Hugging Face's logo

Datasets:
theconstruct-ai
/
sort_trash_real_2

Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Libraries:
Datasets
Dask
Polars
Dataset card Data Studio Files
xet
 Community
1
theconstruct-ai commited on
Commit
ff96af0
·
verified ·
1 Parent(s): 2c9c672

Upload folder using huggingface_hub

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. data/chunk-000/episode_000002.parquet +3 -0
  4. data/chunk-000/episode_000003.parquet +3 -0
  5. data/chunk-000/episode_000004.parquet +3 -0
  6. data/chunk-000/episode_000005.parquet +3 -0
  7. data/chunk-000/episode_000006.parquet +3 -0
  8. data/chunk-000/episode_000007.parquet +3 -0
  9. data/chunk-000/episode_000008.parquet +3 -0
  10. data/chunk-000/episode_000009.parquet +3 -0
  11. data/chunk-000/episode_000010.parquet +3 -0
  12. data/chunk-000/episode_000011.parquet +3 -0
  13. data/chunk-000/episode_000012.parquet +3 -0
  14. data/chunk-000/episode_000013.parquet +3 -0
  15. data/chunk-000/episode_000014.parquet +3 -0
  16. data/chunk-000/episode_000015.parquet +3 -0
  17. data/chunk-000/episode_000016.parquet +3 -0
  18. data/chunk-000/episode_000017.parquet +3 -0
  19. data/chunk-000/episode_000018.parquet +3 -0
  20. data/chunk-000/episode_000019.parquet +3 -0
  21. data/chunk-000/episode_000020.parquet +3 -0
  22. data/chunk-000/episode_000021.parquet +3 -0
  23. data/chunk-000/episode_000022.parquet +3 -0
  24. data/chunk-000/episode_000023.parquet +3 -0
  25. data/chunk-000/episode_000024.parquet +3 -0
  26. data/chunk-000/episode_000025.parquet +3 -0
  27. data/chunk-000/episode_000026.parquet +3 -0
  28. meta/episodes.jsonl +27 -0
  29. meta/episodes_stats.jsonl +0 -0
  30. meta/info.json +451 -0
  31. meta/modality.json +182 -0
  32. meta/tasks.jsonl +1 -0
  33. videos/chunk-000/observation.images.ego_view/episode_000000.mp4 +3 -0
  34. videos/chunk-000/observation.images.ego_view/episode_000001.mp4 +3 -0
  35. videos/chunk-000/observation.images.ego_view/episode_000002.mp4 +3 -0
  36. videos/chunk-000/observation.images.ego_view/episode_000003.mp4 +3 -0
  37. videos/chunk-000/observation.images.ego_view/episode_000004.mp4 +3 -0
  38. videos/chunk-000/observation.images.ego_view/episode_000005.mp4 +3 -0
  39. videos/chunk-000/observation.images.ego_view/episode_000006.mp4 +3 -0
  40. videos/chunk-000/observation.images.ego_view/episode_000007.mp4 +3 -0
  41. videos/chunk-000/observation.images.ego_view/episode_000008.mp4 +3 -0
  42. videos/chunk-000/observation.images.ego_view/episode_000009.mp4 +3 -0
  43. videos/chunk-000/observation.images.ego_view/episode_000010.mp4 +3 -0
  44. videos/chunk-000/observation.images.ego_view/episode_000011.mp4 +3 -0
  45. videos/chunk-000/observation.images.ego_view/episode_000012.mp4 +3 -0
  46. videos/chunk-000/observation.images.ego_view/episode_000013.mp4 +3 -0
  47. videos/chunk-000/observation.images.ego_view/episode_000014.mp4 +3 -0
  48. videos/chunk-000/observation.images.ego_view/episode_000015.mp4 +3 -0
  49. videos/chunk-000/observation.images.ego_view/episode_000016.mp4 +3 -0
  50. videos/chunk-000/observation.images.ego_view/episode_000017.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 sha256:3ba7886346bd4932ffe596b80f85ef22bd417ee2b36aca74ac19611fefffc995
3
+ size 1959198
