yukisa2010 commited on
Commit
b3411bf
·
verified ·
1 Parent(s): 032addc

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:c28477614e1d12ef1db717cf8f4c136ccdbaa8627939a044a28f1df96b6ec6a6
3
+ size 25412
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d7e5f6ee18bd7436fbe686ab7bf8475358a3de58cccbacca381f11bcb0a522e6
3
+ size 34851
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89c86827d3a8faafb7125f691068e8266718e2f39130a8571adfc88bfa25d533
3
+ size 39943
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the black cube"], "length": 472}
2
+ {"episode_index": 1, "tasks": ["Grab the black cube"], "length": 650}
3
+ {"episode_index": 2, "tasks": ["Grab the black cube"], "length": 720}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-37.339054107666016, -98.68766784667969, -59.123435974121094, 19.26924705505371, -42.704307556152344, 17.13370704650879], "max": [-5.033164024353027, 37.35783004760742, 98.74776458740234, 100.0, -9.895988464355469, 39.711769104003906], "mean": [-12.701279640197754, -12.644399642944336, 16.634977340698242, 64.4657974243164, -27.045331954956055, 32.083595275878906], "std": [9.679826736450195, 52.23628616333008, 51.81584167480469, 25.084354400634766, 9.647296905517578, 8.47974967956543], "count": [472]}, "observation.state": {"min": [-37.246795654296875, -97.52987670898438, -54.895877838134766, 20.40302276611328, -42.213233947753906, 19.00990104675293], "max": [-4.836709499359131, 39.20318603515625, 99.20248413085938, 97.73299407958984, -10.257150650024414, 39.405941009521484], "mean": [-12.942021369934082, -7.04066801071167, 17.85368537902832, 64.92062377929688, -27.08146095275879, 32.082942962646484], "std": [9.600651741027832, 49.83047103881836, 49.802879333496094, 23.50621795654297, 9.407018661499023, 7.857746601104736], "count": [472]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42488892663776184]], [[0.4243699713108566]], [[0.4400570601177765]]], "std": [[[0.36029496918921045]], [[0.34928852620302375]], [[0.3342434906483502]]], "count": [101]}, "timestamp": {"min": [0.0], "max": [15.7], "mean": [7.85], "std": [4.541811924282594], "count": [472]}, "frame_index": {"min": [0], "max": [471], "mean": [235.5], "std": [136.2543577284778], "count": [472]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [472]}, "index": {"min": [0], "max": [471], "mean": [235.5], "std": [136.2543577284778], "count": [472]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [472]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-33.671478271484375, -27.384077072143555, -62.6118049621582, 58.329708099365234, -43.239227294921875, 15.772618293762207], "max": [28.7553653717041, 43.48206329345703, 42.21824645996094, 100.0, 6.745913982391357, 32.98638916015625], "mean": [-1.495119571685791, 8.514579772949219, -3.1337649822235107, 88.87842559814453, -19.733287811279297, 24.58983039855957], "std": [21.011322021484375, 16.89409065246582, 30.023672103881836, 13.45855712890625, 16.686573028564453, 7.116901397705078], "count": [650]}, "observation.state": {"min": [-33.195533752441406, -23.1872501373291, -58.529022216796875, 58.10243606567383, -42.906673431396484, 18.547855377197266], "max": [28.317485809326172, 45.338645935058594, 37.79352951049805, 97.73299407958984, 6.327651023864746, 32.34323501586914], "mean": [-1.4740957021713257, 10.939757347106934, -1.1102532148361206, 88.00951385498047, -19.873538970947266, 25.40927505493164], "std": [20.999040603637695, 16.670772552490234, 28.864187240600586, 12.636354446411133, 16.737945556640625, 5.932769298553467], "count": [650]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4138523667279412]], [[0.4121591881978486]], [[0.42617464511846403]]], "std": [[[0.3591608695779938]], [[0.34938251264148207]], [[0.3387573384370221]]], "count": [128]}, "timestamp": {"min": [0.0], "max": [21.633333333333333], "mean": [10.816666666666666], "std": [6.254620514290038], "count": [650]}, "frame_index": {"min": [0], "max": [649], "mean": [324.5], "std": [187.63861542870114], "count": [650]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [650]}, "index": {"min": [472], "max": [1121], "mean": [796.5], "std": [187.63861542870114], "count": [650]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [650]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-59.34451675415039, -80.40245056152344, -15.74239730834961, 41.71378707885742, -25.705795288085938, 0.08006405085325241], "max": [42.64533615112305, 10.498687744140625, 93.02325439453125, 100.0, 55.00743103027344, 44.275421142578125], "mean": [-0.506795346736908, -32.67277526855469, 46.301719665527344, 73.05734252929688, 19.261220932006836, 18.46422576904297], "std": [30.743270874023438, 22.683149337768555, 29.72566795349121, 14.374776840209961, 27.813663482666016, 13.32900333404541], "count": [720]}, "observation.state": {"min": [-59.239356994628906, -80.15936279296875, -11.918476104736328, 44.16456604003906, -25.39728355407715, 1.6501649618148804], "max": [42.29020309448242, 11.633465766906738, 93.88568878173828, 97.81696319580078, 54.868534088134766, 43.82838439941406], "mean": [-0.549821138381958, -31.347272872924805, 48.48638916015625, 73.18965911865234, 19.26686668395996, 23.063291549682617], "std": [30.722314834594727, 22.665191650390625, 28.735000610351562, 13.690000534057617, 27.818681716918945, 8.53115177154541], "count": [720]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42953744750718326]], [[0.4297131603043794]], [[0.444567098055003]]], "std": [[[0.36383909424724004]], [[0.3563469317601656]], [[0.3461383789246458]]], "count": [138]}, "timestamp": {"min": [0.0], "max": [23.966666666666665], "mean": [11.983333333333333], "std": [6.928196547977504], "count": [720]}, "frame_index": {"min": [0], "max": [719], "mean": [359.5], "std": [207.84589643932512], "count": [720]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [720]}, "index": {"min": [1122], "max": [1841], "mean": [1481.5], "std": [207.84589643932512], "count": [720]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [720]}}}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 3,
5
+ "total_frames": 1842,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
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.front": {
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
+ "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/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab the black cube"}
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 sha256:5ad080546b0d03899027f3a2c88866da78ae90f439e26ffb326216607adc052e
3
+ size 18190898
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 sha256:7010929e3216ea3ce422c003ab9ea49ae3cf06c01f492bb391765e9dd7267989
3
+ size 25080556
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 sha256:9f3f1ec7c2cfef89fedc26669cbcda3f5b1ae7515562c659609717c299fc8736
3
+ size 26092227