Datasets:

Formats:
parquet
Libraries:
Datasets
Dask
License:
aergogo commited on
Commit
a9a459d
·
verified ·
1 Parent(s): 5d30cdd

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:a3c520c4c76b78c37c36a00bd24c7d010e4312b7caa3ae2190f15da357c7d030
3
+ size 30764
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a0c5046bce442efef8d1cb23676e9253e23b192fd10087cb38094758d2ed9cb4
3
+ size 27116
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:92110e276ea55faf72e6cad2bc35043142813bc37706a989a522fcaff070ddcf
3
+ size 31148
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the Right green bottle"], "length": 449}
2
+ {"episode_index": 1, "tasks": ["Grab the Right green bottle"], "length": 355}
3
+ {"episode_index": 2, "tasks": ["Grab the Right green bottle"], "length": 426}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-8.750825881958008, -100.65371704101562, 41.631011962890625, -62.283058166503906, -72.18526458740234, -0.35960865020751953], "max": [39.93443298339844, 6.180156707763672, 100.3104019165039, 76.76072692871094, -62.05823516845703, 41.067996978759766], "mean": [4.682208061218262, -69.80419158935547, 85.72698974609375, 34.84190368652344, -66.38320922851562, 12.022547721862793], "std": [17.04060935974121, 37.75656509399414, 17.507125854492188, 50.88856506347656, 2.6156070232391357, 13.581154823303223], "count": [449]}, "observation.state": {"min": [-8.34277057647705, -99.74694061279297, 45.91883087158203, -61.07205581665039, -71.97057342529297, 2.0], "max": [39.599849700927734, 6.031210422515869, 100.0, 76.53778839111328, -60.975608825683594, 40.75862121582031], "mean": [4.960902690887451, -69.14903259277344, 86.43045806884766, 34.65644836425781, -66.48197174072266, 13.244120597839355], "std": [17.110403060913086, 38.10763931274414, 15.924553871154785, 50.19511795043945, 2.5525782108306885, 13.987297058105469], "count": [449]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30087282271241833]], [[0.3287918852124183]], [[0.29983735702614384]]], "std": [[[0.3801061260411663]], [[0.3752140408641976]], [[0.36774195439162716]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29414846609477124]], [[0.33789592728758167]], [[0.29853886846405225]]], "std": [[[0.31681490321281564]], [[0.3167148578017813]], [[0.30242802310801054]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.933333333333334], "mean": [7.466666666666667], "std": [4.320493798938574], "count": [449]}, "frame_index": {"min": [0], "max": [448], "mean": [224.0], "std": [129.6148139681572], "count": [449]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [449]}, "index": {"min": [0], "max": [448], "mean": [224.0], "std": [129.6148139681572], "count": [449]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [449]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-8.816946029663086, -101.66061401367188, 40.41972351074219, -70.38011169433594, -71.22097778320312, -1.2801799774169922], "max": [39.65652847290039, 10.059139251708984, 100.04652404785156, 76.63642883300781, -60.98809051513672, 39.84452438354492], "mean": [7.82297945022583, -61.90010452270508, 80.59256744384766, 22.83844757080078, -67.05821990966797, 14.172300338745117], "std": [18.68495750427246, 38.969364166259766, 17.556753158569336, 51.176212310791016, 2.1441268920898438, 14.159300804138184], "count": [355]}, "observation.state": {"min": [-8.49377155303955, -99.66259002685547, 44.824440002441406, -68.98066711425781, -70.96399688720703, 1.1034482717514038], "max": [39.297847747802734, 9.067903518676758, 98.99681091308594, 76.53778839111328, -61.2078971862793, 39.31034469604492], "mean": [7.778951644897461, -61.27955627441406, 81.66801452636719, 23.324344635009766, -67.08158111572266, 15.306316375732422], "std": [18.536890029907227, 39.21043395996094, 16.33004379272461, 50.83843231201172, 2.0785305500030518, 