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d4c5b995c3db55dd7ed4d9f76567f92a0a31dd500e49a8d5d87881f56bd427c3
3
+ size 3232360
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b214a6582bafff65b5cc22b03774e2518b3f74d39bb5ad302e0013c3aa298bc7
3
+ size 2587148
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7b4ae72a7fd591ace67fdc7229e6e7344bf75e35636da79ce5db2706e35bdcbf
3
+ size 410269
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0d6a89ed3f081d8bca168a116b1f77822f048e3d70b04cde8ff53309cdd6d3f6
3
+ size 2337769
data/chunk-000/episode_000005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:095243359f521101ccc89c98fa3b447d8de2a71ccb70d88c32b9474558fa9b6d
3
+ size 2560005
data/chunk-000/episode_000006.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e1582acf4dd328eeea5578837953fb83261b476cd8415d5bc19c8d78f42896ab
3
+ size 2708848
data/chunk-000/episode_000007.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d9f19aed9f481395b7a5f8620579d41abd36c593af24842962c8002e2d89c10
3
+ size 2411266
data/chunk-000/episode_000008.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:60e395de2719891546299129368a21fd640461fba63ae5a361dbc948c1ba12fa
3
+ size 2530787
data/chunk-000/episode_000009.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1e5d585db729cebe329ad63754fa43878b5dc9a3b0d0bbd0990fb1acecd20e47
3
+ size 2859582
data/chunk-000/episode_000010.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e3dcc8497fa1b6994bc606f4bea9afc60d75b93973801c0e3a34a56d96918f05
3
+ size 2877972
data/chunk-000/episode_000011.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eb77c411b0d8a04b0f1f26469ba08c5105dde9f730a5924fbc9cae70c918e6e4
3
+ size 2682701
data/chunk-000/episode_000012.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a088872260b11d1b0192233e0ea8e2f61b4d85fbf38078246d477cdcfe7ffacb
3
+ size 2500573
data/chunk-000/episode_000013.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ffd3d93d5d939cebc51608ffddc7882d05adbd7a9a66c06021f54cb4761aa93
3
+ size 2356867
data/chunk-000/episode_000014.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4ff29dbd1fc6a5597122f6a8e471fa5649f20915241ce61a80b00854c9124dcc
3
+ size 3255629
data/chunk-000/episode_000015.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ebb21b0cde8e912f1a2d99762bddffbd9353f6511d7a35d57ef00db8ee5244e1
3
+ size 2447108
data/chunk-000/episode_000016.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d243c8122da7aaff25aa2a957b46a4c3c164638fce2912bf71dea67d4564643b
3
+ size 2926603
data/chunk-000/episode_000017.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a5351f535f929d858df6e70065e647d6aca7d70ce4722723c1fba0dab84a0003
3
+ size 2919916
data/chunk-000/episode_000018.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4516bc8dc8f1cebb21b9c91f9eaa44b27605270c09070990cbc2752871a01bc2
3
+ size 2586734
data/chunk-000/episode_000019.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:967a188cc9941d49db5579e44bc22145b3970cb4f5f0ad41d40d9b116dce9994
3
+ size 2763651
data/chunk-000/episode_000020.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f00c955d6dc4ad7d81bc2d4503c15547cb1b31137b14e39f221fa449a8f249aa
3
+ size 2389072
data/chunk-000/episode_000021.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4380c704d83f0d3d9c75a8dc31e612ef514acf312b9b9fcf8fbde6e383271845
3
