ziyizhou commited on
Commit
e7aa74d
·
verified ·
1 Parent(s): 432a9c7

Upload data

Browse files
data/chunk_000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4a6483c64471ff07da41d73301de8c74019dddef25a04a9de902e7e4d16548b6
3
+ size 21309
data/chunk_000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d4afe81026e2e9fb276429b2fbcbdb051b72100a7e25c65c00249a809f88c74c
3
+ size 21510
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the door handle"], "length": 500}
2
+ {"episode_index": 1, "tasks": ["Grab the door handle"], "length": 500}
meta/info.json ADDED
@@ -0,0 +1,120 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "realmandoor",
4
+ "total_episodes": 2,
5
+ "total_frames": 1000,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30.0,
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
+ "observation.state": {
18
+ "dtype": "float64",
19
+ "shape": [
20
+ 14
21
+ ],
22
+ "names": "TODO"
23
+ },
24
+ "action": {
25
+ "dtype": "float64",
26
+ "shape": [
27
+ 14
28
+ ],
29
+ "names": "TODO"
30
+ },
31
+ "timestamp": {
32
+ "dtype": "float64",
33
+ "shape": [
34
+ 1
35
+ ],
36
+ "names": "TODO"
37
+ },
38
+ "episode_index": {
39
+ "dtype": "int64",
40
+ "shape": [
41
+ 1
42
+ ],
43
+ "names": "TODO"
44
+ },
45
+ "frame_index": {
46
+ "dtype": "int64",
47
+ "shape": [
48
+ 1
49
+ ],
50
+ "names": "TODO"
51
+ },
52
+ "index": {
53
+ "dtype": "int64",
54
+ "shape": [
55
+ 1
56
+ ],
57
+ "names": "TODO"
58
+ },
59
+ "next.reward": {
60
+ "dtype": "float64",
61
+ "shape": [
62
+ 1
63
+ ],
64
+ "names": "TODO"
65
+ },
66
+ "next.done": {
67
+ "dtype": "bool",
68
+ "shape": [
69
+ 1
70
+ ],
71
+ "names": "TODO"
72
+ },
73
+ "task_index": {
74
+ "dtype": "int64",
75
+ "shape": [
76
+ 1
77
+ ],
78
+ "names": "TODO"
79
+ },
80
+ "observation.images.top_camera": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 480,
84
+ 640,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channel"
91
+ ]
92
+ },
93
+ "observation.images.left_camera": {
94
+ "dtype": "video",
95
+ "shape": [
96
+ 480,
97
+ 640,
98
+ 3
99
+ ],
100
+ "names": [
101
+ "height",
102
+ "width",
103
+ "channel"
104
+ ]
105
+ },
106
+ "observation.images.right_camera": {
107
+ "dtype": "video",
108
+ "shape": [
109
+ 480,
110
+ 640,
111
+ 3
112
+ ],
113
+ "names": [
114
+ "height",
115
+ "width",
116
+ "channel"
117
+ ]
118
+ }
119
+ }
120
+ }
meta/stats.json ADDED
@@ -0,0 +1,451 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.top_camera": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.3549224715169271
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.3688768681335449
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.37617537872314455
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.20298255505894905
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.1980811477938522
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.21170394624923064
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 1000
73
+ ]
74
+ },
75
+ "observation.images.left_camera": {
76
+ "min": [
77
+ [
78
+ [
79
+ 0.0
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.0
85
+ ]
86
+ ],
87
+ [
88
+ [
89
+ 0.0
90
+ ]
91
+ ]
92
+ ],
93
+ "max": [
94
+ [
95
+ [
96
+ 1.0
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 1.0
102
+ ]
103
+ ],
104
+ [
105
+ [
106
+ 1.0
107
+ ]
108
+ ]
109
+ ],
110
+ "mean": [
111
+ [
112
+ [
113
