wu12581 commited on
Commit
2754f43
·
verified ·
1 Parent(s): 9911fe1

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:f26f55ef6757c677eb0fdf56c1f154a878bf10de2a2b3d5af70749224a6b740e
3
+ size 118622
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:028912a8bad4bd9d2a15c62ef026af26c82c5778f5283964cf03753cca56b21c
3
+ size 120395
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:88ab7c1c3818e5da1394356cb97bbf241f7f14032ad65cd06859c74b754bf983
3
+ size 119191
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 1757}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 1778}
3
+ {"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 1779}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-26.820926666259766, 28.198379516601562, 15.598335266113281, 61.32417297363281, -33.280025482177734, -3.538257598876953], "max": [26.320444107055664, 202.6021270751953, 169.55905151367188, 115.65348815917969, 8.785666465759277, 52.0667839050293], "mean": [8.936748504638672, 81.53878784179688, 68.21511840820312, 90.35291290283203, -18.58296775817871, 22.74069595336914], "std": [15.347752571105957, 49.848899841308594, 43.65018844604492, 9.696718215942383, 9.810853958129883, 20.109394073486328], "count": [1757]}, "observation.state": {"min": [-22.763671875, 27.7734375, 19.072265625, 64.16015625, -30.5859375, 1.0934393405914307], "max": [25.6640625, 201.796875, 169.453125, 111.005859375, 7.294921875, 50.894630432128906], "mean": [7.780096054077148, 78.93302917480469, 70.76824188232422, 89.7491455078125, -18.03363609313965, 21.97332191467285], "std": [14.565320014953613, 50.68647766113281, 42.97773742675781, 8.895788192749023, 9.58350944519043, 19.211198806762695], "count": [1757]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.08323303005088874]], [[0.10793726258953766]], [[0.12402007437353785]]], "std": [[[0.22076554564757758]], [[0.25508239006859834]], [[0.2939732829665175]]], "count": [271]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.059941885687239224]], [[0.07516276107614017]], [[0.08324121807394544]]], "std": [[[0.20256629539916526]], [[0.2054446371766195]], [[0.21193552922946418]]], "count": [271]}, "timestamp": {"min": [0.0], "max": [58.53333333333333], "mean": [29.266666666666666], "std": [16.90673764443566], "count": [1757]}, "frame_index": {"min": [0], "max": [1756], "mean": [878.0], "std": [507.20212933306976], "count": [1757]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1757]}, "index": {"min": [0], "max": [1756], "mean": [878.0], "std": [507.20212933306976], "count": [1757]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1757]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-30.794353485107422, 36.437889099121094, 32.55961608886719, 61.928466796875, -38.88680648803711, -3.8803863525390625], "max": [24.74748420715332, 202.43417358398438, 169.45989990234375, 113.31312561035156, 8.82509708404541, 58.177913665771484], "mean": [0.15360556542873383, 102.1158676147461, 90.77957153320312, 83.67935180664062, -9.8048734664917, 17.50588607788086], "std": [14.647759437561035, 52.789939880371094, 43.571495056152344, 9.355000495910645, 8.59669017791748, 20.145944595336914], "count": [1778]}, "observation.state": {"min": [-29.267578125, 35.947265625, 34.453125, 65.126953125, -36.826171875, 0.8946322202682495], "max": [23.994140625, 201.796875, 169.365234375, 110.0390625, 7.294921875, 57.35586166381836], "mean": [-0.3344095051288605, 100.84524536132812, 93.47745513916016, 83.17327880859375, -9.481806755065918, 17.706151962280273], "std": [13.823264122009277, 54.25431823730469, 42.994659423828125, 8.523419380187988, 8.017701148986816, 18.92335319519043], "count": [1778]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.07451941930618401]], [[0.09231720220139338]], [[0.1052469826605856]]], "std": [[[0.20866360684042912]], [[0.2304564854491486]], [[0.2622191169870157]]], "count": [273]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.05893212295602001]], [[0.0669255929936077]], [[0.07085735608345901]]], "std": [[[0.1980003243481367]], [[0.19628585887279115]], [[0.19809389502236152]]], "count": [273]}, "timestamp": {"min": [0.0], "max": [59.233333333333334], "mean": [29.616666666666667], "std": [17.108810270994557], "count": [1778]}, "frame_index": {"min": [0], "max": [1777], "mean": [888.5], "std": [513.2643081298368], "count": [1778]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1778]}, "index": {"min": [1757], "max": [3534], "mean": [2645.5], "std": [513.2643081298368], "count": [1778]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1778]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-28.979202270507812, 30.158126831054688, 15.322441101074219, 61.4843864440918, -34.19062805175781, -2.4504642486572266], "max": [26.038854598999023, 202.58499145507812, 169.5404052734375, 114.26806640625, 16.555076599121094, 55.87059020996094], "mean": [3.3184828758239746, 94.50257110595703, 80.27986145019531, 85.72492218017578, -6.467901706695557, 21.010311126708984], "std": [13.603607177734375, 57.872413635253906, 50.119300842285156, 10.251943588256836, 12.531033515930176, 21.046493530273438], "count": [1779]}, "observation.state": {"min": [-27.7734375, 28.65234375, 19.248046875, 65.126953125, -32.255859375, 0.596421480178833], "max": [25.576171875, 201.796875, 169.365234375, 110.654296875, 15.46875, 54.47315979003906], "mean": [2.2691986560821533, 92.06195831298828, 82.3805923461914, 85.39883422851562, -6.504598140716553, 20.92717170715332], "std": [13.072285652160645, 59.25053405761719, 49.329959869384766, 9.335447311401367, 11.82094669342041, 19.902544021606445], "count": [1779]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.07463854174148292]], [[0.09473775407598937]], [[0.1087169933144198]]], "std": [[[0.21029084439625953]], [[0.2392290881498321]], [[0.2733594047808943]]], "count": [273]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.06864118200699083]], [[0.07802007694103283]], [[0.0823501393078599]]], "std": [[[0.2193026102074926]], [[0.2169060956595767]], [[0.2175355426919572]]], "count": [273]}, "timestamp": {"min": [0.0], "max": [59.266666666666666], "mean": [29.633333333333333], "std": [17.118432777002127], "count": [1779]}, "frame_index": {"min": [0], "max": [1778], "mean": [889.0], "std": [513.5529833100638], "count": [1779]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1779]}, "index": {"min": [3535], "max": [5313], "mean": [4424.0], "std": [513.5529833100638], "count": [1779]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1779]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 3,
5
+ "total_frames": 5314,
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
+ "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.laptop": {
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.phone": {
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/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.laptop/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:74e4df7007861ac298565d5f02c1fc7c61f29568842755b42f204ffb6c14037b
3
+ size 7899887
videos/chunk-000/observation.images.laptop/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eada25d7eb74dced4d2a0b9d2a23e2693982e5e6d57aa32b73a1b478f27b8b1a
3
+ size 6794780
videos/chunk-000/observation.images.laptop/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:20a4a58ef9d140c9ef4d106470721b5dc4f26f85fb1ca7dcfbf396e3631593fa
3
+ size 6968900
videos/chunk-000/observation.images.phone/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:723a23f2ccdbb6e874fdfffd6e71070ba827519f04d7be9ab392f45597eb45ae
3
+ size 6455369
videos/chunk-000/observation.images.phone/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7e99107494a3b05808da5733764b92bda6c5cbc035eeddb518cb1d0e341925f0
3
+ size 5618270
videos/chunk-000/observation.images.phone/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:123d5397d59ee387204ce202daa5f2c98381adffc6de4b73a3a6d51498d1bc62
3
+ size 5882747