+ size 2371707
data/chunk-000/episode_000022.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3e77f72c111b0f133bbd4c647fcb11d22374f1834dea487f6c5572a2af5684c6
3
+ size 2245240
data/chunk-000/episode_000023.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9974a6350871d52fdbb887e6f98eedbd324ab2cc877ee12d1ec749582924857c
3
+ size 2352625
data/chunk-000/episode_000024.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:121aaed576820dc0fc03953087d3fe1ccd2103696eda90a367563ee6c162774d
3
+ size 2462349
data/chunk-000/episode_000025.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:94290cbb5fe37ff886036650db6119af0afb826124f9a547cfdda96aeaeafe29
3
+ size 2129292
data/chunk-000/episode_000026.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2331a558575d9f89ea9d02b2fb3a79a7cdd8332a029ad84245b59b4b6301276e
3
+ size 2306391
meta/episodes.jsonl ADDED
@@ -0,0 +1,27 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["sort the trash"], "length": 1391}
2
+ {"episode_index": 1, "tasks": ["sort the trash"], "length": 2283}
3
+ {"episode_index": 2, "tasks": ["sort the trash"], "length": 1823}
4
+ {"episode_index": 3, "tasks": ["sort the trash"], "length": 283}
5
+ {"episode_index": 4, "tasks": ["sort the trash"], "length": 1663}
6
+ {"episode_index": 5, "tasks": ["sort the trash"], "length": 1834}
7
+ {"episode_index": 6, "tasks": ["sort the trash"], "length": 1923}
8
+ {"episode_index": 7, "tasks": ["sort the trash"], "length": 1708}
9
+ {"episode_index": 8, "tasks": ["sort the trash"], "length": 1807}
10
+ {"episode_index": 9, "tasks": ["sort the trash"], "length": 2009}
11
+ {"episode_index": 10, "tasks": ["sort the trash"], "length": 2040}
12
+ {"episode_index": 11, "tasks": ["sort the trash"], "length": 1909}
13
+ {"episode_index": 12, "tasks": ["sort the trash"], "length": 1745}
14
+ {"episode_index": 13, "tasks": ["sort the trash"], "length": 1687}
15
+ {"episode_index": 14, "tasks": ["sort the trash"], "length": 2312}
16
+ {"episode_index": 15, "tasks": ["sort the trash"], "length": 1720}
17
+ {"episode_index": 16, "tasks": ["sort the trash"], "length": 2080}
18
+ {"episode_index": 17, "tasks": ["sort the trash"], "length": 2053}
19
+ {"episode_index": 18, "tasks": ["sort the trash"], "length": 1839}
20
+ {"episode_index": 19, "tasks": ["sort the trash"], "length": 1952}
21
+ {"episode_index": 20, "tasks": ["sort the trash"], "length": 1679}
22
+ {"episode_index": 21, "tasks": ["sort the trash"], "length": 1672}
23
+ {"episode_index": 22, "tasks": ["sort the trash"], "length": 1572}
24
+ {"episode_index": 23, "tasks": ["sort the trash"], "length": 1664}
25
+ {"episode_index": 24, "tasks": ["sort the trash"], "length": 1734}
26
+ {"episode_index": 25, "tasks": ["sort the trash"], "length": 1494}
27
+ {"episode_index": 26, "tasks": ["sort the trash"], "length": 1652}
meta/episodes_stats.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
meta/info.json ADDED
@@ -0,0 +1,451 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": null,
4
+ "total_episodes": 27,
5
+ "total_frames": 47528,
6
+ "total_tasks": 1,
7
+ "total_videos": 27,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 50,
11
+ "splits": {
12
+ "train": "0:27"
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
+ "observation.images.ego_view": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 480,
