uelundgren commited on
Commit
1eed949
·
verified ·
1 Parent(s): 2673dc7

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 sha256:969c6a9784d31bda6b5f30fc246e26c00bd60352cb94f0a62be0db0c95b830e3
3
+ size 60280
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5bb59c326aee7ec48e97b97b6a426bc7f5422f5bcb5353ab92cd73bdd4f83521
3
+ size 52925
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:db37b0d16bc8b314550becd3421ad369eeb53e44ce2d4013c219d14761170083
3
+ size 62392
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22dd400ad4c2664a813996a6f671c086f62f2735ea4baf7f6c82f4428f71236c
3
+ size 64382
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2fa00a5b6f1063b85abc6fb155f7755ac3b2d10cd33e2da74867a54c1d32b61c
3
+ size 59890
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Throw the dice"], "length": 1190}
2
+ {"episode_index": 1, "tasks": ["Throw the dice"], "length": 1198}
3
+ {"episode_index": 2, "tasks": ["Throw the dice"], "length": 1198}
4
+ {"episode_index": 3, "tasks": ["Throw the dice"], "length": 1197}
5
+ {"episode_index": 4, "tasks": ["Throw the dice"], "length": 1197}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-42.88557052612305, -73.33333587646484, -51.91011047363281, -26.632740020751953, -66.94561004638672, 0.0], "max": [36.11940383911133, 32.76073455810547, 99.64044952392578, 99.06700897216797, 24.790794372558594, 35.7473030090332], "mean": [11.424591064453125, -37.916481018066406, 46.46311569213867, 47.17639923095703, -45.1446418762207, 10.120274543762207], "std": [19.618152618408203, 28.31546974182129, 41.109535217285156, 39.39139175415039, 22.334692001342773, 11.056807518005371], "count": [1190]}, "observation.state": {"min": [-42.74953079223633, -73.2602310180664, -48.378379821777344, -23.440860748291016, -66.33766174316406, 1.3131976127624512], "max": [35.02824783325195, 33.7832145690918, 98.46846771240234, 98.6236572265625, 24.519479751586914, 35.39067459106445], "mean": [11.242427825927734, -36.6286506652832, 48.55500411987305, 47.30143356323242, -45.01655578613281, 13.71908187866211], "std": [19.594263076782227, 28.846750259399414, 40.75567626953125, 38.930641174316406, 22.32236671447754, 10.006484031677246], "count": [1190]}, "observation.images.arm": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4823093553840678]], [[0.3905945639600725]], [[0.2799780200446515]]], "std": [[[0.2589511397991044]], [[0.2680903713323917]], [[0.2649632801124241]]], "count": [202]}, "observation.images.table": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5093085586132142]], [[0.3195774283310684]], [[0.17249696357503397]]], "std": [[[0.22982745250956974]], [[0.25320382075911707]], [[0.24280537217821319]]], "count": [202]}, "timestamp": {"min": [0.0], "max": [39.63333333333333], "mean": [19.81666666666667], "std": [11.450776295857754], "count": [1190]}, "frame_index": {"min": [0], "max": [1189], "mean": [594.5], "std": [343.52328887573253], "count": [1190]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1190]}, "index": {"min": [0], "max": [1189], "mean": [594.5], "std": [343.52328887573253], "count": [1190]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1190]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-16.71641731262207, -98.93660736083984, -34.561798095703125, -36.980491638183594, -62.761505126953125, 0.15408320724964142], "max": [31.64179039001465, 12.065439224243164, 99.91011047363281, 98.98218536376953, 25.41840934753418, 47.76579284667969], "mean": [8.889012336730957, -50.494422912597656, 52.810306549072266, 56.104522705078125, -48.33027267456055, 8.70395278930664], "std": [14.312596321105957, 36.67693328857422, 38.43045425415039, 40.64937210083008, 17.856788635253906, 12.198904991149902], "count": [1198]}, "observation.state": {"min": [-16.760828018188477, -98.73471069335938, -29.549549102783203, -35.13978576660156, -62.181819915771484, 0.6565988063812256], "max": [31.07344627380371, 12.69506549835205, 99.54955291748047, 98.6236572265625, 25.090909957885742, 47.40643310546875], "mean": [8.629629135131836, -49.55523681640625, 54.03205871582031, 56.22193145751953, -48.40574645996094, 10.93349552154541], "std": [14.33272647857666, 37.44380569458008, 37.9406852722168, 40.09246063232422, 17.8525333404541, 