Tear4Pixelation commited on
Commit
5dcff8e
·
verified ·
1 Parent(s): 8a08532

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 sha256:153d367a1b11a7a8033a834cd4f3bf8d2265c702dc1cd7ff6622fc643b0f494a
3
+ size 38571
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a3005252bda7c5c17bbe278a68a46ddb1a1ec0aca1b40ef8b1929975bad0c136
3
+ size 31407
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:75a7d39acbdf9281976c1fec22bade1a80162b143ce4e17a18bb11e46dcc86d6
3
+ size 36103
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the loose lego brick and stack it on top of the fixed one."], "length": 773}
2
+ {"episode_index": 1, "tasks": ["Grab the loose lego brick and stack it on top of the fixed one."], "length": 578}
3
+ {"episode_index": 2, "tasks": ["Grab the loose lego brick and stack it on top of the fixed one."], "length": 730}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-4.080118656158447, -99.83065032958984, -28.868778228759766, 25.238508224487305, 1.3068479299545288, 0.3254678547382355], "max": [31.676557540893555, 37.51058578491211, 99.81900787353516, 98.00520324707031, 46.680606842041016, 26.200162887573242], "mean": [8.782132148742676, -36.18859100341797, 36.7509765625, 70.60662841796875, 14.924698829650879, 10.404759407043457], "std": [12.204922676086426, 53.296669006347656, 44.22328186035156, 13.266189575195312, 17.53900718688965, 8.78211784362793], "count": [773]}, "observation.state": {"min": [-4.005934715270996, -99.405517578125, -26.609634399414062, 26.33851432800293, 1.3257083892822266, 0.9497964978218079], "max": [31.52819061279297, 37.409767150878906, 99.27960205078125, 97.49568176269531, 46.50376892089844, 26.051559448242188], "mean": [8.686907768249512, -35.46709060668945, 38.04037857055664, 70.43011474609375, 14.855082511901855, 11.71903133392334], "std": [12.255253791809082, 53.80093765258789, 44.330116271972656, 13.05217456817627, 17.531723022460938, 8.737069129943848], "count": [773]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5837909028337362]], [[0.541192421546244]], [[0.5156237898983794]]], "std": [[[0.24831796886475382]], [[0.2778840609768206]], [[0.31890555000370385]]], "count": [146]}, "observation.images.up": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[0.9764705882352941]], [[0.996078431372549]]], "mean": [[[0.640473208490017]], [[0.5935270545147283]], [[0.5882452701114692]]], "std": [[[0.16505521689218328]], [[0.19479224814245413]], [[0.19910511793350463]]], "count": [146]}, "timestamp": {"min": [0.0], "max": [25.733333333333334], "mean": [12.866666666666665], "std": [7.438189743927394], "count": [773]}, "frame_index": {"min": [0], "max": [772], "mean": [386.0], "std": [223.1456923178218], "count": [773]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [773]}, "index": {"min": [0], "max": [772], "mean": [386.0], "std": [223.1456923178218], "count": [773]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [773]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-10.68249225616455, -99.40727996826172, -52.1266975402832, 70.33824920654297, -6.534239292144775, 0.8950366377830505], "max": [20.8456974029541, 42.84504699707031, 92.66968536376953, 100.0, 83.27234649658203, 29.37347412109375], "mean": [2.4153475761413574, -21.012792587280273, 19.433706283569336, 82.12586212158203, 21.1834659576416, 10.072633743286133], "std": [11.248262405395508, 49.566707611083984, 45.258460998535156, 8.886346817016602, 32.865074157714844, 7.9476165771484375], "count": [578]}, "observation.state": {"min": [-10.830860137939453, -99.57537078857422, -49.30211639404297, 70.72538757324219, -6.472576141357422, 1.3568520545959473], "max": [20.474777221679688, 43.524417877197266, 94.41693115234375, 98.70466613769531, 83.15570831298828, 29.104476928710938], "mean": [2.352847099304199, -20.33733558654785, 20.589393615722656, 81.86603546142578, 21.082992553710938, 12.448446273803711], "std": [11.198575019836426, 50.10137939453125, 45.00733184814453, 8.76598834991455, 32.85862731933594, 