21
+ 640,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "info": {
30
+ "video.height": 480,
31
+ "video.width": 640,
32
+ "video.codec": "h264",
33
+ "video.pix_fmt": "yuv420p",
34
+ "video.is_depth_map": false,
35
+ "video.fps": 50,
36
+ "video.channels": 3,
37
+ "has_audio": false
38
+ }
39
+ },
40
+ "observation.state": {
41
+ "dtype": "float64",
42
+ "shape": [
43
+ 43
44
+ ],
45
+ "names": [
46
+ "left_hip_pitch_joint",
47
+ "left_hip_roll_joint",
48
+ "left_hip_yaw_joint",
49
+ "left_knee_joint",
50
+ "left_ankle_pitch_joint",
51
+ "left_ankle_roll_joint",
52
+ "right_hip_pitch_joint",
53
+ "right_hip_roll_joint",
54
+ "right_hip_yaw_joint",
55
+ "right_knee_joint",
56
+ "right_ankle_pitch_joint",
57
+ "right_ankle_roll_joint",
58
+ "waist_yaw_joint",
59
+ "waist_roll_joint",
60
+ "waist_pitch_joint",
61
+ "left_shoulder_pitch_joint",
62
+ "left_shoulder_roll_joint",
63
+ "left_shoulder_yaw_joint",
64
+ "left_elbow_joint",
65
+ "left_wrist_roll_joint",
66
+ "left_wrist_pitch_joint",
67
+ "left_wrist_yaw_joint",
68
+ "left_hand_index_0_joint",
69
+ "left_hand_index_1_joint",
70
+ "left_hand_middle_0_joint",
71
+ "left_hand_middle_1_joint",
72
+ "left_hand_thumb_0_joint",
73
+ "left_hand_thumb_1_joint",
74
+ "left_hand_thumb_2_joint",
75
+ "right_shoulder_pitch_joint",
76
+ "right_shoulder_roll_joint",
77
+ "right_shoulder_yaw_joint",
78
+ "right_elbow_joint",
79
+ "right_wrist_roll_joint",
80
+ "right_wrist_pitch_joint",
81
+ "right_wrist_yaw_joint",
82
+ "right_hand_index_0_joint",
83
+ "right_hand_index_1_joint",
84
+ "right_hand_middle_0_joint",
85
+ "right_hand_middle_1_joint",
86
+ "right_hand_thumb_0_joint",
87
+ "right_hand_thumb_1_joint",
88
+ "right_hand_thumb_2_joint"
89
+ ]
90
+ },
91
+ "observation.eef_state": {
92
+ "dtype": "float64",
93
+ "shape": [
94
+ 14
95
+ ],
96
+ "names": [
97
+ "left_wrist_pos",
98
+ "left_wrist_abs_quat",
99
+ "right_wrist_pos",
100
+ "right_wrist_abs_quat"
101
+ ]
102
+ },
103
+ "action.wbc": {
104
+ "dtype": "float64",
105
+ "shape": [
106
+ 43
107
+ ],
108
+ "names": [
109
+ "left_hip_pitch_joint",
110
+ "left_hip_roll_joint",
111
+ "left_hip_yaw_joint",
112
+ "left_knee_joint",
113
+ "left_ankle_pitch_joint",
114
+ "left_ankle_roll_joint",
115
+ "right_hip_pitch_joint",
116
+ "right_hip_roll_joint",
117
+ "right_hip_yaw_joint",
118
+ "right_knee_joint",
119
+ "right_ankle_pitch_joint",
120
+ "right_ankle_roll_joint",
121
+ "waist_yaw_joint",
122
+ "waist_roll_joint",
123
+ "waist_pitch_joint",
124
+ "left_shoulder_pitch_joint",
125
+ "left_shoulder_roll_joint",
126
+ "left_shoulder_yaw_joint",
127
+ "left_elbow_joint",
128
+ "left_wrist_roll_joint",
129
+ "left_wrist_pitch_joint",
130
+ "left_wrist_yaw_joint",
131
+ "left_hand_index_0_joint",
132
+ "left_hand_index_1_joint",
133
+ "left_hand_middle_0_joint",
134
+ "left_hand_middle_1_joint",
135
+ "left_hand_thumb_0_joint",
136
+ "left_hand_thumb_1_joint",
137
+ "left_hand_thumb_2_joint",
138
+ "right_shoulder_pitch_joint",
139
+ "right_shoulder_roll_joint",
140
+ "right_shoulder_yaw_joint",
141
+ "right_elbow_joint",
142
+ "right_wrist_roll_joint",
143
+ "right_wrist_pitch_joint",
144
+ "right_wrist_yaw_joint",
145
+ "right_hand_index_0_joint",
146
+ "right_hand_index_1_joint",
147
+ "right_hand_middle_0_joint",
