Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9611e52b4f2eabacfcd169f239a3b4103969e98b66d93639671e1f4347c76ed5
+size 35052

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d805c09597f26cda20727e9aeb94f8b56579a4953c47b320f2412e13b0af4ee9
+size 38455

meta/episodes.jsonl

@@ -0,0 +1,2 @@
+{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 896}
+{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 896}

meta/episodes_stats.jsonl

@@ -0,0 +1,2 @@
+{"episode_index": 0, "stats": {"action": {"min": [-29.8828125, 82.529296875, 95.361328125, 23.466796875, 7.470703125, 0.0], "max": [7.822265625, 193.271484375, 185.712890625, 73.125, 48.1640625, 33.697479248046875], "mean": [-9.895444869995117, 144.48097229003906, 143.9873809814453, 39.97498321533203, 36.69659423828125, 21.640182495117188], "std": [11.425993919372559, 43.15142822265625, 35.84889602661133, 10.471494674682617, 8.946930885314941, 13.845559120178223], "count": [896]}, "observation.state": {"min": [-28.828125, 82.353515625, 104.58984375, 26.103515625, 8.525390625, 0.2080443799495697], "max": [6.50390625, 191.77734375, 186.591796875, 71.630859375, 47.548828125, 33.28710174560547], "mean": [-10.146364212036133, 140.98907470703125, 148.3819580078125, 41.97119140625, 36.36945343017578, 25.231874465942383], "std": [11.557863235473633, 44.23086166381836, 33.381343841552734, 10.041024208068848, 9.132237434387207, 12.15849494934082], "count": [896]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3077442910702113]], [[0.309082178014355]], [[0.3053006009663579]]], "std": [[[0.36723297515335895]], [[0.36080070377302037]], [[0.3567700276878563]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.833333333333332], "mean": [14.916666666666668], "std": [8.621758650195575], "count": [896]}, "frame_index": {"min": [0], "max": [895], "mean": [447.5], "std": [258.65275950586727], "count": [896]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [896]}, "index": {"min": [0], "max": [895], "mean": [447.5], "std": [258.65275950586727], "count": [896]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [896]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-38.759765625, 46.58203125, 34.013671875, 44.208984375, 0.3515625, -0.5882353186607361], "max": [11.162109375, 192.919921875, 185.80078125, 97.470703125, 41.8359375, 45.29411697387695], "mean": [-16.799175262451172, 99.30729675292969, 82.00955963134766, 68.38011169433594, 34.33139419555664, 17.167924880981445], "std": [16.539093017578125, 43.99895095825195, 50.33151626586914, 20.141067504882812, 10.313231468200684, 15.248283386230469], "count": [896]}, "observation.state": {"min": [-38.056640625, 44.560546875, 39.990234375, 47.548828125, 0.439453125, 0.13869625329971313], "max": [9.052734375, 191.25, 186.591796875, 88.505859375, 41.1328125, 44.86824035644531], "mean": [-17.646692276000977, 94.74676513671875, 89.08843994140625, 67.1975326538086, 34.079097747802734, 20.198633193969727], "std": [17.16931915283203, 46.07262420654297, 49.77381134033203, 17.251123428344727, 10.557101249694824, 15.513846397399902], "count": [896]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29946166145394765]], [[0.30190198208629054]], [[0.2997448724888728]]], "std": [[[0.3606011590613461]], [[0.35523458653399237]], [[0.35157758683065105]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.833333333333332], "mean": [14.916666666666668], "std": [8.621758650195575], "count": [896]}, "frame_index": {"min": [0], "max": [895], "mean": [447.5], "std": [258.65275950586727], "count": [896]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [896]}, "index": {"min": [896], "max": [1791], "mean": [1343.5], "std": [258.65275950586727], "count": [896]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [896]}}}

meta/info.json

@@ -0,0 +1,104 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so101",
+    "total_episodes": 2,
+    "total_frames": 1792,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:2"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}

videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fecb4e800fad690aea40721653700756650917960e4f23f419d7e7252fa59a5e
+size 28240450

videos/chunk-000/observation.images.wrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a00550bc3f5c9d592dc7695ced90d9e7c06abd716d172d5eb0c53f4ea9b6074f
+size 26814092