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 +197 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_high/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_high/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.cam_low/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_low/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_wrist/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:aca8680d577183072218414f87d86c374d9cc3e535f0315d1631ff369569590a
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size 11225
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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:60a01916afff955e8524c123dc88ac72485a716b32f04cb7c8ec4ab02841be19
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size 7507
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 90}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 90}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-25.3125, 119.970703125, 119.8828125, 144.140625, 143.96484375, 1.669921875, -41.30859375, -5.185546875, 17.346939086914062, 18.80859375, 97.55859375, 97.55859375, 115.3125, 115.224609375, -11.689453125, -27.421875, 6.416015625, 5.245347023010254], "max": [-21.357421875, 125.244140625, 125.068359375, 148.974609375, 149.0625, 5.185546875, -27.0703125, -1.845703125, 17.517005920410156, 23.203125, 98.349609375, 98.4375, 123.57421875, 123.3984375, -8.4375, -10.634765625, 8.7890625, 5.245347023010254], "mean": [-23.5986328125, 121.505859375, 121.392578125, 145.3427734375, 145.1689453125, 4.3154296875, -30.9443359375, -2.40234375, 17.51321792602539, 20.3720703125, 97.7890625, 97.7587890625, 121.087890625, 120.9970703125, -9.12890625, -20.86849021911621, 6.8447265625, 5.2453532218933105], "std": [1.4139952659606934, 1.7000364065170288, 1.7261587381362915, 1.6381043195724487, 1.741548776626587, 0.9205975532531738, 4.605042934417725, 0.8415906429290771, 0.025068799033761024, 1.6104488372802734, 0.22525383532047272, 0.23032180964946747, 2.6030149459838867, 2.620222330093384, 0.617073118686676, 4.760690689086914, 0.7022482752799988, 6.198883056640625e-06], "count": [90]}, "observation.state": {"min": [-25.13671875, 119.00390625, 118.916015625, 143.61328125, 143.61328125, 0.17578125, -40.517578125, -4.658203125, 16.744186401367188, 17.75390625, 96.328125, 96.15234375, 116.279296875, 116.54296875, -10.72265625, -26.279296875, 6.064453125, 4.889589786529541], "max": [-20.654296875, 124.892578125, 124.98046875, 148.974609375, 149.0625, 5.009765625, -26.71875, -1.0546875, 17.054264068603516, 23.115234375, 97.55859375, 97.20703125, 123.486328125, 123.75, -7.822265625, -9.755859375, 8.173828125, 5.047318458557129], "mean": [-23.3359375, 120.7978515625, 120.85546875, 145.8291015625, 145.822265625, 4.0341796875, -30.0, -1.705078125, 17.037050247192383, 19.9365234375, 96.6015625, 96.32421875, 121.21484375, 121.4267578125, -8.6787109375, -19.791015625, 6.376953125, 5.005261421203613], "std": [1.4136303663253784, 2.0650417804718018, 2.016331434249878, 1.4754979610443115, 1.5149167776107788, 1.0974442958831787, 4.620146751403809, 1.0210107564926147, 0.07102683186531067, 1.886512279510498, 0.4058319330215454, 0.3616499900817871, 2.471757411956787, 2.469712018966675, 0.5702825784683228, 4.895481586456299, 0.7038705945014954, 0.06975026428699493], "count": [90]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3404735067175018]], [[0.34016110430283225]], [[0.3152772104212055]]], "std": [[[0.20693605047116548]], [[0.1860731345676051]], [[0.18445886695831654]]], "count": [90]}, "observation.images.cam_low": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5282814020515614]], [[0.5103275531045752]], [[0.4680747027051561]]], "std": [[[0.17559962479190144]], [[0.17877692878654394]], [[0.21852062746465253]]], "count": [90]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8196078431372549]], [[0.792156862745098]], [[0.8627450980392157]]], "mean": [[[0.26236714097676106]], [[0.2659695738017429]], [[0.2450844408133624]]], "std": [[[0.1934821482546153]], [[0.17882889372251867]], [[0.17967401963625462]]], "count": [90]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4247134962781409]], [[0.42890547839506177]], [[0.4073552378358751]]], "std": [[[0.2694648282381363]], [[0.24818540400260491]], [[0.2542081016110528]]], "count": [90]}, "timestamp": {"min": [0.0], "max": [2.966666666666667], "mean": [1.4833333333333334], "std": [0.8659719437761292], "count": [90]}, "frame_index": {"min": [0], "max": [89], "mean": [44.5], "std": [25.979158313283875], "count": [90]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [90]}, "index": {"min": [0], "max": [89], "mean": [44.5], "std": [25.979158313283875], "count": [90]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [90]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-17.666015625, 119.1796875, 119.00390625, 142.822265625, 142.822265625, 2.109375, -28.125, -3.515625, 17.346939086914062, 13.0078125, 97.998046875, 98.0859375, 125.859375, 125.771484375, -6.591796875, -29.794921875, 6.767578125, 5.245347023010254], "max": [-17.2265625, 120.76171875, 120.5859375, 143.96484375, 143.7890625, 2.28515625, -27.333984375, -3.427734375, 17.517005920410156, 13.095703125, 98.96484375, 99.140625, 126.03515625, 125.947265625, -6.50390625, -29.70703125, 6.85546875, 5.245347023010254], "mean": [-17.55078125, 119.7802734375, 119.6572265625, 143.2861328125, 143.2314453125, 2.19921875, -27.6435546875, -3.4482421875, 17.51321792602539, 13.0107421875, 98.0419921875, 98.171875, 125.966796875, 125.9267578125, -6.5908203125, -29.7216796875, 6.8515625, 5.2453532218933105], "std": [0.1809040904045105, 0.7112863659858704, 0.712226927280426, 0.46378469467163086, 0.4264000952243805, 0.08179840445518494, 0.3095580041408539, 0.0371735654771328, 0.02506881207227707, 0.015776850283145905, 0.16429775953292847, 0.16828639805316925, 0.05677516385912895, 0.054100152105093, 0.009212872013449669, 0.03275490179657936, 0.018112536519765854, 6.198883056640625e-06], "count": [90]}, "observation.state": {"min": [-18.017578125, 118.65234375, 118.740234375, 143.349609375, 143.349609375, 2.021484375, -27.509765625, -2.63671875, 16.744186401367188, 12.041015625, 96.416015625, 96.240234375, 126.123046875, 126.298828125, -6.064453125, -28.740234375, 6.064453125, 4.889589786529541], "max": [-16.787109375, 119.267578125, 119.35546875, 144.4921875, 144.4921875, 2.109375, -26.71875, -2.548828125, 17.054264068603516, 13.095703125, 96.50390625, 96.240234375, 126.38671875, 126.38671875, -5.9765625, -28.65234375, 6.15234375, 5.047318458557129], "mean": [-17.04296875, 118.9091796875, 119.0, 143.8447265625, 143.8720703125, 2.0458984375, -26.9775390625, -2.6240234375, 17.023269653320312, 12.966796875, 96.4404296875, 96.240234375, 126.23046875, 126.341796875, -6.0458984375, -28.662109375, 6.08203125, 