Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.overhead/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.overhead/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.overhead/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000002.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 sha256:385b031b873c3028bf6e65f838849282ed07f5a329be7430ba1d9393844c23d6
|
| 3 |
+
size 31446
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:97e4af610a92fed2dbfdadd81296b5f5056ad24508ad5043d83a22cdbe0de3ba
|
| 3 |
+
size 33089
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dd42285a3689d6da8242e3b1fcf1d3b5d657a1e4adbf70d3ac5215b16bc1ac3f
|
| 3 |
+
size 100144
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Evaluate ACT for collaborative medication despensing"], "length": 399}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Evaluate ACT for collaborative medication despensing"], "length": 423}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Evaluate ACT for collaborative medication despensing"], "length": 1420}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-6.726436614990234, -102.06285095214844, 30.92013168334961, -59.27629852294922, -68.15231323242188, 0.13380718231201172], "max": [37.349205017089844, 7.929637908935547, 101.3047866821289, 81.20913696289062, -34.522621154785156, 38.24889373779297], "mean": [12.239463806152344, -51.21120071411133, 72.53070831298828, 8.56218147277832, -57.08854293823242, 13.015111923217773], "std": [17.14797592163086, 40.53963088989258, 18.481653213500977, 50.97568130493164, 5.481208801269531, 14.70434856414795], "count": [399]}, "observation.state": {"min": [-5.563798427581787, -100.0, 36.25678253173828, -58.362674713134766, -67.65470886230469, 1.4334471225738525], "max": [37.38872528076172, 7.834877967834473, 99.3670883178711, 79.22534942626953, -37.857513427734375, 38.08873748779297], "mean": [12.244422912597656, -49.91969680786133, 73.61360168457031, 8.719644546508789, -57.09504699707031, 17.102073669433594], "std": [17.156620025634766, 40.637657165527344, 17.133272171020508, 50.45222091674805, 5.491866588592529, 12.885879516601562], "count": [399]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33341854779411767]], [[0.36695784313725494]], [[0.32706169321895423]]], "std": [[[0.3443632586744676]], [[0.34485469545985964]], [[0.32907193559425646]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3287760069444444]], [[0.3512989889705882]], [[0.3180311111111111]]], "std": [[[0.37371349722698133]], [[0.3711969863481526]], [[0.3684813975824]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.266666666666667], "mean": [6.633333333333333], "std": [3.8393672318157765], "count": [399]}, "frame_index": {"min": [0], "max": [398], "mean": [199.0], "std": [115.18101695447331], "count": [399]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [399]}, "index": {"min": [0], "max": [398], "mean": [199.0], "std": [115.18101695447331], "count": [399]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [399]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-40.334197998046875, -94.05888366699219, 13.00790786743164, -18.751237869262695, -60.25596237182617, 1.680368423461914], "max": [4.41932487487793, 10.993904113769531, 100.06039428710938, 76.2908706665039, -12.792583465576172, 41.57053756713867], "mean": [-14.685270309448242, -43.086483001708984, 53.8901481628418, 31.49001121520996, -44.025508880615234, 16.465394973754883], "std": [16.1772518157959, 38.41415786743164, 26.994888305664062, 32.257144927978516, 14.211657524108887, 13.846878051757812], "count": [423]}, "observation.state": {"min": [-40.281898498535156, -99.4102783203125, 16.546112060546875, -17.869718551635742, -60.010398864746094, 1.8430033922195435], "max": [4.005934715270996, 11.288963317871094, 99.3670883178711, 79.3133773803711, -12.636505126953125, 40.88737106323242], "mean": [-14.745952606201172, -42.16619110107422, 55.20402908325195, 31.904056549072266, -44.142433166503906, 17.81378173828125], "std": [16.193016052246094, 39.27446746826172, 26.284412384033203, 32.119178771972656, 14.206820487976074, 13.754693984985352], "count": [423]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3396672528594771]], [[0.3740220057189543]], [[0.3326564644607843]]], "std": [[[0.3455311785276458]], [[0.3498800828373267]], [[0.33341494432638025]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36319099673202615]], [[0.33831493055555556]], [[0.3125719791666666]]], "std": [[[0.36833676415730326]], [[0.3529573704438767]], [[0.34671023091208325]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.066666666666666], "mean": [7.033333333333333], "std": [4.070308023652191], "count": [423]}, "frame_index": {"min": [0], "max": [422], "mean": [211.0], "std": [122.10924070956574], "count": [423]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [423]}, "index": {"min": [399], "max": [821], "mean": [610.0], "std": [122.10924070956574], "count": [423]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [423]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"action": {"min": [-54.81170654296875, -95.72354125976562, 14.066009521484375, -35.57268142700195, -57.688514709472656, 1.4161243438720703], "max": [30.44084358215332, 18.046463012695312, 100.51060485839844, 79.65164184570312, -25.935531616210938, 43.50159454345703], "mean": [4.560565948486328, -34.30134963989258, 51.724586486816406, 16.34881019592285, -48.54375457763672, 18.307260513305664], "std": [25.001428604125977, 34.921688079833984, 22.72101402282715, 37.40557098388672, 7.838508129119873, 13.797642707824707], "count": [1420]}, "observation.state": {"min": [-54.4510383605957, -94.77674865722656, 16.365280151367188, -35.12323760986328, -57.51430130004883, 1.9112627506256104], "max": [30.044509887695312, 18.449872970581055, 99.54792022705078, 79.3133773803711, -26.781070709228516, 42.93515396118164], "mean": [4.4396796226501465, -33.19932174682617, 52.83440399169922, 16.576671600341797, -48.697052001953125, 19.766996383666992], "std": [24.926240921020508, 35.47937774658203, 22.14532470703125, 36.95748519897461, 7.639040470123291, 13.162591934204102], "count": [1420]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3344213820629262]], [[0.3740408098845599]], [[0.3274557276193305]]], "std": [[[0.343143584951248]], [[0.34573781165817824]], [[0.3313066245600235]]], "count": [231]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39589741426873776]], [[0.40512147472625415]], [[0.367227509690745]]], "std": [[[0.388724760220604]], [[0.3935515740583225]], [[0.38645688133573936]]], "count": [231]}, "timestamp": {"min": [0.0], "max": [47.3], "mean": [23.65], "std": [13.663952982614918], "count": [1420]}, "frame_index": {"min": [0], "max": [1419], "mean": [709.5], "std": [409.91858947844753], "count": [1420]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1420]}, "index": {"min": [822], "max": [2241], "mean": [1531.5], "std": [409.91858947844753], "count": [1420]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1420]}}}
|
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": 2242,
|
| 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": "Evaluate ACT for collaborative medication despensing"}
|
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:c254bde3c8d6c203eb6deafc78ef4015024aff6125053fdb35f6b8e340610e4f
|
| 3 |
+
size 5284848
|
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 sha256:186fd41e7a38292aaffa5e182bbb5d47f23d5222583aef8b5a0d5b844b5363f3
|
| 3 |
+
size 5561097
|
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 sha256:6880dfc443844ae816250ebb82b6324390c728cac3d7212c3dfdf56ac628c7e3
|
| 3 |
+
size 19255917
|
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 sha256:2ad8f0ed39b0682fcf79523e542c26611c023e4429d5d1734c2aecb7ec4854f5
|
| 3 |
+
size 1842084
|
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:ca46cc2c1d803ab2d4b69e2c631400542e747351f5f1e41e30a78a3061134783
|
| 3 |
+
size 1590457
|
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:ff8c96441c2f311270d370db62c843de560cc807fdb7e3b5794a9f1421b93f66
|
| 3 |
+
size 6844204
|