Add files using upload-large-folder tool
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +626 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_wrist/episode_000000.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:d9f84c421321889c1d8fab2152f350f96e99cb49954b43fa88573fb0ff5e85f9
|
| 3 |
+
size 159603
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["e.g. pick the red cube on the table."], "length": 522}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"observation.state_0": {"min": [-0.884596586227417], "max": [-0.4071384370326996], "mean": [-0.7703909873962402], "std": [0.06761818379163742], "count": [522]}, "action_0": {"min": [-0.9103901386260986], "max": [-0.4640754461288452], "mean": [-0.782568097114563], "std": [0.06489177793264389], "count": [522]}, "observation.state_1": {"min": [0.08758608996868134], "max": [0.45007315278053284], "mean": [0.19476169347763062], "std": [0.08053316920995712], "count": [522]}, "action_1": {"min": [0.08595835417509079], "max": [0.43633735179901123], "mean": [0.18886402249336243], "std": [0.08108184486627579], "count": [522]}, "observation.state_2": {"min": [-1.0638359785079956], "max": [0.4611578583717346], "mean": [-0.0526239387691021], "std": [0.34583771228790283], "count": [522]}, "action_2": {"min": [-1.0456739664077759], "max": [0.45312175154685974], "mean": [-0.05837706848978996], "std": [0.3447165787220001], "count": [522]}, "observation.state_3": {"min": [0.28663894534111023], "max": [1.3981751203536987], "mean": [1.2471054792404175], "std": [0.2289598137140274], "count": [522]}, "action_3": {"min": [0.27563202381134033], "max": [1.3925811052322388], "mean": [1.2469571828842163], "std": [0.23031991720199585], "count": [522]}, "observation.state_4": {"min": [-0.40735042095184326], "max": [1.3757212162017822], "mean": [0.36401185393333435], "std": [0.42214271426200867], "count": [522]}, "action_4": {"min": [-0.4095389246940613], "max": [1.3698124885559082], "mean": [0.36544284224510193], "std": [0.4224546253681183], "count": [522]}, "observation.state_5": {"min": [-1.1786242723464966], "max": [-0.08987535536289215], "mean": [-0.6822159886360168], "std": [0.27572429180145264], "count": [522]}, "action_5": {"min": [-1.1765315532684326], "max": [-0.08684182167053223], "mean": [-0.692692220211029], "std": [0.2815953195095062], "count": [522]}, "observation.state_6": {"min": [-0.4469808340072632], "max": [1.6144288778305054], "mean": [0.3463100790977478], "std": [0.5405919551849365], "count": [522]}, "action_6": {"min": [-0.45061349868774414], "max": [1.6144285202026367], "mean": [0.316861093044281], "std": [0.5328989028930664], "count": [522]}, "observation.state_7": {"min": [-0.7773246169090271], "max": [-0.39895355701446533], "mean": [-0.6924415230751038], "std": [0.07593892514705658], "count": [522]}, "action_7": {"min": [-0.800083577632904], "max": [-0.414813756942749], "mean": [-0.6993610262870789], "std": [0.09239917248487473], "count": [522]}, "observation.state_8": {"min": [-0.21050669252872467], "max": [-0.023013001307845116], "mean": [-0.1269545704126358], "std": [0.03574822470545769], "count": [522]}, "action_8": {"min": [-0.22327734529972076], "max": [0.0970848798751831], "mean": [-0.12553521990776062], "std": [0.04169372469186783], "count": [522]}, "observation.state_9": {"min": [-0.27289292216300964], "max": [0.4663468301296234], "mean": [-0.10197479277849197], "std": [0.13442789018154144], "count": [522]}, "action_9": {"min": [-0.27301275730133057], "max": [0.4583245515823364], "mean": [-0.1008739322423935], "std": [0.1314009726047516], "count": [522]}, "observation.state_10": {"min": [0.3843042850494385], "max": [1.3189488649368286], "mean": [1.1943306922912598], "std": [0.14831814169883728], "count": [522]}, "action_10": {"min": [0.4109207093715668], "max": [1.3369611501693726], "mean": [1.1943473815917969], "std": [0.1508520394563675], "count": [522]}, "observation.state_11": {"min": [-0.9970336556434631], "max": [0.24312204122543335], "mean": [-0.0966288223862648], "std": [0.20375417172908783], "count