shin1107 commited on
Commit
ee18a18
·
verified ·
1 Parent(s): b03b501

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 sha256:793455bc226b309af8152868443df2a272639872fc11483c53a99d962cc32a68
3
+ size 38148
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8837df2378605f7ca6a0a31d24f066c81ed3b89c2be7fb0b1bc3f9e0a46140a3
3
+ size 29780
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aa001843042a0530342e2483e5775c17834f1d18751bdd4ecae28ea38a8ef62f
3
+ size 29799
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:988a36278e93d97edcf73a194cfbcdaef95d7230f0c735424247f70799ab55b6
3
+ size 29106
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6cbac05ee7cd761174e1c7c9877dd4a8756e70719b4c4c341515ad69b243bb7e
3
+ size 36521
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a block and put it in the hole with number."], "length": 770}
2
+ {"episode_index": 1, "tasks": ["Grasp a block and put it in the hole with number."], "length": 777}
3
+ {"episode_index": 2, "tasks": ["Grasp a block and put it in the hole with number."], "length": 768}
4
+ {"episode_index": 3, "tasks": ["Grasp a block and put it in the hole with number."], "length": 774}
5
+ {"episode_index": 4, "tasks": ["Grasp a block and put it in the hole with number."], "length": 773}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "koch",
4
+ "total_episodes": 5,
5
+ "total_frames": 3862,
6
+ "total_tasks": 1,
7
+ "total_videos": 10,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:5"
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.top": {
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.fps": 30.0,
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.channels": 3,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.front": {
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.fps": 30.0,
82
+ "video.height": 480,
83
+ "video.width": 640,
84
+ "video.channels": 3,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
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/stats.json ADDED
@@ -0,0 +1,280 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ -8.354095458984375,
5
+ 108.80211639404297,
6
+ 133.73109436035156,
7
+ 23.858055114746094,
8
+ 46.232696533203125,
9
+ 28.378864288330078
10
+ ],
11
+ "std": [
12
+ 8.56128978729248,
13
+ 29.635055541992188,
14
+ 51.729774475097656,
15
+ 41.39705276489258,
16
+ 49.887306213378906,
17
+ 10.055986404418945
18
+ ],
19
+ "max": [
20
+ 12.041015625,
21
+ 133.59375,
22
+ 180.17578125,
23
+ 111.708984375,
24
+ 114.43359375,
25
+ 40.78125
26
+ ],
27
+ "min": [
28
+ -26.015625,
29
+ 42.451171875,
30
+ 23.642578125,
31
+ -88.154296875,
32
+ -27.94921875,
33
+ 0.17578125
34
+ ]
35
+ },
36
+ "observation.state": {
37
+ "mean": [
38
+ -7.996180534362793,
39
+ 105.98340606689453,
40
+ 132.74209594726562,
41
+ 24.042804718017578,
42
+ 45.8069953918457,
43
+ 32.2596321105957
44
+ ],
45
+ "std": [
46
+ 8.323395729064941,
47
+ 28.664396286010742,
48
+ 49.167781829833984,
49
+ 40.390785217285156,
50
+ 49.682979583740234,
51
+ 2.5012292861938477
52
+ ],
53
+ "max": [
54
+ 11.513671875,
55
+ 128.671875,
56
+ 176.044921875,
57
+ 107.314453125,
58
+ 113.73046875,
59
+ 38.759765625
60
+ ],
61
+ "min": [
62
+ -25.3125,
63
+ 41.748046875,
64
+ 25.400390625,
65
+ -80.5078125,
66
+ -26.015625,
67
+ 11.07421875
68
+ ]
69
+ },
70
+ "observation.images.top": {
71
+ "mean": [
72
+ [
73
+ [
74
+ 0.5563433766365051
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.5705041885375977
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.5912355780601501
85
+ ]
86
+ ]
87
+ ],
88
+ "std": [
89
+ [
90
+ [
91
+ 0.27938172221183777
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.25131937861442566
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.23580250144004822
102
+ ]
103
+ ]
104
+ ],
105
+ "max": [
106
+ [
107
+ [
108
+ 1.0
109
+ ]
110
+ ],
111
+ [
112
+ [
