juni3227 commited on
Commit
ece5cb7
·
verified ·
1 Parent(s): 5fe9676

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 sha256:4bf925f2f60abdc4e67fec2e737f8023da0786f73fa8d262ccfd8994a8a5ad4a
3
+ size 27808
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5be5db34714a983edbe87dadbc978c26f31f0f5a56c796e854fcffad73c69575
3
+ size 31664
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:acdfcfdf118b9d74247b65587c00164948587adb35bce5fdbef9018f0b9ab657
3
+ size 28964
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:252063228c7ab88edc833d2b5f020adbc68f672c76a4e3f080e78629a6299160
3
+ size 25338
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bac6329b4686ea38a1b8eae36cd6f02126ccb476850700ce3cfc4bcea78c5713
3
+ size 26921
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Put bottle_cap into a cup"], "length": 553}
2
+ {"episode_index": 1, "tasks": ["Put bottle_cap into a cup"], "length": 552}
3
+ {"episode_index": 2, "tasks": ["Put bottle_cap into a cup"], "length": 545}
4
+ {"episode_index": 3, "tasks": ["Put bottle_cap into a cup"], "length": 549}
5
+ {"episode_index": 4, "tasks": ["Put bottle_cap into a cup"], "length": 550}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-53.701171875, 87.36328125, 74.267578125, 38.232421875, -44.12109375, -0.10020039975643158], "max": [65.126953125, 195.380859375, 177.1875, 103.095703125, 13.88671875, 50.90180587768555], "mean": [6.574472904205322, 158.8778533935547, 149.57530212402344, 72.0887451171875, -8.380919456481934, 9.280919075012207], "std": [25.88651466369629, 39.78360366821289, 34.72565460205078, 14.816878318786621, 12.047675132751465, 14.759202003479004], "count": [553]}, "observation.state": {"min": [-53.525390625, 89.912109375, 77.34375, 42.01171875, -43.681640625, 0.38699689507484436], "max": [64.3359375, 192.041015625, 178.505859375, 100.458984375, 12.216796875, 48.6068115234375], "mean": [6.369606971740723, 156.89630126953125, 150.59686279296875, 71.68519592285156, -8.502504348754883, 11.046287536621094], "std": [25.806791305541992, 38.275779724121094, 34.26747512817383, 14.082975387573242, 11.972672462463379, 13.740133285522461], "count": [553]}, "observation.images.airial": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5726432533539731]], [[0.578306686088178]], [[0.7285934991686733]]], "std": [[[0.21723156498777246]], [[0.23359166949638369]], [[0.21788458733972388]]], "count": [114]}, "observation.images.right_follower": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6194723225547528]], [[0.6135109290792341]], [[0.6192913979188167]]], "std": [[[0.32086357092708245]], [[0.2623865470980836]], [[0.2723582922147432]]], "count": [114]}, "timestamp": {"min": [0.0], "max": [18.4], "mean": [9.200000000000001], "std": [5.321236280748634], "count": [553]}, "frame_index": {"min": [0], "max": [552], "mean": [276.0], "std": [159.63708842245902], "count": [553]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [553]}, "index": {"min": [0], "max": [552], "mean": [276.0], "std": [159.63708842245902], "count": [553]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [553]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-60.908203125, 53.4375, 17.75390625, 48.8671875, -40.078125, 0.10020039975643158], "max": [17.05078125, 195.380859375, 177.802734375, 103.095703125, 5.185546875, 33.76753616333008], "mean": [-18.87514877319336, 144.95973205566406, 127.81288146972656, 75.70803833007812, -19.712976455688477, 11.611830711364746], "std": [24.301328659057617, 53.01217269897461, 47.69252014160156, 12.757972717285156, 13.462769508361816, 10.950251579284668], "count": [552]}, "observation.state": {"min": [-60.99609375, 52.822265625, 20.302734375, 49.658203125, -39.375, 0.46439626812934875], "max": [14.853515625, 192.041015625, 177.978515625, 100.37109375, 4.306640625, 32.81733703613281], "mean": [-19.186267852783203, 142.64193725585938, 128.995361328125, 75.70299530029297, -19.673328399658203, 13.992999076843262], "std": [24.005117416381836, 52.67531967163086, 47.172603607177734, 12.253515243530273, 13.438196182250977, 