": [522]}, "action_11": {"min": [-1.0155885219573975], "max": [0.24694576859474182], "mean": [-0.09653240442276001], "std": [0.20125992596149445], "count": [522]}, "observation.state_12": {"min": [-1.6144382953643799], "max": [-0.5674843788146973], "mean": [-0.9173972010612488], "std": [0.2375655472278595], "count": [522]}, "action_12": {"min": [-1.6144288778305054], "max": [-0.5719197988510132], "mean": [-0.9212460517883301], "std": [0.2597331702709198], "count": [522]}, "observation.state_13": {"min": [-0.6452060341835022], "max": [0.2170463353395462], "mean": [-0.09660907834768295], "std": [0.15601885318756104], "count": [522]}, "action_13": {"min": [-0.6683516502380371], "max": [0.2155449390411377], "mean": [-0.09992913901805878], "std": [0.1566527783870697], "count": [522]}, "observation.state_14": {"min": [-0.9520548582077026], "max": [-0.3336459994316101], "mean": [-0.7334712147712708], "std": [0.11371766775846481], "count": [522]}, "action_14": {"min": [-1.0481975078582764], "max": [-0.005162337329238653], "mean": [-0.7020105719566345], "std": [0.26108506321907043], "count": [522]}, "observation.state_15": {"min": [0.8862167596817017], "max": [0.9349294304847717], "mean": [0.9195043444633484], "std": [0.006873361300677061], "count": [522]}, "action_15": {"min": [0.8196964263916016], "max": [0.9210000038146973], "mean": [0.9188238382339478], "std": [0.009948120452463627], "count": [522]}, "observation.state_16": {"min": [0.06837829947471619], "max": [0.9213274121284485], "mean": [0.6367172002792358], "std": [0.3027975559234619], "count": [522]}, "action_16": {"min": [0.0019424459896981716], "max": [0.9551635384559631], "mean": [0.6374111175537109], "std": [0.3263922333717346], "count": [522]}, "observation.state_17": {"min": [-0.6111379265785217], "max": [3.762482947422541e-08], "mean": [-0.1292732208967209], "std": [0.17328909039497375], "count": [522]}, "action_17": {"min": [-0.853711724281311], "max": [0.0010000000474974513], "mean": [-0.13360905647277832], "std": [0.2315843552350998], "count": [522]}, "observation.state_18": {"min": [-1.000104308128357], "max": [1.6831428695240902e-08], "mean": [-0.1656636744737625], "std": [0.2414618879556656], "count": [522]}, "action_18": {"min": [-1.354609727859497], "max": [0.0010000000474974513], "mean": [-0.15115484595298767], "std": [0.33584100008010864], "count": [522]}, "observation.state_19": {"min": [-0.5348895192146301], "max": [5.5016888822478904e-09], "mean": [-0.1238483116030693], "std": [0.15101134777069092], "count": [522]}, "action_19": {"min": [-0.7536394000053406], "max": [0.0010000000474974513], "mean": [-0.11590268462896347], "std": [0.1994294822216034], "count": [522]}, "observation.state_20": {"min": [-1.0406817197799683], "max": [3.2410735428811677e-08], "mean": [-0.17311382293701172], "std": [0.2762600779533386], "count": [522]}, "action_20": {"min": [-1.6358469724655151], "max": [0.0010000000474974513], "mean": [-0.18159975111484528], "std": [0.37142714858055115], "count": [522]}, "observation.state_21": {"min": [-0.9031193256378174], "max": [-0.2983989715576172], "mean": [-0.6691759824752808], "std": [0.1692105233669281], "count": [522]}, "action_21": {"min": [-1.0481969118118286], "max": [-0.005331581458449364], "mean": [-0.6303824782371521], "std": [0.2824762463569641], "count": [522]}, "observation.state_22": {"min": [-0.9213607311248779], "max": [-0.8888716101646423], "mean": [-0.9168131351470947], "std": [0.007982336916029453], "count": [522]}, "action_22": {"min": [-0.9210000038146973], "max": [-0.8843108415603638], "mean": [-0.9179089069366455], "std": [0.008127839304506779], "count": [522]}, "observation.state_23": {"min": [-0.7771319150924683], "max": [-0.001091205864213407], "mean": [-0.4180627465248108], "std": [0.3063525855541229], "count": [522]}, "action_23": {"min": [-0.7902398705482483], "max": [-6.663457315880805e-05], "mean": [-0.4245006740093231], "std": [0.3184242844581604], "count": [522]}, "observation.state_24": {"min": [-3.447994778582597e-09], "max": [1.0163583755493164], "mean