148
+ "right_hand_middle_1_joint",
149
+ "right_hand_thumb_0_joint",
150
+ "right_hand_thumb_1_joint",
151
+ "right_hand_thumb_2_joint"
152
+ ]
153
+ },
154
+ "observation.root_orientation": {
155
+ "dtype": "float64",
156
+ "shape": [
157
+ 4
158
+ ],
159
+ "names": [
160
+ "base_qw",
161
+ "base_qx",
162
+ "base_qy",
163
+ "base_qz"
164
+ ]
165
+ },
166
+ "observation.projected_gravity": {
167
+ "dtype": "float64",
168
+ "shape": [
169
+ 3
170
+ ],
171
+ "names": [
172
+ "gravity_x",
173
+ "gravity_y",
174
+ "gravity_z"
175
+ ]
176
+ },
177
+ "observation.cpp_rotation_offset": {
178
+ "dtype": "float64",
179
+ "shape": [
180
+ 4
181
+ ],
182
+ "names": [
183
+ "rot_offset_qw",
184
+ "rot_offset_qx",
185
+ "rot_offset_qy",
186
+ "rot_offset_qz"
187
+ ]
188
+ },
189
+ "observation.init_base_quat": {
190
+ "dtype": "float64",
191
+ "shape": [
192
+ 4
193
+ ],
194
+ "names": [
195
+ "init_base_qw",
196
+ "init_base_qx",
197
+ "init_base_qy",
198
+ "init_base_qz"
199
+ ]
200
+ },
201
+ "teleop.delta_heading": {
202
+ "dtype": "float64",
203
+ "shape": [
204
+ 1
205
+ ],
206
+ "names": [
207
+ "delta_heading"
208
+ ]
209
+ },
210
+ "action.motion_token": {
211
+ "dtype": "float64",
212
+ "shape": [
213
+ 64
214
+ ],
215
+ "names": "motion_token"
216
+ },
217
+ "teleop.smpl_joints": {
218
+ "dtype": "float32",
219
+ "shape": [
220
+ 72
221
+ ],
222
+ "names": "smpl_joints"
223
+ },
224
+ "teleop.smpl_pose": {
225
+ "dtype": "float32",
226
+ "shape": [
227
+ 63
228
+ ],
229
+ "names": "smpl_pose"
230
+ },
231
+ "teleop.body_quat_w": {
232
+ "dtype": "float32",
233
+ "shape": [
234
+ 4
235
+ ],
236
+ "names": "body_quat_w"
237
+ },
238
+ "teleop.target_body_orientation": {
239
+ "dtype": "float32",
240
+ "shape": [
241
+ 6
242
+ ],
243
+ "names": [
244
+ "target_body_r00",
245
+ "target_body_r10",
246
+ "target_body_r01",
247
+ "target_body_r11",
248
+ "target_body_r02",
249
+ "target_body_r12"
250
+ ]
251
+ },
252
+ "teleop.left_hand_joints": {
253
+ "dtype": "float32",
254
+ "shape": [
255
+ 7
256
+ ],
257
+ "names": "left_hand_joints"
258
+ },
259
+ "teleop.right_hand_joints": {
260
+ "dtype": "float32",
261
+ "shape": [
262
+ 7
263
+ ],
264
+ "names": "right_hand_joints"
265
+ },
266
+ "teleop.smpl_frame_index": {
267
+ "dtype": "int64",
268
+ "shape": [
269
+ 1
270
+ ],
271
+ "names": [
272
+ "smpl_frame_index"
273
+ ]
274
+ },
275
+ "teleop.left_wrist_joints": {
276
+ "dtype": "float32",
277
+ "shape": [
278
+ 3
279
+ ],
280
+ "names": [
281
+ "left_wrist_roll",
282
+ "left_wrist_pitch",
283
+ "left_wrist_yaw"
284
+ ]
285
+ },
286
+ "teleop.right_wrist_joints": {
287
+ "dtype": "float32",
288
+ "shape": [
289
+ 3
290
+ ],
291
+ "names": [
292
+ "right_wrist_roll",
293
+ "right_wrist_pitch",
294
+ "right_wrist_yaw"
295
+ ]
296
+ },
297
+ "teleop.stream_mode": {
298
+ "dtype": "int32",
299
+ "shape": [
300
+ 1
301
+ ],
302
+ "names": [
303
+ "stream_mode"
304
+ ]
305
+ },
306
+ "teleop.planner_mode": {
307
+ "dtype": "int32",
308
+ "shape": [
309
+ 1
310
+ ],
311
+ "names": [
312
+ "locomotion_mode"
313
+ ]
314
+ },
315
+ "teleop.planner_movement": {
316
+ "dtype": "float32",
317
+ "shape": [
318
+ 3
319
+ ],
320
+ "names": [
321
+ "movement_x",
322
+ "movement_y",
323
+ "movement_z"
324
+ ]
325
+ },
326
+ "teleop.planner_facing": {