11.768277168273926], "count": [1198]}, "observation.images.arm": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4874317005537847]], [[0.39109671512283073]], [[0.27243929497086194]]], "std": [[[0.2473777327279767]], [[0.258390345916296]], [[0.25466636692356537]]], "count": [203]}, "observation.images.table": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5133873484738724]], [[0.3125815635162111]], [[0.1676522475369458]]], "std": [[[0.2295087023424353]], [[0.25417615715664044]], [[0.24174193167606833]]], "count": [203]}, "timestamp": {"min": [0.0], "max": [39.9], "mean": [19.950000000000003], "std": [11.527756358748508], "count": [1198]}, "frame_index": {"min": [0], "max": [1197], "mean": [598.5], "std": [345.83269076245523], "count": [1198]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1198]}, "index": {"min": [1190], "max": [2387], "mean": [1788.5], "std": [345.83269076245523], "count": [1198]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1198]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-36.019901275634766, -99.42740631103516, -23.415729522705078, -27.226463317871094, -78.0334701538086, 0.15408320724964142], "max": [37.01492691040039, 17.95500946044922, 82.56179809570312, 99.15182495117188, 24.372385025024414, 50.462249755859375], "mean": [4.960258483886719, -38.46306228637695, 43.43010330200195, 54.738372802734375, -43.40599822998047, 11.227638244628906], "std": [20.556665420532227, 32.98653030395508, 28.881349563598633, 32.801483154296875, 23.006855010986328, 12.210681915283203], "count": [1198]}, "observation.state": {"min": [-35.310733795166016, -98.73471069335938, -18.91891860961914, -24.301074981689453, -77.7662353515625, 0.6565988063812256], "max": [36.1581916809082, 17.9249267578125, 82.97297668457031, 98.70967864990234, 23.84415626525879, 49.96717071533203], "mean": [4.741015434265137, -37.65043640136719, 45.17183303833008, 55.10277557373047, -43.3831672668457, 13.939459800720215], "std": [20.481063842773438, 33.238006591796875, 28.328250885009766, 32.29756164550781, 22.95973014831543, 11.04939079284668], "count": [1198]}, "observation.images.arm": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46507439973115683]], [[0.3647137967255868]], [[0.2381689657184713]]], "std": [[[0.2507472693239938]], [[0.2586140817530877]], [[0.2433839102611738]]], "count": [203]}, "observation.images.table": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5075523861843588]], [[0.31282989833864583]], [[0.16612690564731641]]], "std": [[[0.22870738857726752]], [[0.25240839000398974]], [[0.23924634679969292]]], "count": [203]}, "timestamp": {"min": [0.0], "max": [39.9], "mean": [19.950000000000003], "std": [11.527756358748508], "count": [1198]}, "frame_index": {"min": [0], "max": [1197], "mean": [598.5], "std": [345.83269076245523], "count": [1198]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1198]}, "index": {"min": [2388], "max": [3585], "mean": [2986.5], "std": [345.83269076245523], "count": [1198]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1198]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-20.0, -99.59100341796875, -78.15730285644531, -41.475826263427734, -61.03556442260742, 0.0], "max": [35.42288589477539, 60.49079895019531, 87.77528381347656, 99.06700897216797, 19.351465225219727, 50.6163330078125], "mean": [7.821873188018799, -8.579294204711914, 12.942486763000488, 54.360530853271484, -32.63379669189453, 14.88542366027832], "std": [16.960634231567383, 40.57406234741211, 54.29256820678711, 49.097694396972656, 19.572080612182617, 14.47628402709961], "count": [1197]}, "observation.state": {"min": [-18.738229751586914, -98.14424133300781, -74.77477264404297, -39.35483932495117, -60.51948165893555, 1.3131976127624512], "max": [34.6515998840332, 60.94474792480469, 88.10810852050781, 98.96774291992188, 19.01298713684082, 49.96717071533203], "mean": [7.610074996948242, -6.999604225158691, 14.814003944396973, 54.788124084472656, -32.59694290161133, 17.71428871154785], "std": [16.88473892211914, 41.20387649536133, 54.08229446411133, 48.58614730834961, 19.52199935913086, 12.94038200378418], "count": [1197]}, "observation.images.arm": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4615073801072153]], [[0.3675265844843685]], [[0.24984967622106313]]], "std": [[[0.2602461188666991]], [[0.2699196748865927]], [[0.2599266018434154]]], "count": [203]}, "observation.images.table": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4910201340593709]], [[0.3053340476995396]], [[0.16649791626420682]]], "std": [[[0.24119910479247497]], [[0.2602906666236489]], [[0.24224206117140976]]], "count": [203]}, "timestamp": {"min": [0.0], "max": [39.86666666666667], "mean": [19.933333333333334], "std": [11.518133850906901], "count": [1197]}, "frame_index": {"min": [0], "max": [1196], "mean": [598.0], "std": [345.544015527207], "count": [1197]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1197]}, "index": {"min": [3586], "max": [4782], "mean": [4184.0], "std": [345.544015527207], "count": [1197]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1197]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-26.16915512084961, -96.40081787109375, -70.6966323852539, -85.83545684814453, -58.47280502319336, 