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/episodes_stats.jsonl +2 -0
- meta/info.json +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.head/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.head/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/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 sha256:25424eef9e358b36ebff0c2c2fb8dce28dd4488117ac3364a0492ca05eb7238a
|
| 3 |
+
size 38647
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5c63175db4e03cccd0060caf3d118c9b78d91f944b5ee352c2f260a3b5a3af63
|
| 3 |
+
size 42024
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 890}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 889}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-30.673828125, 74.35546875, 60.205078125, 56.6015625, -15.46875, 0.120627261698246], "max": [20.830078125, 184.921875, 171.38671875, 96.85546875, 66.005859375, 38.721351623535156], "mean": [2.6056113243103027, 154.42787170410156, 135.66494750976562, 77.16680145263672, 11.74633502960205, 6.834199905395508], "std": [11.546897888183594, 41.763771057128906, 40.63750076293945, 8.872380256652832, 23.399045944213867, 12.179533004760742], "count": [890]}, "observation.state": {"min": [-30.673828125, 73.740234375, 62.666015625, 57.216796875, -14.58984375, 1.2408759593963623], "max": [20.7421875, 185.361328125, 171.2109375, 96.6796875, 65.654296875, 38.394161224365234], "mean": [2.60294508934021, 153.9091796875, 136.35525512695312, 77.36192321777344, 11.853384017944336, 8.437164306640625], "std": [11.564230918884277, 42.268470764160156, 39.87360382080078, 8.875723838806152, 23.33903694152832, 11.658185005187988], "count": [890]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3447069981541999]], [[0.5518387560013717]], [[0.7172212539336722]]], "std": [[[0.22845275265820675]], [[0.19614488172098274]], [[0.26864469789545187]]], "count": [162]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25786834175542644]], [[0.5427205365428065]], [[0.7642010257806827]]], "std": [[[0.2691956980155846]], [[0.2631290686787947]], [[0.3401150858174842]]], "count": [162]}, "timestamp": {"min": [0.0], "max": [29.633333333333333], "mean": [14.816666666666665], "std": [8.564023587076345], "count": [890]}, "frame_index": {"min": [0], "max": [889], "mean": [444.5], "std": [256.92070761229036], "count": [890]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [890]}, "index": {"min": [0], "max": [889], "mean": [444.5], "std": [256.92070761229036], "count": [890]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [890]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-53.26171875, 65.126953125, 31.640625, 39.462890625, -45.3515625, 0.120627261698246], "max": [25.400390625, 184.921875, 171.38671875, 99.31640625, 24.78515625, 38.48009490966797], "mean": [-1.794787883758545, 138.92259216308594, 120.370849609375, 78.58361053466797, -1.7448612451553345, 5.630745887756348], "std": [21.179950714111328, 48.19964599609375, 53.40290069580078, 14.899528503417969, 20.03164291381836, 10.935834884643555], "count": [889]}, "observation.state": {"min": [-53.349609375, 64.423828125, 34.189453125, 39.90234375, -44.736328125, 1.2408759593963623], "max": [25.48828125, 185.009765625, 171.2109375, 99.140625, 24.43359375, 38.029197692871094], "mean": [-1.8307745456695557, 138.24681091308594, 121.07109832763672, 78.73023223876953, -1.6458977460861206, 7.813780784606934], "std": [21.172094345092773, 48.564353942871094, 52.7138786315918, 14.787156105041504, 20.003183364868164, 10.310354232788086], "count": [889]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33281232222827406]], [[0.5448093770172677]], [[0.7206249672193981]]], "std": [[[0.21826831120272583]], [[0.19854940175818556]], [[0.28447916567833315]]], "count": [162]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24509686793956267]], [[0.5240521488945372]], [[0.7466170317921407]]], "std": [[[0.2691399980617618]], [[0.264811622226501]], [[0.3428492694903158]]], "count": [162]}, "timestamp": {"min": [0.0], "max": [29.6], "mean": [14.8], "std": [8.554401076508967], "count": [889]}, "frame_index": {"min": [0], "max": [888], "mean": [444.0], "std": [256.632032295269], "count": [889]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [889]}, "index": {"min": [890], "max": [1778], "mean": [1334.0], "std": [256.632032295269], "count": [889]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [889]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "so100",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 1779,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 4,
|
| 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.wrist": {
|
| 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.head": {
|
| 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": "Grasp a lego block and put it in the bin."}
|
videos/chunk-000/observation.images.head/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8bbfd5174d718de94143c020872f4f6fcd2ef09cbba0905883588e60f4dcfb5a
|
| 3 |
+
size 35644401
|
videos/chunk-000/observation.images.head/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b839b9a6606e6e2778d16300a13478db218abdde51b91a863791438931afc029
|
| 3 |
+
size 35460696
|
videos/chunk-000/observation.images.wrist/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:13bc3bf8d79c55cd92e599725bfecb923548f4233afcb14c9ddb63e02a13afda
|
| 3 |
+
size 21147618
|
videos/chunk-000/observation.images.wrist/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d157881c6343f1f06b5f8b33493d6230e95746b4863ec0c436dcc775faa75fd5
|
| 3 |
+
size 20095627
|