5.015777111053467], "std": [0.1508970707654953, 0.23518942296504974, 0.2897018492221832, 0.5577877759933472, 0.5333895683288574, 0.03936649113893509, 0.3320671617984772, 0.030897054821252823, 0.09302328526973724, 0.16686365008354187, 0.03936649113893509, 0.0, 0.053666528314352036, 0.04393446072936058, 0.03586790710687637, 0.027621358633041382, 0.03515625, 0.06309148669242859], "count": [90]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33858231889978213]], [[0.3382975853304285]], [[0.3134164624183007]]], "std": [[[0.20551337473086828]], [[0.18475219703072882]], [[0.18292940658746154]]], "count": [90]}, "observation.images.cam_low": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9019607843137255]], [[0.9764705882352941]], [[1.0]]], "mean": [[[0.5246416507806827]], [[0.5073765023602034]], [[0.46522125317719676]]], "std": [[[0.1770075534162898]], [[0.18072015139649378]], [[0.2197412562971963]]], "count": [90]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7803921568627451]], [[0.7647058823529411]], [[0.8]]], "mean": [[[0.2552180895969499]], [[0.252119825708061]], [[0.22266307416485112]]], "std": [[[0.19395867338044043]], [[0.17242881408781308]], [[0.168459088386943]]], "count": [90]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4408389297385621]], [[0.44034069989106756]], [[0.4196430215141612]]], "std": [[[0.2813519889114859]], [[0.26047159395757014]], [[0.2669366960371983]]], "count": [90]}, "timestamp": {"min": [0.0], "max": [2.966666666666667], "mean": [1.4833333333333334], "std": [0.8659719437761292], "count": [90]}, "frame_index": {"min": [0], "max": [89], "mean": [44.5], "std": [25.979158313283875], "count": [90]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [90]}, "index": {"min": [90], "max": [179], "mean": [134.5], "std": [25.979158313283875], "count": [90]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [90]}}}
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meta/info.json
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{
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"codebase_version": "v2.1",
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"robot_type": "aloha",
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"total_episodes": 2,
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"total_frames": 180,
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"total_tasks": 1,
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"total_videos": 8,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:2"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"action": {
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"dtype": "float32",
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"shape": [
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18
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],
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"names": [
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"left_waist",
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"left_shoulder",
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"left_shoulder_shadow",
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"left_elbow",
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"left_elbow_shadow",
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"left_forearm_roll",
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"left_wrist_angle",
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"left_wrist_rotate",
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"left_gripper",
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"right_waist",
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"right_shoulder",
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"right_shoulder_shadow",
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"right_elbow",
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"right_elbow_shadow",
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"right_forearm_roll",
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"right_wrist_angle",
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| 39 |
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"right_wrist_rotate",
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| 40 |
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"right_gripper"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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18
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],
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"names": [
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"left_waist",
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| 50 |
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"left_shoulder",
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| 51 |
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"left_shoulder_shadow",
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"left_elbow",
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"left_elbow_shadow",
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| 54 |
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"left_forearm_roll",
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| 55 |
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"left_wrist_angle",
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| 56 |
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"left_wrist_rotate",
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| 57 |
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"left_gripper",
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| 58 |
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"right_waist",
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| 59 |
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"right_shoulder",
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| 60 |
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"right_shoulder_shadow",
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"right_elbow",
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"right_elbow_shadow",
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"right_forearm_roll",
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"right_wrist_angle",
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"right_wrist_rotate",
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| 66 |
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"right_gripper"
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| 67 |
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]
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},
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| 69 |
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"observation.images.cam_high": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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