327
+ "dtype": "float32",
328
+ "shape": [
329
+ 3
330
+ ],
331
+ "names": [
332
+ "facing_x",
333
+ "facing_y",
334
+ "facing_z"
335
+ ]
336
+ },
337
+ "teleop.planner_speed": {
338
+ "dtype": "float32",
339
+ "shape": [
340
+ 1
341
+ ],
342
+ "names": [
343
+ "speed"
344
+ ]
345
+ },
346
+ "teleop.planner_height": {
347
+ "dtype": "float32",
348
+ "shape": [
349
+ 1
350
+ ],
351
+ "names": [
352
+ "height"
353
+ ]
354
+ },
355
+ "teleop.vr_3pt_position": {
356
+ "dtype": "float32",
357
+ "shape": [
358
+ 9
359
+ ],
360
+ "names": [
361
+ "lwrist_x",
362
+ "lwrist_y",
363
+ "lwrist_z",
364
+ "rwrist_x",
365
+ "rwrist_y",
366
+ "rwrist_z",
367
+ "neck_x",
368
+ "neck_y",
369
+ "neck_z"
370
+ ]
371
+ },
372
+ "teleop.vr_3pt_orientation": {
373
+ "dtype": "float32",
374
+ "shape": [
375
+ 18
376
+ ],
377
+ "names": [
378
+ "lwrist_r00",
379
+ "lwrist_r10",
380
+ "lwrist_r01",
381
+ "lwrist_r11",
382
+ "lwrist_r02",
383
+ "lwrist_r12",
384
+ "rwrist_r00",
385
+ "rwrist_r10",
386
+ "rwrist_r01",
387
+ "rwrist_r11",
388
+ "rwrist_r02",
389
+ "rwrist_r12",
390
+ "neck_r00",
391
+ "neck_r10",
392
+ "neck_r01",
393
+ "neck_r11",
394
+ "neck_r02",
395
+ "neck_r12"
396
+ ]
397
+ },
398
+ "timestamp": {
399
+ "dtype": "float32",
400
+ "shape": [
401
+ 1
402
+ ],
403
+ "names": null
404
+ },
405
+ "frame_index": {
406
+ "dtype": "int64",
407
+ "shape": [
408
+ 1
409
+ ],
410
+ "names": null
411
+ },
412
+ "episode_index": {
413
+ "dtype": "int64",
414
+ "shape": [
415
+ 1
416
+ ],
417
+ "names": null
418
+ },
419
+ "index": {
420
+ "dtype": "int64",
421
+ "shape": [
422
+ 1
423
+ ],
424
+ "names": null
425
+ },
426
+ "task_index": {
427
+ "dtype": "int64",
428
+ "shape": [
429
+ 1
430
+ ],
431
+ "names": null
432
+ }
433
+ },
434
+ "script_config": {
435
+ "control_frequency": 50.0,
436
+ "encoder_file": "policy/release/model_encoder.onnx",
437
+ "is_using_encoder": true,
438
+ "model_path": "policy/release/model_decoder.onnx",
439
+ "obs_config_path": "policy/release/observation_config.yaml",
440
+ "planner_fp16": false,
441
+ "planner_frequency": 10.0,
442
+ "planner_path": "planner/target_vel/V2/planner_sonic.onnx",
443
+ "policy_fp16": false,
444
+ "reference_motion_path": "reference/example/",
445
+ "record_wrist_cameras": false
446
+ },
447
+ "discarded_episode_indices": [
448
+ 0,
449
+ 3
450
+ ]
451
+ }
meta/modality.json ADDED
@@ -0,0 +1,182 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": {
3
+ "left_leg": {
4
+ "start": 0,
5
+ "end": 6
6
+ },
7
+ "right_leg": {
8
+ "start": 6,
9
+ "end": 12
10
+ },
11
+ "waist": {
12
+ "start": 12,
13
+ "end": 15
14
+ },
15
+ "left_arm": {
16
+ "start": 15,
17
+ "end": 22
18
+ },
19
+ "left_hand": {
20
+ "start": 22,
21
+ "end": 29
22
+ },
23
+ "right_arm": {
24
+ "start": 29,
25
+ "end": 36
26
+ },
27
+ "right_hand": {
28
+ "start": 36,
29
+ "end": 43
30
+ },
31
+ "left_wrist_pos": {
32
+ "start": 0,
33
+ "end": 3,
34
+ "original_key": "observation.eef_state"
35
+ },
36
+ "left_wrist_abs_quat": {
37
+ "start": 3,
38
+ "end": 7,
39
+ "original_key": "observation.eef_state",
40
+ "rotation_type": "quaternion"
41
+ },
42
+ "right_wrist_pos": {
43
+ "start": 7,
44
+ "end": 10,
45
+ "original_key": "observation.eef_state"
46
+ },
47
+ "right_wrist_abs_quat": {
48
+ "start": 10,
49
+ "end": 14,
50
