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/info.json +104 -0
- meta/stats.json +210 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.follower/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.follower/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:b3c4ac484ec99d3620a5b0dba978b56010c602a289049ea57c3dc2ee81a1bedf
|
| 3 |
+
size 45118
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:07dc36d223e1d4bc06dec70cb406c2465df78c1e0d860f18db8fe95310ad6911
|
| 3 |
+
size 46146
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["test1"], "length": 898}
|
| 2 |
+
{"episode_index": 1, "tasks": ["test1"], "length": 897}
|
meta/info.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "koch",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 1795,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 2,
|
| 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 |
+
"main_shoulder_pan",
|
| 24 |
+
"main_shoulder_lift",
|
| 25 |
+
"main_elbow_flex",
|
| 26 |
+
"main_wrist_flex",
|
| 27 |
+
"main_wrist_roll",
|
| 28 |
+
"main_gripper"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"main_shoulder_pan",
|
| 38 |
+
"main_shoulder_lift",
|
| 39 |
+
"main_elbow_flex",
|
| 40 |
+
"main_wrist_flex",
|
| 41 |
+
"main_wrist_roll",
|
| 42 |
+
"main_gripper"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.follower": {
|
| 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.fps": 30.0,
|
| 59 |
+
"video.height": 480,
|
| 60 |
+
"video.width": 640,
|
| 61 |
+
"video.channels": 3,
|
| 62 |
+
"video.codec": "av1",
|
| 63 |
+
"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"timestamp": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"names": null
|
| 74 |
+
},
|
| 75 |
+
"frame_index": {
|
| 76 |
+
"dtype": "int64",
|
| 77 |
+
"shape": [
|
| 78 |
+
1
|
| 79 |
+
],
|
| 80 |
+
"names": null
|
| 81 |
+
},
|
| 82 |
+
"episode_index": {
|
| 83 |
+
"dtype": "int64",
|
| 84 |
+
"shape": [
|
| 85 |
+
1
|
| 86 |
+
],
|
| 87 |
+
"names": null
|
| 88 |
+
},
|
| 89 |
+
"index": {
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"task_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"mean": [
|
| 4 |
+
73.38707733154297,
|
| 5 |
+
103.33257293701172,
|
| 6 |
+
93.8417739868164,
|
| 7 |
+
23.29351806640625,
|
| 8 |
+
88.07714080810547,
|
| 9 |
+
88.06597900390625
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
40.8581428527832,
|
| 13 |
+
26.391103744506836,
|
| 14 |
+
37.73051834106445,
|
| 15 |
+
48.98736572265625,
|
| 16 |
+
40.69063186645508,
|
| 17 |
+
18.565460205078125
|
| 18 |
+
],
|
| 19 |
+
"max": [
|
| 20 |
+
242.138671875,
|
| 21 |
+
136.494140625,
|
| 22 |
+
179.736328125,
|
| 23 |
+
110.91796875,
|
| 24 |
+
195.64453125,
|
| 25 |
+
129.111328125
|
| 26 |
+
],
|
| 27 |
+
"min": [
|
| 28 |
+
-56.07421875,
|
| 29 |
+
17.578125,
|
| 30 |
+
-11.953125,
|
| 31 |
+
-84.111328125,
|
| 32 |
+
-19.51171875,
|
| 33 |
+
74.443359375
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
"observation.state": {
|
| 37 |
+
"mean": [
|
| 38 |
+
73.380859375,
|
| 39 |
+
100.98304748535156,
|
| 40 |
+
95.50228118896484,
|
| 41 |
+
24.378314971923828,
|
| 42 |
+
87.1655502319336,
|
| 43 |
+
98.12835693359375
|
| 44 |
+
],
|
| 45 |
+
"std": [
|
| 46 |
+
40.91043472290039,
|
| 47 |
+
25.62921714782715,
|
| 48 |
+
37.38287353515625,
|
| 49 |
+
47.71398162841797,
|
| 50 |
+
40.30183792114258,
|
| 51 |
+
12.178832054138184
|
| 52 |
+
],
|
| 53 |
+
"max": [
|
| 54 |
+
