vpraise00 commited on
Commit
2218c74
·
verified ·
1 Parent(s): 3de17de

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 sha256:40bed9f8ce1efc5b77fd7cbc0ed63cb3dce51289cecb896ebe7eb18cd13bfb03
3
+ size 53641
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:615b105ff13ba673b271c423557b0ea13204f9fee2c5ed700a1ae2e0bb30a05b
3
+ size 38430
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:84317921df23b0a66eb3c50c3e23a11954188ec0a136b044cf07048f4b0d4119
3
+ size 31334
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the blue block and put it in the cup"], "length": 1391}
2
+ {"episode_index": 1, "tasks": ["Grab the red block and put it in the cup"], "length": 743}
3
+ {"episode_index": 2, "tasks": ["Grab the green block and put it in the cup"], "length": 542}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-14.68640422821045, -99.49979400634766, -30.103185653686523, -100.0, 38.884525299072266, 0.24429967999458313], "max": [-0.42851579189300537, 16.465194702148438, 99.64109802246094, 88.38103485107422, 73.02958679199219, 34.527687072753906], "mean": [-6.754027843475342, -72.29959869384766, 69.49861145019531, -46.398109436035156, 54.416622161865234, 2.7105512619018555], "std": [2.7479755878448486, 42.049591064453125, 45.76771926879883, 74.39997863769531, 3.7704896926879883, 7.306074619293213], "count": [1391]}, "observation.state": {"min": [-14.303329467773438, -99.41077423095703, -26.654579162597656, -99.7430419921875, 39.169063568115234, 1.188811182975769], "max": [-0.8631319403648376, 17.592592239379883, 99.18404388427734, 88.2655258178711, 72.40658569335938, 34.12587356567383], "mean": [-6.778608798980713, -72.06827545166016, 70.14469909667969, -46.156063079833984, 54.32709884643555, 4.0956244468688965], "std": [2.6778860092163086, 42.68461990356445, 44.56819152832031, 74.67626953125, 3.65397047996521, 7.352633953094482], "count": [1391]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5308951980939219]], [[0.5607530862198036]], [[0.593393458833607]]], "std": [[[0.213648283330498]], [[0.22010407476411462]], [[0.23698077954048397]]], "count": [227]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5968097682905761]], [[0.5838354325026633]], [[0.5615400308801934]]], "std": [[[0.14961003184225916]], [[0.17561004537134675]], [[0.1695199235266323]]], "count": [227]}, "timestamp": {"min": [0.0], "max": [46.333333333333336], "mean": [23.166666666666664], "std": [13.384900281868205], "count": [1391]}, "frame_index": {"min": [0], "max": [1390], "mean": [695.0], "std": [401.54700845604617], "count": [1391]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1391]}, "index": {"min": [0], "max": [1390], "mean": [695.0], "std": [401.54700845604617], "count": [1391]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1391]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-8.37553596496582, -99.16632080078125, -24.360700607299805, -100.0, 47.2636833190918, 0.16286644339561462], "max": [40.63108825683594, 38.390995025634766, 99.64109802246094, 99.82913208007812, 95.86279296875, 28.338762283325195], "mean": [10.383011817932129, -44.96385192871094, 34.99171447753906, 10.307148933410645, 64.55098724365234, 5.93380069732666], "std": [15.456998825073242, 47.69253921508789, 47.94659423828125, 70.45734405517578, 16.942302703857422, 9.02015495300293], "count": [743]}, "observation.state": {"min": [-8.384710311889648, -99.41077423095703, -22.12148666381836, -99.82869720458984, 47.11262130737305, 0.9090909361839294], "max": [40.197288513183594, 38.38383865356445, 99.0933837890625, 99.22911834716797, 95.505615234375, 28.25174903869629], "mean": [10.392258644104004, -44.39374923706055, 36.573341369628906, 10.482908248901367, 64.45967102050781, 7.098780155181885], "std": [15.291072845458984, 48.434181213378906, 47.21656799316406, 70.66168975830078, 16.947538375854492, 