+ "original_key": "observation.eef_state",
51
+ "rotation_type": "quaternion"
52
+ },
53
+ "root_orientation": {
54
+ "start": 0,
55
+ "end": 4,
56
+ "original_key": "observation.root_orientation",
57
+ "rotation_type": "quaternion"
58
+ },
59
+ "projected_gravity": {
60
+ "start": 0,
61
+ "end": 3,
62
+ "original_key": "observation.projected_gravity"
63
+ },
64
+ "cpp_rotation_offset": {
65
+ "start": 0,
66
+ "end": 4,
67
+ "original_key": "observation.cpp_rotation_offset",
68
+ "rotation_type": "quaternion"
69
+ },
70
+ "init_base_quat": {
71
+ "start": 0,
72
+ "end": 4,
73
+ "original_key": "observation.init_base_quat",
74
+ "rotation_type": "quaternion"
75
+ }
76
+ },
77
+ "action": {
78
+ "delta_heading": {
79
+ "start": 0,
80
+ "end": 1,
81
+ "original_key": "teleop.delta_heading"
82
+ },
83
+ "motion_token": {
84
+ "start": 0,
85
+ "end": 64,
86
+ "original_key": "action.motion_token"
87
+ },
88
+ "smpl_joints": {
89
+ "start": 0,
90
+ "end": 72,
91
+ "original_key": "teleop.smpl_joints"
92
+ },
93
+ "smpl_pose": {
94
+ "start": 0,
95
+ "end": 63,
96
+ "original_key": "teleop.smpl_pose"
97
+ },
98
+ "body_quat_w": {
99
+ "start": 0,
100
+ "end": 4,
101
+ "original_key": "teleop.body_quat_w",
102
+ "rotation_type": "quaternion"
103
+ },
104
+ "target_body_orientation": {
105
+ "start": 0,
106
+ "end": 6,
107
+ "original_key": "teleop.target_body_orientation",
108
+ "rotation_type": "rotation_6d"
109
+ },
110
+ "left_hand_joints": {
111
+ "start": 0,
112
+ "end": 7,
113
+ "original_key": "teleop.left_hand_joints"
114
+ },
115
+ "right_hand_joints": {
116
+ "start": 0,
117
+ "end": 7,
118
+ "original_key": "teleop.right_hand_joints"
119
+ },
120
+ "left_wrist_joints": {
121
+ "start": 0,
122
+ "end": 3,
123
+ "original_key": "teleop.left_wrist_joints"
124
+ },
125
+ "right_wrist_joints": {
126
+ "start": 0,
127
+ "end": 3,
128
+ "original_key": "teleop.right_wrist_joints"
129
+ },
130
+ "stream_mode": {
131
+ "start": 0,
132
+ "end": 1,
133
+ "original_key": "teleop.stream_mode"
134
+ },
135
+ "planner_mode": {
136
+ "start": 0,
137
+ "end": 1,
138
+ "original_key": "teleop.planner_mode"
139
+ },
140
+ "planner_movement": {
141
+ "start": 0,
142
+ "end": 3,
143
+ "original_key": "teleop.planner_movement"
144
+ },
145
+ "planner_facing": {
146
+ "start": 0,
147
+ "end": 3,
148
+ "original_key": "teleop.planner_facing"
149
+ },
150
+ "planner_speed": {
151
+ "start": 0,
152
+ "end": 1,
153
+ "original_key": "teleop.planner_speed"
154
+ },
155
+ "planner_height": {
156
+ "start": 0,
157
+ "end": 1,
158
+ "original_key": "teleop.planner_height"
159
+ },
160
+ "vr_3pt_position": {
161
+ "start": 0,
162
+ "end": 9,
163
+ "original_key": "teleop.vr_3pt_position"
164
+ },
165
+ "vr_3pt_orientation": {
166
+ "start": 0,
167
+ "end": 18,
168
+ "original_key": "teleop.vr_3pt_orientation",
169
+ "rotation_type": "rotation_6d"
170
+ }
171
+ },
172
+ "video": {
173
+ "ego_view": {
174
+ "original_key": "observation.images.ego_view"
175
+ }
176
+ },
177
+ "annotation": {
178
+ "human.task_description": {
179
+ "original_key": "task_index"
180
+ }
181
+ }
182
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "sort the trash"}
videos/chunk-000/observation.images.ego_view/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6080adb8b619dccf1653736fa6b74d95bc859acb8f1c93b4d01e2146094ff51c
