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 +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.frontangle/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.frontangle/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.side/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 sha256:6e8a62772acc5ef8264829bee92baa116136942ae72fd5d159a7427c7e947680
|
| 3 |
+
size 97777
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0de9b9c4fc97f4149578fd5b17384e6ebac6561aab34c0a7a6704fe2e5e42131
|
| 3 |
+
size 106542
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["L1 Vertebra Entry Point A"], "length": 1473}
|
| 2 |
+
{"episode_index": 1, "tasks": ["L1 Vertebra Entry Point A"], "length": 1601}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-5.066229343414307, -107.78385925292969, 48.6914176940918, -110.08578491210938, 5.217538833618164, 1.4083534479141235], "max": [-1.7631199359893799, -52.96527099609375, 106.47267150878906, 1.3394088745117188, 9.065823554992676, 1.8983973264694214], "mean": [-3.0675160884857178, -96.05538940429688, 89.4583511352539, -52.13753890991211, 7.3843302726745605, 1.6636632680892944], "std": [0.6954701542854309, 13.098024368286133, 12.782894134521484, 32.439125061035156, 0.8193244934082031, 0.10149769484996796], "count": [1473]}, "observation.state": {"min": [-5.169867038726807, -100.0, 52.50896072387695, -99.40576934814453, 5.373717784881592, 0.23215322196483612], "max": [-1.2555391788482666, -54.16316223144531, 100.0, 0.7640067934989929, 8.74450397491455, 2.1474173069000244], "mean": [-3.211081027984619, -93.13214111328125, 89.54617309570312, -50.226966857910156, 7.294575214385986, 1.5964231491088867], "std": [0.656869649887085, 11.971501350402832, 11.495569229125977, 31.16617202758789, 0.7472634315490723, 0.20878532528877258], "count": [1473]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49420202030648175]], [[0.4746915476223307]], [[0.49182466699760075]]], "std": [[[0.24073524660988813]], [[0.21903332311812296]], [[0.2156920907911074]]], "count": [237]}, "observation.images.frontangle": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.586196189891803]], [[0.5843602849250342]], [[0.5763420536756662]]], "std": [[[0.2567062833382085]], [[0.2256029731052268]], [[0.21201822005835277]]], "count": [237]}, "timestamp": {"min": [0.0], "max": [49.06666666666667], "mean": [24.53333333333333], "std": [14.173945842310136], "count": [1473]}, "frame_index": {"min": [0], "max": [1472], "mean": [736.0], "std": [425.21837526930403], "count": [1473]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1473]}, "index": {"min": [0], "max": [1472], "mean": [736.0], "std": [425.21837526930403], "count": [1473]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1473]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-5.3703508377075195, -107.17742919921875, -19.20852279663086, -107.51768493652344, 5.887447834014893, 1.481285810470581], "max": [-1.5748357772827148, 1.408559799194336, 106.8038101196289, 72.28329467773438, 10.436788558959961, 1.8678532838821411], "mean": [-3.008539915084839, -65.33877563476562, 51.32845687866211, -6.685376167297363, 8.18583869934082, 1.699788212776184], "std": [0.867352306842804, 34.3068733215332, 38.85912322998047, 51.82863235473633, 1.3199938535690308, 0.08647336065769196], "count": [1601]}, "observation.state": {"min": [-5.686853885650635, -100.0, -15.412186622619629, -99.23599243164062, 6.057645320892334, 1.2188043594360352], "max": [-1.7725259065628052, 1.7661900520324707, 99.55197143554688, 71.98641967773438, 10.356619834899902, 2.1474173069000244], "mean": [-3.202068567276001, -63.75593948364258, 52.44796371459961, -5.6144609451293945, 8.055326461791992, 1.6351464986801147], "std": [0.7992057800292969, 33.74015808105469, 37.49371337890625, 50.41249465942383, 1.2566897869110107, 0.17092525959014893], "count": [1601]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9450980392156862]], [[0.9254901960784314]], [[0.9333333333333333]]], "mean": [[[0.4880479668810871]], [[0.4680193387412057]], [[0.48908816748043094]]], "std": [[[0.23937671600503516]], [[0.21659625089787074]], [[0.20917947957775723]]], "count": [253]}, "observation.images.frontangle": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6001881410008009]], [[0.5997606725826035]], [[0.6039490181008723]]], "std": [[[0.24532457242032638]], [[0.22245742922849485]], [[0.1997130664077671]]], "count": [253]}, "timestamp": {"min": [0.0], "max": [53.333333333333336], "mean": [26.666666666666664], "std": [15.405626677721791], "count": [1601]}, "frame_index": {"min": [0], "max": [1600], "mean": [800.0], "std": [462.1688003316537], "count": [1601]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1601]}, "index": {"min": [1473], "max": [3073], "mean": [2273.0], "std": [462.1688003316537], "count": [1601]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1601]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "so101_follower",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 3074,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 4,
|
| 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 |
+
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.side": {
|
| 46 |
+
"dtype": "video",
|
| 47 |
+
"shape": [
|
| 48 |
+
1080,
|
| 49 |
+
1920,
|
| 50 |
+
3
|
| 51 |
+
],
|
| 52 |
+
"names": [
|
| 53 |
+
"height",
|
| 54 |
+
"width",
|
| 55 |
+
"channels"
|
| 56 |
+
],
|
| 57 |
+
"info": {
|
| 58 |
+
"video.height": 1080,
|
| 59 |
+
"video.width": 1920,
|
| 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.frontangle": {
|
| 69 |
+
"dtype": "video",
|
| 70 |
+
"shape": [
|
| 71 |
+
1080,
|
| 72 |
+
1920,
|
| 73 |
+
3
|
| 74 |
+
],
|
| 75 |
+
"names": [
|
| 76 |
+
"height",
|
| 77 |
+
"width",
|
| 78 |
+
"channels"
|
| 79 |
+
],
|
| 80 |
+
"info": {
|
| 81 |
+
"video.height": 1080,
|
| 82 |
+
"video.width": 1920,
|
| 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": "L1 Vertebra Entry Point A"}
|
videos/chunk-000/observation.images.frontangle/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:06274c5aec7ea8f3ce5efc11d9c403874fab76879039fbdba7d099d10ce1687f
|
| 3 |
+
size 54747168
|
videos/chunk-000/observation.images.frontangle/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e0e48750a001dfa196c97037950e3294b32dff40e43dd3f1a834c64df4712baf
|
| 3 |
+
size 52092135
|
videos/chunk-000/observation.images.side/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9f2c6be704436775b563a39cada6df874c278590b3a6f6eff898e2115b5bdd27
|
| 3 |
+
size 88441791
|
videos/chunk-000/observation.images.side/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:988b554a56def7a40c2cd5ccb0044cdae50787db51b9d623b084b2919f6e1521
|
| 3 |
+
size 114240028
|