666669], "std": [7.6402625027620035], "count": [794]}, "frame_index": {"min": [0], "max": [793], "mean": [396.5], "std": [229.2078750828601], "count": [794]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [794]}, "index": {"min": [796], "max": [1589], "mean": [1192.5], "std": [229.2078750828601], "count": [794]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [794]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,152 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "so101",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 1590,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 6,
|
| 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 |
+
7
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"main_shoulder_pan",
|
| 24 |
+
"main_shoulder_lift",
|
| 25 |
+
"main_elbow_flex",
|
| 26 |
+
"main_forearm_twist",
|
| 27 |
+
"main_wrist_flex",
|
| 28 |
+
"main_wrist_roll",
|
| 29 |
+
"main_gripper"
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"observation.state": {
|
| 33 |
+
"dtype": "float32",
|
| 34 |
+
"shape": [
|
| 35 |
+
7
|
| 36 |
+
],
|
| 37 |
+
"names": [
|
| 38 |
+
"main_shoulder_pan",
|
| 39 |
+
"main_shoulder_lift",
|
| 40 |
+
"main_elbow_flex",
|
| 41 |
+
"main_forearm_twist",
|
| 42 |
+
"main_wrist_flex",
|
| 43 |
+
"main_wrist_roll",
|
| 44 |
+
"main_gripper"
|
| 45 |
+
]
|
| 46 |
+
},
|
| 47 |
+
"observation.images.OBS_IMAGE_1": {
|
| 48 |
+
"dtype": "video",
|
| 49 |
+
"shape": [
|
| 50 |
+
480,
|
| 51 |
+
640,
|
| 52 |
+
3
|
| 53 |
+
],
|
| 54 |
+
"names": [
|
| 55 |
+
"height",
|
| 56 |
+
"width",
|
| 57 |
+
"channels"
|
| 58 |
+
],
|
| 59 |
+
"info": {
|
| 60 |
+
"video.height": 480,
|
| 61 |
+
"video.width": 640,
|
| 62 |
+
"video.codec": "av1",
|
| 63 |
+
"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"video.fps": 30,
|
| 66 |
+
"video.channels": 3,
|
| 67 |
+
"has_audio": false
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"observation.images.OBS_IMAGE_2": {
|
| 71 |
+
"dtype": "video",
|
| 72 |
+
"shape": [
|
| 73 |
+
480,
|
| 74 |
+
640,
|
| 75 |
+
3
|
| 76 |
+
],
|
| 77 |
+
"names": [
|
| 78 |
+
"height",
|
| 79 |
+
"width",
|
| 80 |
+
"channels"
|
| 81 |
+
],
|
| 82 |
+
"info": {
|
| 83 |
+
"video.height": 480,
|
| 84 |
+
"video.width": 640,
|
| 85 |
+
"video.codec": "av1",
|
| 86 |
+
"video.pix_fmt": "yuv420p",
|
| 87 |
+
"video.is_depth_map": false,
|
| 88 |
+
"video.fps": 30,
|
| 89 |
+
"video.channels": 3,
|
| 90 |
+
"has_audio": false
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"observation.images.OBS_IMAGE_3": {
|
| 94 |
+
"dtype": "video",
|
| 95 |
+
"shape": [
|
| 96 |
+
480,
|
| 97 |
+
640,
|
| 98 |
+
3
|
| 99 |
+
],
|
| 100 |
+
"names": [
|
| 101 |
+
"height",
|
| 102 |
+
"width",
|
| 103 |
+
"channels"
|
| 104 |
+
],
|
| 105 |
+
"info": {
|
| 106 |
+
"video.height": 480,
|
| 107 |
+
"video.width": 640,
|
| 108 |
+
"video.codec": "av1",
|
| 109 |
+
"video.pix_fmt": "yuv420p",
|
| 110 |
+
"video.is_depth_map": false,
|
| 111 |
+
"video.fps": 30,
|
| 112 |
+
"video.channels": 3,
|
| 113 |
+
"has_audio": false
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
"timestamp": {
|
| 117 |
+
"dtype": "float32",
|
| 118 |
+
"shape": [
|
| 119 |
+
1
|
| 120 |
+
],
|
| 121 |
+
"names": null
|
| 122 |
+
},
|
| 123 |
+
"frame_index": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"names": null
|
| 129 |
+
},
|
| 130 |
+
"episode_index": {
|
| 131 |
+
"dtype": "int64",
|
| 132 |
+
"shape": [
|
| 133 |
+
1
|
| 134 |
+
],
|
| 135 |
+
"names": null
|
| 136 |
+
},
|
| 137 |
+
"index": {
|
| 138 |
+
"dtype": "int64",
|
| 139 |
+
"shape": [
|
| 140 |
+
1
|
| 141 |
+
],
|
| 142 |
+
"names": null
|
| 143 |
+
},
|
| 144 |
+
"task_index": {
|
| 145 |
+
"dtype": "int64",
|
| 146 |
+
"shape": [
|
| 147 |
+
1
|
| 148 |
+
],
|
| 149 |
+
"names": null
|
| 150 |
+
}
|
| 151 |
+
}
|
| 152 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
|
videos/chunk-000/observation.images.OBS_IMAGE_1/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c06931c3d12055106685e30422a45e7c2a0a3206b531fac3d8b4db84ce2a5665
|
| 3 |
+
size 13129297
|
videos/chunk-000/observation.images.OBS_IMAGE_1/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:883a7192215ab5041e1a706585dfb7744f7ec32bce91c11d88b948f80b94d0cd
|
| 3 |
+
size 13096311
|
videos/chunk-000/observation.images.OBS_IMAGE_2/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e082ce4a0b0b40cd2c093758dc2df6a56ed8494b0fe8a6b552e0231188ede7b0
|
| 3 |
+
size 7903650
|
videos/chunk-000/observation.images.OBS_IMAGE_2/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:88d1e3a09142ccf6c7c54c59183535e6ff36c9e77ef944bfe09ac64332d3c093
|
| 3 |
+
size 7863489
|
videos/chunk-000/observation.images.OBS_IMAGE_3/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f1e469a69271cc73dc16039fb695391f5296396b81b78954977f5884780e654f
|
| 3 |
+
size 5637861
|
videos/chunk-000/observation.images.OBS_IMAGE_3/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:90e054780e794ec09aee4f62f6929c162ae22f792bdeafad01e40b512b8aa57f
|
| 3 |
+
size 5292620
|