8.079059600830078], "count": [578]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6100569451427295]], [[0.5317814786883415]], [[0.5100726809954751]]], "std": [[[0.21426534862509877]], [[0.2871402645063438]], [[0.32456317872701174]]], "count": [117]}, "observation.images.up": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9333333333333333]], [[0.9176470588235294]], [[0.9098039215686274]]], "mean": [[[0.6341773556644881]], [[0.5972833099407855]], [[0.590004100678733]]], "std": [[[0.1717744303425595]], [[0.19815916749299195]], [[0.2021449187121248]]], "count": [117]}, "timestamp": {"min": [0.0], "max": [19.233333333333334], "mean": [9.616666666666669], "std": [5.561799269221346], "count": [578]}, "frame_index": {"min": [0], "max": [577], "mean": [288.5], "std": [166.8539780766404], "count": [578]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [578]}, "index": {"min": [773], "max": [1350], "mean": [1061.5], "std": [166.8539780766404], "count": [578]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [578]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-4.747774600982666, -99.3226089477539, -37.91855239868164, 57.849090576171875, 1.934134840965271, 0.40683481097221375], "max": [24.85163116455078, 41.066890716552734, 92.85067749023438, 100.0, 56.66492462158203, 56.79413986206055], "mean": [9.277365684509277, 2.238769292831421, 0.6726674437522888, 90.14405059814453, 27.118581771850586, 31.72173500061035], "std": [11.144782066345215, 43.06720733642578, 37.71750259399414, 9.27120304107666, 19.86219596862793, 17.76027488708496], "count": [730]}, "observation.state": {"min": [-4.821958541870117, -99.57537078857422, -35.61458969116211, 58.54922103881836, 1.7416168451309204, 0.9497964978218079], "max": [24.40652847290039, 41.48619842529297, 92.70598602294922, 98.70466613769531, 56.32960891723633, 56.241519927978516], "mean": [9.283554077148438, 3.0965137481689453, 1.8244417905807495, 89.85379028320312, 27.070796966552734, 33.73823165893555], "std": [11.033306121826172, 43.341148376464844, 37.307918548583984, 9.1271333694458, 19.797611236572266, 17.936235427856445], "count": [730]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5979395205999066]], [[0.5054525224673203]], [[0.4714852313842204]]], "std": [[[0.2728594520269049]], [[0.32164032296750616]], [[0.36369592857683275]]], "count": [140]}, "observation.images.up": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9647058823529412]], [[0.9764705882352941]]], "mean": [[[0.6392848024626517]], [[0.6035338322829132]], [[0.5962920211834734]]], "std": [[[0.1700022715206798]], [[0.1974670201275543]], [[0.2011988089078632]]], "count": [140]}, "timestamp": {"min": [0.0], "max": [24.3], "mean": [12.15], "std": [7.024421684380857], "count": [730]}, "frame_index": {"min": [0], "max": [729], "mean": [364.5], "std": [210.73265053142572], "count": [730]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [730]}, "index": {"min": [1351], "max": [2080], "mean": [1715.5], "std": [210.73265053142572], "count": [730]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [730]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 3,
5
+ "total_frames": 2081,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
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
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
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
+ "observation.images.up": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 30,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab the loose lego brick and stack it on top of the fixed one."}
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:c2eae1d0f16a10d772ae9eecacec24a74ec108caaae4c19f5359e66171184479
3
+ size 4994762
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:cbbba4b8e05d1e7e6fc8576cc1a9be78a453d486dc7d06dbb78de082ea2d4fff
3
+ size 3719824
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 sha256:941402ecf2c746678a995eede04a98009dc8db5cd04753f01c3d24a0b39440ea
3
+ size 4463237
videos/chunk-000/observation.images.up/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4bf6b26c45c510ee804f34cf394c233db5599ac7e300ba3b9d2641a752e653ec
3
+ size 5034708
videos/chunk-000/observation.images.up/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:62da52b711892e9d315581dcf89996d58d58d44de39bfe3f7bbfc64f7d1a3257
3
+ size 3637554
videos/chunk-000/observation.images.up/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:64778cbb5e49868c7883616e8ac5aea350a3048d125489963b2819e89881a6f6
3
+ size 4880979