3
+ size 3088937
videos/chunk-000/observation.images.ego_view/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd232fa91aff433d2eced39e47ceef38c47cc704c0f8e3a3b2a79b2c38dd29f2
3
+ size 4155358
videos/chunk-000/observation.images.ego_view/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e61714c2440537df57271ad9bf4830bb776306c1b2dac26607c1bc6da9c9783e
3
+ size 3590674
videos/chunk-000/observation.images.ego_view/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7b7e7c542b82d1bb08fdb76c73f29beac498445f037ecc148f53155e38b2ec3b
3
+ size 367319
videos/chunk-000/observation.images.ego_view/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c1c0656b95cd61921fe16f01400eaa33547d3f79ffb29b0b4178a366d52bbc31
3
+ size 3248810
videos/chunk-000/observation.images.ego_view/episode_000005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8eec30aa5104906a5a581733cd2cafd3b962996004912201def4b83b6ff1ee37
3
+ size 3691744
videos/chunk-000/observation.images.ego_view/episode_000006.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f53dc1f85f8a0abc5007642ee2364ad9973fe11c34b687500cb8b5e5954bbedd
3
+ size 3959102
videos/chunk-000/observation.images.ego_view/episode_000007.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6a29633b71958ddc1b4fe824e22944063240ce99a20f28eee57829aa73d36937
3
+ size 3402483
videos/chunk-000/observation.images.ego_view/episode_000008.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e38d469a2b573bc4ec1bcb2eda48b1875b85cb2d7eec21d56f65c287f1921ff6
3
+ size 3824991
videos/chunk-000/observation.images.ego_view/episode_000009.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8b77af71d0a564e618c97646fd2ecf605c9834c3c64bab012a7459c587744346
3
+ size 4251979
videos/chunk-000/observation.images.ego_view/episode_000010.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9b74f736604e01cf1cf789a5d8d84e578e63273a88a69b990f7a309ab3cdeac8
3
+ size 4283408
videos/chunk-000/observation.images.ego_view/episode_000011.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7287a8d063bf6e45486555da15255ae07ecc8c2892732480df00c8657b45f4db
3
+ size 3802514
videos/chunk-000/observation.images.ego_view/episode_000012.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7b627b4b854ad4cbcdbdf72a5e5aec920f5c7e9d6d78bd937b09cd2511aece76
3
+ size 3492215
videos/chunk-000/observation.images.ego_view/episode_000013.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7dada44c1b92bc901ea2b5d5b5764ad0471c2e6b798ca0bf734e96c0bd45d0f9
3
+ size 3272370
videos/chunk-000/observation.images.ego_view/episode_000014.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3e928a8a12611171c0c20440ca00d54d0b647ccf260c1fe4d54bb0178b3e27ba
3
+ size 4805886
videos/chunk-000/observation.images.ego_view/episode_000015.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fe285608d4ba9d7e7b4ec64a0a7a399e61bdaf4d597635d4a34c3b7d31bb7464
3
+ size 3391204
videos/chunk-000/observation.images.ego_view/episode_000016.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:385612c5c3dfba6a0fa649bb7d8e8825dc9c8e2fed076e8de7b071d65dc3663d
3
+ size 4067632
videos/chunk-000/observation.images.ego_view/episode_000017.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:327e8835911c8702753ca2f3b5a18b96d7b59dfef3463827c9a5f85d99b285f5
3
+ size 4061678