+ 0.39578583699544273
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 0.41664985290527345
119
+ ]
120
+ ],
121
+ [
122
+ [
123
+ 0.4308120349121094
124
+ ]
125
+ ]
126
+ ],
127
+ "std": [
128
+ [
129
+ [
130
+ 0.28712992984756797
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 0.27666309925293475
136
+ ]
137
+ ],
138
+ [
139
+ [
140
+ 0.270712564422397
141
+ ]
142
+ ]
143
+ ],
144
+ "count": [
145
+ 1000
146
+ ]
147
+ },
148
+ "observation.images.right_camera": {
149
+ "min": [
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.007843137718737125
158
+ ]
159
+ ],
160
+ [
161
+ [
162
+ 0.0
163
+ ]
164
+ ]
165
+ ],
166
+ "max": [
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ],
177
+ [
178
+ [
179
+ 1.0
180
+ ]
181
+ ]
182
+ ],
183
+ "mean": [
184
+ [
185
+ [
186
+ 0.39616119318644205
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.40349245864868166
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.39536680399576823
197
+ ]
198
+ ]
199
+ ],
200
+ "std": [
201
+ [
202
+ [
203
+ 0.2262099707437405
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.2205136250796462
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.23079902481193681
214
+ ]
215
+ ]
216
+ ],
217
+ "count": [
218
+ 1000
219
+ ]
220
+ },
221
+ "observation.state": {
222
+ "mean": [
223
+ -0.1654628712385893,
224
+ -2.077334689617157,
225
+ -0.1327590425014496,
226
+ 1.2787884879112243,
227
+ -0.05163362528383732,
228
+ -1.0527742035388947,
229
+ 0.0,
230
+ 0.15099059411883353,
231
+ 2.024592209100723,
232
+ 0.2382984928190708,
233
+ 0.3050610179901123,
234
+ -0.043337196327745915,
235
+ -1.6585781102180481,
236
+ 0.0
237
+ ],
238
+ "std": [
239
+ 9.656112343703732e-06,
240
+ 1.3081080917974123e-05,
241
+ 1.9625382809734584e-05,
242
+ 1.4902166988283824e-05,
243
+ 7.070524653683e-06,
244
+ 8.696394782577493e-06,
245
+ 0.0,
246
+ 2.581432278406137e-05,
247
+ 1.1416623621394098e-05,
248
+ 2.5880102873402914e-05,
249
+ 1.2329096864967975e-05,
250
+ 1.6514941586738143e-05,
251
+ 1.5933850056659884e-05,
252
+ 0.0
253
+ ],
254
+ "min": [
255
+ -0.16551324725151062,
256
+ -2.07735276222229,
257
+ -0.13282939791679382,
258
+ 1.278753399848938,
259
+ -0.05165199935436249,
260
+ -1.0527933835983276,
261
+ 0.0,
262
+ 0.15094248950481415,
263
+ 2.024566411972046,
264
+ 0.23820994794368744,
265
+ 0.30502599477767944,
266
+ -0.04336324706673622,
267
+ -1.6586050987243652,
268
+ 0.0
269
+ ],
270
+ "max": [
271
+ -0.16544345021247864,
272
+ -2.0773003101348877,
273
+ -0.13270725309848785,
274
+ 1.2788057327270508,
275
+ -0.0516171008348465,
276
+ -1.0527235269546509,
277
+ 0.0,
278
+ 0.1510646492242813,
279
+ 2.0246362686157227,
280
+ 0.2383844554424286,
281
+ 0.3050783574581146,
282
+ -0.04329345002770424,
283
+ -1.658552646636963,
284
+ 0.0
285
+ ]
286
+ },
287
+ "action": {
288
+ "mean": [
289
+ -0.1654628712385893,
290
+ -2.077334689617157,
291
+ -0.1327590425014496,
292
+ 1.2787884879112243,
293
+ -0.05163362528383732,
294
+ -1.0527742035388947,
295
+ 0.0,
296
+ 0.15099059411883353,
297
+ 2.024592209100723,
298
+ 0.2382984928190708,
299
+ 0.3050610179901123,
300
+ -0.043337196327745915,
301
+ -1.6585781102180481,
302
+ 0.0
303
+ ],
304
+ "std": [
305
+ 9.656112343703732e-06,
306
+ 1.3081080917974123e-05,
307
+ 1.9625382809734584e-05,
308
+ 1.4902166988283824e-05,
309
+ 7.070524653683e-06,
310
+ 8.696394782577493e-06,
311
+ 0.0,