0.07704160362482071], "max": [33.93034744262695, 53.78322982788086, 91.5505599975586, 99.32145690917969, 16.84100341796875, 51.54083251953125], "mean": [8.118297576904297, -32.654232025146484, 34.642982482910156, 56.370811462402344, -36.78466033935547, 11.174334526062012], "std": [17.423555374145508, 43.875770568847656, 48.9556884765625, 48.997554779052734, 19.78546905517578, 12.614449501037598], "count": [1197]}, "observation.state": {"min": [-25.706214904785156, -97.13201141357422, -66.21621704101562, -83.82795715332031, -58.1298713684082, 1.3131976127624512], "max": [33.1450080871582, 54.44960021972656, 91.98197937011719, 98.88172149658203, 16.519479751586914, 50.82074737548828], "mean": [7.918057441711426, -31.747894287109375, 36.28950119018555, 56.764686584472656, -36.7373161315918, 14.056670188903809], "std": [17.388185501098633, 44.514827728271484, 48.29702377319336, 48.625244140625, 19.72365379333496, 11.464728355407715], "count": [1197]}, "observation.images.arm": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45883932092952123]], [[0.35611229031842623]], [[0.23509741842139154]]], "std": [[[0.2590713718606872]], [[0.2627643686730479]], [[0.24271771168059325]]], "count": [203]}, "observation.images.table": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5083637753952156]], [[0.30904814123925434]], [[0.16431259860265945]]], "std": [[[0.23203864330506796]], [[0.2560691896082715]], [[0.243293802483294]]], "count": [203]}, "timestamp": {"min": [0.0], "max": [39.86666666666667], "mean": [19.933333333333334], "std": [11.518133850906901], "count": [1197]}, "frame_index": {"min": [0], "max": [1196], "mean": [598.0], "std": [345.544015527207], "count": [1197]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1197]}, "index": {"min": [4783], "max": [5979], "mean": [5381.0], "std": [345.544015527207], "count": [1197]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1197]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 5980,
6
+ "total_tasks": 1,
7
+ "total_videos": 10,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
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",
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.arm": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 640,
49
+ 480,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 640,
59
+ "video.width": 480,
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.table": {
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": "Throw the dice"}
videos/chunk-000/observation.images.arm/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9bf5394f40b32af7a3606f2ea128454f01c4b013bf681f8fcf09fbf5bc91375f
3
+ size 7518502
videos/chunk-000/observation.images.arm/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:98a3107a7f01574aaec14e128064f7046a633567495045e58c5b4939ba4d8653
3
+ size 9122456
videos/chunk-000/observation.images.arm/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9be9c1f26921534d903d2595cfad9fc58324dea9707361256b3e9ba829156699
3
+ size 6926877
videos/chunk-000/observation.images.arm/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4b2d86bd89724b0621b45e81223f25c8c8bce5b02494a395899bd6e495dd3249
3
+ size 7425239
videos/chunk-000/observation.images.arm/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:48ad0068f35a44ea311d1f24a4ffb3facba769ce30bc90d21b065720c267fefc
3
+ size 8641181
videos/chunk-000/observation.images.table/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3228fb182679afbbe868be9fb2bc8e7a8012daf9ab2d7893707696d3df0b3ce0
3
+ size 16658267
videos/chunk-000/observation.images.table/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f718d943fb5e4190cb5acdaf39662c1b16258a9dfe0553aae86ee860010412cd
3
+ size 16712995
videos/chunk-000/observation.images.table/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:38f309f6dbd70c4e90e5fcd6ba193d2155a53772d2d8968f5379d87a66e4bd62
3
+ size 16076334
videos/chunk-000/observation.images.table/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3ddd669b488047ff76fe3b001f7a9c9ac9befb5acd779e58947593422971282b
3
+ size 16448128
videos/chunk-000/observation.images.table/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:860b12efe175ae51eba07ebacf262498cb8bc6936332a0aefe9631016243feb5
3
+ size 16170466