9.35981273651123], "count": [552]}, "observation.images.airial": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5685581113713922]], [[0.5743267991931286]], [[0.7231348906819365]]], "std": [[[0.2220069624757707]], [[0.23695487914456537]], [[0.2218828597994086]]], "count": [113]}, "observation.images.right_follower": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6171520240470819]], [[0.589400249074556]], [[0.594538029961247]]], "std": [[[0.3094281765713275]], [[0.2791589379792696]], [[0.2895009063225723]]], "count": [113]}, "timestamp": {"min": [0.0], "max": [18.366666666666667], "mean": [9.183333333333334], "std": [5.311613760500734], "count": [552]}, "frame_index": {"min": [0], "max": [551], "mean": [275.5], "std": [159.348412815022], "count": [552]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [552]}, "index": {"min": [553], "max": [1104], "mean": [828.5], "std": [159.348412815022], "count": [552]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [552]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-68.291015625, 56.689453125, 20.654296875, 34.8046875, -26.103515625, 0.10020039975643158], "max": [28.564453125, 195.205078125, 180.439453125, 103.18359375, 0.703125, 45.49098205566406], "mean": [-9.228354454040527, 138.60304260253906, 128.81393432617188, 72.5921859741211, -13.447426795959473, 15.563261985778809], "std": [24.77903938293457, 53.353843688964844, 49.53689193725586, 16.472265243530273, 6.515799045562744, 15.655653953552246], "count": [545]}, "observation.state": {"min": [-67.412109375, 56.07421875, 23.466796875, 38.583984375, -25.224609375, 0.6965944170951843], "max": [25.83984375, 192.216796875, 180.0, 100.458984375, -0.263671875, 44.5820426940918], "mean": [-9.404780387878418, 136.39404296875, 129.66123962402344, 72.20738983154297, -13.350343704223633, 17.531818389892578], "std": [24.695043563842773, 52.46936798095703, 48.905548095703125, 15.671698570251465, 6.593521595001221, 14.201033592224121], "count": [545]}, "observation.images.airial": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5696055690505368]], [[0.5739213917337769]], [[0.7171442850577731]]], "std": [[[0.22237999246530754]], [[0.23778781043040498]], [[0.22386459624197533]]], "count": [112]}, "observation.images.right_follower": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6080447340394491]], [[0.6115261693218955]], [[0.6188884895103876]]], "std": [[[0.32638989364259213]], [[0.253382959506248]], [[0.2632837578553502]]], "count": [112]}, "timestamp": {"min": [0.0], "max": [18.133333333333333], "mean": [9.066666666666668], "std": [5.244256117145903], "count": [545]}, "frame_index": {"min": [0], "max": [544], "mean": [272.0], "std": [157.3276835143771], "count": [545]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [545]}, "index": {"min": [1105], "max": [1649], "mean": [1377.0], "std": [157.3276835143771], "count": [545]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [545]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-67.939453125, 52.646484375, 9.580078125, 37.265625, -26.806640625, 0.0], "max": [11.865234375, 195.380859375, 178.681640625, 103.18359375, 1.669921875, 34.969940185546875], "mean": [-14.426069259643555, 147.4815216064453, 131.26425170898438, 75.10037994384766, -12.327740669250488, 8.22838020324707], "std": [21.215883255004883, 58.65509033203125, 56.93376541137695, 13.378946304321289, 7.332624435424805, 11.561564445495605], "count": [549]}, "observation.state": {"min": [-68.02734375, 52.20703125, 12.48046875, 40.078125, -26.455078125, 0.30959752202033997], "max": [10.107421875, 192.041015625, 178.59375, 100.546875, -0.87890625, 33.4365348815918], "mean": [-13.648982048034668, 144.7100067138672, 131.64381408691406, 74.8349380493164, -11.986584663391113, 9.479462623596191], "std": [21.70246696472168, 57.94770050048828, 56.2686767578125, 12.661675453186035, 7.5843305587768555, 11.069076538085938], "count": [549]}, "observation.images.airial": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5722033428046734]], [[0.5769123214182428]], [[0.7214843885563075]]], "std": [[[0.2211566892437675]], [[0.23771794731616483]], [[0.22051439821619667]]], "count": [113]}, "observation.images.right_follower": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6098355149950836]], [[0.6004886054716873]], [[0.6121461894123431]]], "std": [[[0.3196575820462296]], [[0.2570132331732905]], [[0.2678868933345418]]], "count": [113]}, "timestamp": {"min": [0.0], "max": [18.266666666666666], "mean": [9.133333333333335], "std": [5.282746199412519], "count": [549]}, "frame_index": {"min": [0], "max": [548], "mean": [274.0], "std": [158.48238598237555], "count": [549]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [549]}, "index": {"min": [1650], "max": [2198], "mean": [1924.0], "std": [158.48238598237555], "count": [549]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [549]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-64.951171875, 