113
+ 1.0
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 1.0
119
+ ]
120
+ ]
121
+ ],
122
+ "min": [
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ],
128
+ [
129
+ [
130
+ 0.0
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 0.0
136
+ ]
137
+ ]
138
+ ]
139
+ },
140
+ "observation.images.front": {
141
+ "mean": [
142
+ [
143
+ [
144
+ 0.5373433828353882
145
+ ]
146
+ ],
147
+ [
148
+ [
149
+ 0.5712652802467346
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.577505886554718
155
+ ]
156
+ ]
157
+ ],
158
+ "std": [
159
+ [
160
+ [
161
+ 0.31883704662323
162
+ ]
163
+ ],
164
+ [
165
+ [
166
+ 0.25894972681999207
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.23538029193878174
172
+ ]
173
+ ]
174
+ ],
175
+ "max": [
176
+ [
177
+ [
178
+ 0.9215686321258545
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 0.9372549057006836
184
+ ]
185
+ ],
186
+ [
187
+ [
188
+ 0.9647058844566345
189
+ ]
190
+ ]
191
+ ],
192
+ "min": [
193
+ [
194
+ [
195
+ 0.0
196
+ ]
197
+ ],
198
+ [
199
+ [
200
+ 0.0
201
+ ]
202
+ ],
203
+ [
204
+ [
205
+ 0.0
206
+ ]
207
+ ]
208
+ ]
209
+ },
210
+ "timestamp": {
211
+ "mean": [
212
+ 12.856880187988281
213
+ ],
214
+ "std": [
215
+ 7.432784080505371
216
+ ],
217
+ "max": [
218
+ 25.866666793823242
219
+ ],
220
+ "min": [
221
+ 0.0
222
+ ]
223
+ },
224
+ "frame_index": {
225
+ "mean": [
226
+ 385.7065124511719
227
+ ],
228
+ "std": [
229
+ 222.98350524902344
230
+ ],
231
+ "max": [
232
+ 776.0
233
+ ],
234
+ "min": [
235
+ 0.0
236
+ ]
237
+ },
238
+ "episode_index": {
239
+ "mean": [
240
+ 2.0007755756378174
241
+ ],
242
+ "std": [
243
+ 1.414121150970459
244
+ ],
245
+ "max": [
246
+ 4.0
247
+ ],
248
+ "min": [
249
+ 0.0
250
+ ]
251
+ },
252
+ "index": {
253
+ "mean": [
254
+ 1930.499755859375
255
+ ],
256
+ "std": [
257
+ 1114.8636474609375
258
+ ],
259
+ "max": [
260
+ 3861.0
261
+ ],
262
+ "min": [
263
+ 0.0
264
+ ]
265
+ },
266
+ "task_index": {
267
+ "mean": [
268
+ 0.0
269
+ ],
270
+ "std": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 0.0
275
+ ],
276
+ "min": [
277
+ 0.0
278
+ ]
279
+ }
280
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a block and put it in the hole with number."}
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 sha256:58fd5a8f33325c197ecc76e24a78a2bbfd04f0edad272a89148cfff2338dd055
3
+ size 5713483
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 sha256:8cffcb26ab8c2820721a0b5d5cff6bb605e01581e9ce381ee5c50020f31a6502
3
+ size 5169592
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 sha256:46b875b1dc19218bf9782fcabbb1113809ac6f4d7ccf9fdaadfd4266afadb71a
3
+ size 5232283
videos/chunk-000/observation.images.front/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4272d2ab4b9a67f7d140bb5cf79a17da5cd542d8dc7892c4b3f53209414223e1
3
+ size 5100804
videos/chunk-000/observation.images.front/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d7a89ae5998d45a1a4221ac0e0e94017e0779037d63abc38c046b57c78f1a3bf
3
+ size 4974735
videos/chunk-000/observation.images.top/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:66e5cad9bce2bac65e9c8e5fbc7018616d4ff90150ad98bb599767137c592a86
3
+ size 7396753
videos/chunk-000/observation.images.top/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:713dbfff6975a063663a73aa9bb66f9c33cfb1b28467a4dee6afece81a961a8b
3
+ size 7292457
videos/chunk-000/observation.images.top/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:235226149da8ffdbfd9ae84fa3b580996771df18875b13494c3d9afd824bcbdd
3
+ size 7417222
videos/chunk-000/observation.images.top/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6591e06f6d72ca418fc61c96fad9747292d5e2116ec1be44de9418d3d73c9420
3
+ size 7711254
videos/chunk-000/observation.images.top/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e7b3d6be830f11e6dbea4354624ba76eb69f5d01b5027c5533af51128e822569
3
+ size 7718123