312
+ 2.581432278406137e-05,
313
+ 1.1416623621394098e-05,
314
+ 2.5880102873402914e-05,
315
+ 1.2329096864967975e-05,
316
+ 1.6514941586738143e-05,
317
+ 1.5933850056659884e-05,
318
+ 0.0
319
+ ],
320
+ "min": [
321
+ -0.16551324725151062,
322
+ -2.07735276222229,
323
+ -0.13282939791679382,
324
+ 1.278753399848938,
325
+ -0.05165199935436249,
326
+ -1.0527933835983276,
327
+ 0.0,
328
+ 0.15094248950481415,
329
+ 2.024566411972046,
330
+ 0.23820994794368744,
331
+ 0.30502599477767944,
332
+ -0.04336324706673622,
333
+ -1.6586050987243652,
334
+ 0.0
335
+ ],
336
+ "max": [
337
+ -0.16544345021247864,
338
+ -2.0773003101348877,
339
+ -0.13270725309848785,
340
+ 1.2788057327270508,
341
+ -0.0516171008348465,
342
+ -1.0527235269546509,
343
+ 0.0,
344
+ 0.1510646492242813,
345
+ 2.0246362686157227,
346
+ 0.2383844554424286,
347
+ 0.3050783574581146,
348
+ -0.04329345002770424,
349
+ -1.658552646636963,
350
+ 0.0
351
+ ]
352
+ },
353
+ "timestamp": {
354
+ "mean": [
355
+ 8.316666666666668
356
+ ],
357
+ "std": [
358
+ 4.8112426207327745
359
+ ],
360
+ "min": [
361
+ 0.0
362
+ ],
363
+ "max": [
364
+ 16.633333333333333
365
+ ]
366
+ },
367
+ "episode_index": {
368
+ "mean": [
369
+ 0.5
370
+ ],
371
+ "std": [
372
+ 0.5
373
+ ],
374
+ "min": [
375
+ 0.0
376
+ ],
377
+ "max": [
378
+ 1.0
379
+ ]
380
+ },
381
+ "frame_index": {
382
+ "mean": [
383
+ 249.5
384
+ ],
385
+ "std": [
386
+ 144.33727862198316
387
+ ],
388
+ "min": [
389
+ 0.0
390
+ ],
391
+ "max": [
392
+ 499.0
393
+ ]
394
+ },
395
+ "index": {
396
+ "mean": [
397
+ 499.5
398
+ ],
399
+ "std": [
400
+ 288.6749902572095
401
+ ],
402
+ "min": [
403
+ 0.0
404
+ ],
405
+ "max": [
406
+ 999.0
407
+ ]
408
+ },
409
+ "next.reward": {
410
+ "mean": [
411
+ 0.0
412
+ ],
413
+ "std": [
414
+ 0.0
415
+ ],
416
+ "min": [
417
+ 0.0
418
+ ],
419
+ "max": [
420
+ 0.0
421
+ ]
422
+ },
423
+ "next.done": {
424
+ "mean": [
425
+ 0.0
426
+ ],
427
+ "std": [
428
+ 0.0
429
+ ],
430
+ "min": [
431
+ 0.0
432
+ ],
433
+ "max": [
434
+ 0.0
435
+ ]
436
+ },
437
+ "task_index": {
438
+ "mean": [
439
+ 0.0
440
+ ],
441
+ "std": [
442
+ 0.0
443
+ ],
444
+ "min": [
445
+ 0.0
446
+ ],
447
+ "max": [
448
+ 0.0
449
+ ]
450
+ }
451
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab the door handle"}
videos/chunk_000/observation.images.left_camera/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1e91762d0991b185b6e3443bef5cb0b3b4740b48d803e4b36e41f467078963aa
3
+ size 16306632
videos/chunk_000/observation.images.left_camera/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5f2c825a1131515576e99347a942ed82a5c240c7c5837e52b48b49b28a98641c
3
+ size 16254295
videos/chunk_000/observation.images.right_camera/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fe096823d1170cfc08c2c92fa5b8795025b0ffdbf5fac73555148cfe2152e42c
3
+ size 10661397
videos/chunk_000/observation.images.right_camera/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:923b994dd26a3c63567219c62f7004d203d5675d463a873a91759c867f4acaf9
3
+ size 10642759
videos/chunk_000/observation.images.top_camera/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:19ef9c22b4ca99acc8706edb775e726d4e9a75f24f701884750b5f07190e8693
3
+ size 14438301
videos/chunk_000/observation.images.top_camera/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9d211f8461dbd5a5f5bf547952f0cc24d9b04484d64d87fb3336b977a4c2c3d9
3
+ size 14438814