108.45703125, 103.7109375, 38.3203125, -32.6953125, 0.10020039975643158], "max": [76.46484375, 197.490234375, 183.603515625, 83.671875, 1.7578125, 30.66132354736328], "mean": [1.2288707494735718, 173.42507934570312, 160.9804229736328, 63.25072479248047, -10.712109565734863, 7.432668685913086], "std": [34.142189025878906, 32.01560592651367, 19.422216415405273, 11.294805526733398, 11.727296829223633, 10.039196968078613], "count": [550]}, "observation.state": {"min": [-64.775390625, 108.45703125, 107.578125, 39.111328125, -32.255859375, 0.6191950440406799], "max": [75.76171875, 195.205078125, 181.93359375, 82.880859375, 1.23046875, 30.108360290527344], "mean": [1.7087535858154297, 172.0371551513672, 161.9113311767578, 63.466617584228516, -10.5481538772583, 8.504024505615234], "std": [33.99260711669922, 31.318510055541992, 18.939104080200195, 11.118200302124023, 11.796889305114746, 9.854060173034668], "count": [550]}, "observation.images.airial": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5777255534588466]], [[0.5810825868326682]], [[0.7300848172971254]]], "std": [[[0.21549211817185496]], [[0.2341998512141802]], [[0.2153854509063503]]], "count": [113]}, "observation.images.right_follower": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6151372386343918]], [[0.6128364151339002]], [[0.62005298347215]]], "std": [[[0.3103002144826388]], [[0.2553500393366179]], [[0.26890366412909655]]], "count": [113]}, "timestamp": {"min": [0.0], "max": [18.3], "mean": [9.15], "std": [5.2923687198329885], "count": [550]}, "frame_index": {"min": [0], "max": [549], "mean": [274.5], "std": [158.77106159498965], "count": [550]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [550]}, "index": {"min": [2199], "max": [2748], "mean": [2473.5], "std": [158.77106159498965], "count": [550]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [550]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 5,
5
+ "total_frames": 2749,
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.airial": {
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": "h264",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.right_follower": {
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": "h264",
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": "Put bottle_cap into a cup"}
videos/chunk-000/observation.images.airial/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7e5b4492d2b94361369a156ec409607beae627c81351d061cb90f9ee0cbbaa4f
3
+ size 6069115
videos/chunk-000/observation.images.airial/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:856e4414d4749853f91f8b92a7a3a1cf562cbd1a38c7f9cb7df904e27b7e55d9
3
+ size 6028357
videos/chunk-000/observation.images.airial/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a29c007bce213af333ea13f5cb6076b07aa2cc253587d2a7be225ec886055a86
3
+ size 6000229
videos/chunk-000/observation.images.airial/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ea59dab96fdb7cd44c81302f7e0ef6b350d6947fbc088c511dc571550e56385
3
+ size 5914286
videos/chunk-000/observation.images.airial/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b2af77d537a71cef2a915ad28ea9e3b9f43dc51d53797cdd2354b315b6b63a92
3
+ size 5928061
videos/chunk-000/observation.images.right_follower/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3bba6a180c7aa9f8fdcc684885d51fa023f8b94dea027ae241ecf9b23d2a62ab
3
+ size 5388291
videos/chunk-000/observation.images.right_follower/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f8637c8abf2bb1db170dbb520a9931595817b4f0926ab525477cec3ae19ec334
3
+ size 4971694
videos/chunk-000/observation.images.right_follower/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:03ebabc24c17e3ffc35116cb49b50df85b694e7f056306629e0030182ca500ae
3
+ size 5161381
videos/chunk-000/observation.images.right_follower/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9886031b4579349e1c1356bc0e824bfe462bdb62036600bfb875a4d213d742ca
3
+ size 5211097
videos/chunk-000/observation.images.right_follower/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:acac3d01e4b90b7146972782b79d77681538d3bde0882ea72a1ba353ee014a4b
3
+ size 4844696