9.047309875488281], "count": [743]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5757498791770229]], [[0.5625292305302402]], [[0.5666828296165884]]], "std": [[[0.18852008185042832]], [[0.2121522464719533]], [[0.2157838824063763]]], "count": [142]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[1.0]], [[1.0]]], "mean": [[[0.6327647317729909]], [[0.6241564369879407]], [[0.5996939640292738]]], "std": [[[0.12140258389619193]], [[0.1554164350457569]], [[0.16259848134835364]]], "count": [142]}, "timestamp": {"min": [0.0], "max": [24.733333333333334], "mean": [12.366666666666665], "std": [7.149514358021499], "count": [743]}, "frame_index": {"min": [0], "max": [742], "mean": [371.0], "std": [214.48543074064494], "count": [743]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [743]}, "index": {"min": [1391], "max": [2133], "mean": [1762.0], "std": [214.48543074064494], "count": [743]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [743]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-19.67276954650879, -99.33305358886719, 4.979811668395996, -100.0, 53.54804992675781, 0.08143322169780731], "max": [70.0818099975586, 18.299291610717773, 99.28218841552734, 99.74369812011719, 100.0, 39.41368103027344], "mean": [18.4266357421875, -48.84540557861328, 40.66200256347656, 30.384323120117188, 69.55000305175781, 4.90478515625], "std": [30.774587631225586, 38.67942428588867, 34.88917541503906, 68.63349151611328, 16.52216148376465, 9.312734603881836], "count": [542]}, "observation.state": {"min": [-19.605424880981445, -100.0, 7.887579441070557, -99.486083984375, 49.77789306640625, 1.188811182975769], "max": [69.91368865966797, 18.434343338012695, 99.90933990478516, 99.22911834716797, 99.73870086669922, 39.02098083496094], "mean": [18.360822677612305, -48.25611114501953, 42.1517333984375, 30.828672409057617, 69.427490234375, 7.456305503845215], "std": [30.58726692199707, 39.32575225830078, 34.308563232421875, 68.54898071289062, 16.528127670288086, 8.883255004882812], "count": [542]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.573148860585901]], [[0.5947809326855743]], [[0.583741078723156]]], "std": [[[0.1643903254064605]], [[0.17070258867385707]], [[0.18159499030858797]]], "count": [112]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[1.0]], [[1.0]]], "mean": [[[0.6333306817518674]], [[0.6173317649976657]], [[0.5900620787377452]]], "std": [[[0.13144238647420098]], [[0.1582174370947413]], [[0.169229399141067]]], "count": [112]}, "timestamp": {"min": [0.0], "max": [18.033333333333335], "mean": [9.016666666666667], "std": [5.2153885548229075], "count": [542]}, "frame_index": {"min": [0], "max": [541], "mean": [270.5], "std": [156.46165664468722], "count": [542]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [542]}, "index": {"min": [2134], "max": [2675], "mean": [2404.5], "std": [156.46165664468722], "count": [542]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [542]}}}
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": 2676,
6
+ "total_tasks": 3,
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.wrist": {
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.front": {
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 +1,3 @@
 
 
 
 
1
+ {"task_index": 0, "task": "Grab the blue block and put it in the cup"}
2
+ {"task_index": 1, "task": "Grab the red block and put it in the cup"}
3
+ {"task_index": 2, "task": "Grab the green block and put it in the cup"}
videos/chunk-000/observation.images.front/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6bf49e99e246f6e8afa8ea7cfcbc1d32cc878d67b83f468295c9af6e10048bc1
3
+ size 7590274
videos/chunk-000/observation.images.front/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:619d1a7d76a84e91e87922b48b8b3e3c4b052a236b835df5d9ad4b4b911dbeff
3
+ size 3942483
videos/chunk-000/observation.images.front/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d0f9c72fd0fea7b640a577002039b0befb6913a880d0ecdaf9e57af09512bbae
3
+ size 3152545
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 sha256:3740d3d839381ecd810340544a031f74980a332e891d65844689999bd0148550
3
+ size 6100273
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:f9a70ee433ddc9b04b6e9337136b681951cb35de54c32bd2810625b989baa98c
3
+ size 2370046
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 sha256:7bcd6006a54fcbc77ca209426b9f44f8d61c793683b67f620d653f558d297091
3
+ size 1551061