241.962890625,
|
| 55 |
+
130.25390625,
|
| 56 |
+
176.1328125,
|
| 57 |
+
104.853515625,
|
| 58 |
+
192.041015625,
|
| 59 |
+
128.232421875
|
| 60 |
+
],
|
| 61 |
+
"min": [
|
| 62 |
+
-54.580078125,
|
| 63 |
+
15.99609375,
|
| 64 |
+
-9.4921875,
|
| 65 |
+
-79.8046875,
|
| 66 |
+
-17.40234375,
|
| 67 |
+
79.541015625
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"observation.images.follower": {
|
| 71 |
+
"mean": [
|
| 72 |
+
[
|
| 73 |
+
[
|
| 74 |
+
0.43204063177108765
|
| 75 |
+
]
|
| 76 |
+
],
|
| 77 |
+
[
|
| 78 |
+
[
|
| 79 |
+
0.3987657427787781
|
| 80 |
+
]
|
| 81 |
+
],
|
| 82 |
+
[
|
| 83 |
+
[
|
| 84 |
+
0.39402395486831665
|
| 85 |
+
]
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"std": [
|
| 89 |
+
[
|
| 90 |
+
[
|
| 91 |
+
0.29517245292663574
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
[
|
| 95 |
+
[
|
| 96 |
+
0.2675095200538635
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
[
|
| 100 |
+
[
|
| 101 |
+
0.20668528974056244
|
| 102 |
+
]
|
| 103 |
+
]
|
| 104 |
+
],
|
| 105 |
+
"max": [
|
| 106 |
+
[
|
| 107 |
+
[
|
| 108 |
+
1.0
|
| 109 |
+
]
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
[
|
| 113 |
+
1.0
|
| 114 |
+
]
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
[
|
| 118 |
+
1.0
|
| 119 |
+
]
|
| 120 |
+
]
|
| 121 |
+
],
|
| 122 |
+
"min": [
|
| 123 |
+
[
|
| 124 |
+
[
|
| 125 |
+
0.0
|
| 126 |
+
]
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
[
|
| 130 |
+
0.0
|
| 131 |
+
]
|
| 132 |
+
],
|
| 133 |
+
[
|
| 134 |
+
[
|
| 135 |
+
0.0
|
| 136 |
+
]
|
| 137 |
+
]
|
| 138 |
+
]
|
| 139 |
+
},
|
| 140 |
+
"timestamp": {
|
| 141 |
+
"mean": [
|
| 142 |
+
14.941668510437012
|
| 143 |
+
],
|
| 144 |
+
"std": [
|
| 145 |
+
8.636199951171875
|
| 146 |
+
],
|
| 147 |
+
"max": [
|
| 148 |
+
29.899999618530273
|
| 149 |
+
],
|
| 150 |
+
"min": [
|
| 151 |
+
0.0
|
| 152 |
+
]
|
| 153 |
+
},
|
| 154 |
+
"frame_index": {
|
| 155 |
+
"mean": [
|
| 156 |
+
448.2501525878906
|
| 157 |
+
],
|
| 158 |
+
"std": [
|
| 159 |
+
259.08599853515625
|
| 160 |
+
],
|
| 161 |
+
"max": [
|
| 162 |
+
897.0
|
| 163 |
+
],
|
| 164 |
+
"min": [
|
| 165 |
+
0.0
|
| 166 |
+
]
|
| 167 |
+
},
|
| 168 |
+
"episode_index": {
|
| 169 |
+
"mean": [
|
| 170 |
+
0.49972161650657654
|
| 171 |
+
],
|
| 172 |
+
"std": [
|
| 173 |
+
0.4999999403953552
|
| 174 |
+
],
|
| 175 |
+
"max": [
|
| 176 |
+
1.0
|
| 177 |
+
],
|
| 178 |
+
"min": [
|
| 179 |
+
0.0
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"index": {
|
| 183 |
+
"mean": [
|
| 184 |
+
897.0
|
| 185 |
+
],
|
| 186 |
+
"std": [
|
| 187 |
+
518.1718139648438
|
| 188 |
+
],
|
| 189 |
+
"max": [
|
| 190 |
+
1794.0
|
| 191 |
+
],
|
| 192 |
+
"min": [
|
| 193 |
+
0.0
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"task_index": {
|
| 197 |
+
"mean": [
|
| 198 |
+
0.0
|
| 199 |
+
],
|
| 200 |
+
"std": [
|
| 201 |
+
0.0
|
| 202 |
+
],
|
| 203 |
+
"max": [
|
| 204 |
+
0.0
|
| 205 |
+
],
|
| 206 |
+
"min": [
|
| 207 |
+
0.0
|
| 208 |
+
]
|
| 209 |
+
}
|
| 210 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "test1"}
|
videos/chunk-000/observation.images.follower/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b7ac77a1c25262034532fd7ec61c26978e16bd349b78d4eb74441ba02bad8b6e
|
| 3 |
+
size 14074022
|
videos/chunk-000/observation.images.follower/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a29c7e7d464cf80e1e1e2663f3bbbcf123dd2b47e7a8df15caf31a5b1ff89875
|
| 3 |
+
size 14853679
|