14.176734924316406], "count": [355]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35073025326797386]], [[0.3776773958333333]], [[0.33803478962418304]]], "std": [[[0.38666842695138737]], [[0.37828275916168014]], [[0.36969751057047895]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30659024714052285]], [[0.34664646241830066]], [[0.3070794056372549]]], "std": [[[0.3145387113248199]], [[0.31601439508372303]], [[0.3021000024423145]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.8], "mean": [5.9], "std": [3.41597553985518], "count": [355]}, "frame_index": {"min": [0], "max": [354], "mean": [177.0], "std": [102.4792661956554], "count": [355]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [355]}, "index": {"min": [449], "max": [803], "mean": [626.0], "std": [102.4792661956554], "count": [355]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [355]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-7.711841583251953, -101.51229095458984, 37.33284378051758, -68.9360122680664, -71.40747833251953, -1.8146648406982422], "max": [39.934364318847656, 9.92208480834961, 100.54717254638672, 76.84227752685547, -60.798091888427734, 41.291893005371094], "mean": [6.055614948272705, -65.30152893066406, 82.40345001220703, 29.74432373046875, -66.18783569335938, 13.650378227233887], "std": [17.98896026611328, 39.348968505859375, 18.24098777770996, 50.691280364990234, 2.540160894393921, 13.953618049621582], "count": [426]}, "observation.state": {"min": [-7.66326904296875, -99.57823944091797, 41.35886764526367, -67.57469177246094, -71.04142761230469, 1.2413792610168457], "max": [39.599849700927734, 9.911429405212402, 98.99681091308594, 76.53778839111328, -60.82075119018555, 40.482757568359375], "mean": [6.00578498840332, -64.78811645507812, 83.12593841552734, 30.1041259765625, -66.28153228759766, 14.282690048217773], "std": [17.886747360229492, 39.686546325683594, 17.02058982849121, 50.37983322143555, 2.4811763763427734, 13.989789962768555], "count": [426]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33234978349673205]], [[0.3575581658496732]], [[0.3249752777777778]]], "std": [[[0.38551936795529834]], [[0.37753174583933163]], [[0.36695521155631194]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.294139375]], [[0.341450522875817]], [[0.29828331086601306]]], "std": [[[0.3150434894918485]], [[0.31645648460088854]], [[0.30423551711436014]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.166666666666666], "mean": [7.083333333333333], "std": [4.099175617211434], "count": [426]}, "frame_index": {"min": [0], "max": [425], "mean": [212.5], "std": [122.97526851634302], "count": [426]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [426]}, "index": {"min": [804], "max": [1229], "mean": [1016.5], "std": [122.97526851634302], "count": [426]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [426]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 3,
5
+ "total_frames": 1230,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
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
+ "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.overhead": {
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": "Grab the Right green bottle"}
videos/chunk-000/observation.images.overhead/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1229ceb3630941357999fab1b22bb00f868e7a8d2b601cb74d1adbc94b1ac32
3
+ size 1624966
videos/chunk-000/observation.images.overhead/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bc21684b799011c47804dcb4c772b8f1b0ff611d4ba2592f17faf7de1d852375
3
+ size 1402338
videos/chunk-000/observation.images.overhead/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ed5c99378969e9ff9e2fb1b08787ed6b617a0bd7bb75ff40b86006c511794e5d
3
+ size 1622815
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 sha256:7f5a5ef2c5a570b54e9f1d124184bafe0aa43538cc4c84215afe8ce68e8ea7ed
3
+ size 5329898
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 sha256:37816f7385993599e218a7ad277db52d20179e5340fb66acf20efe2eee33a2bd
3
+ size 4312465
videos/chunk-000/observation.images.wrist/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f1c4190f90734ed9ab2392d5a2ddb2e5ad2347159b02da1c4af5f2d154d8bb75
3
+ size 5052914