": [0.2721584141254425], "std": [0.25868138670921326], "count": [522]}, "action_24": {"min": [-0.0010000000474974513], "max": [1.0665329694747925], "mean": [0.30401214957237244], "std": [0.3194359540939331], "count": [522]}, "observation.state_25": {"min": [-2.72445510596242e-09], "max": [0.9120563864707947], "mean": [0.13361163437366486], "std": [0.23327387869358063], "count": [522]}, "action_25": {"min": [-0.0010000000474974513], "max": [1.2289001941680908], "mean": [0.13536173105239868], "std": [0.32816821336746216], "count": [522]}, "observation.state_26": {"min": [-1.7925970707821648e-09], "max": [0.6263868808746338], "mean": [0.23960041999816895], "std": [0.18480603396892548], "count": [522]}, "action_26": {"min": [-0.0010000000474974513], "max": [0.8107022047042847], "mean": [0.25524652004241943], "std": [0.2304507941007614], "count": [522]}, "observation.state_27": {"min": [-2.183950797984835e-09], "max": [1.4193034172058105], "mean": [0.2793257534503937], "std": [0.46531274914741516], "count": [522]}, "action_27": {"min": [-0.0010000000474974513], "max": [1.4675564765930176], "mean": [0.32092878222465515], "std": [0.5526350140571594], "count": [522]}, "observation.images.cam_left_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.996078431372549]], [[1.0]]], "mean": [[[0.5951895799604245]], [[0.6153446494423457]], [[0.6246220337140973]]], "std": [[[0.23956013604313492]], [[0.21913037166754656]], [[0.21189924387948658]]], "count": [109]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47101354222881814]], [[0.4475929648617857]], [[0.40525948349523294]]], "std": [[[0.31771390702042235]], [[0.31389176827182524]], [[0.3297817809463115]]], "count": [109]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5148292783474246]], [[0.4912270454818013]], [[0.44817171291299396]]], "std": [[[0.30855464903975377]], [[0.30730179156011433]], [[0.3305437792327718]]], "count": [109]}, "timestamp": {"min": [0.0], "max": [17.366666666666667], "mean": [8.683333333333334], "std": [5.022938124982967], "count": [522]}, "frame_index": {"min": [0], "max": [521], "mean": [260.5], "std": [150.68814374948903], "count": [522]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [522]}, "index": {"min": [0], "max": [521], "mean": [260.5], "std": [150.68814374948903], "count": [522]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [522]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,626 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "Unitree_G1_Dex3_Sim",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 522,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 3,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 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 |
+
"observation.state_0": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
1
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"kLeftShoulderPitch"
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"action_0": {
|
| 27 |
+
"dtype": "float32",
|
| 28 |
+
"shape": [
|
| 29 |
+
1
|
| 30 |
+
],
|
| 31 |
+
"names": [
|
| 32 |
+
"kLeftShoulderPitch"
|
| 33 |
+
]
|
| 34 |
+
},
|
| 35 |
+
"observation.state_1": {
|
| 36 |
+
"dtype": "float32",
|
| 37 |
+
"shape": [
|
| 38 |
+
1
|
| 39 |
+
],
|
| 40 |
+
"names": [
|
| 41 |
+
"kLeftShoulderRoll"
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"action_1": {
|
| 45 |
+
"dtype": "float32",
|
| 46 |
+
"shape": [
|
| 47 |
+
1
|
| 48 |
+
],
|
| 49 |
+
"names": [
|
| 50 |
+
"kLeftShoulderRoll"
|
| 51 |
+
]
|
| 52 |
+
},
|
| 53 |
+
"observation.state_2": {
|
| 54 |
+
"dtype": "float32",
|
| 55 |
+
"shape": [
|
| 56 |
+
1
|
| 57 |
+
],
|
| 58 |
+
"names": [
|
| 59 |
+
"kLeftShoulderYaw"
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"action_2": {
|
| 63 |
+
"dtype": "float32",
|
| 64 |
+
"shape": [
|
| 65 |
+
1
|
| 66 |
+
],
|
| 67 |
+
"names": [
|
| 68 |
+
"kLeftShoulderYaw"
|
| 69 |
+
]
|
| 70 |
+
},
|
| 71 |
+
"observation.state_3": {
|
| 72 |
+
"dtype": "float32",
|
| 73 |
+
"shape": [
|
| 74 |
+
1
|
| 75 |
+
],
|
| 76 |
+
"names": [
|
| 77 |
+
"kLeftElbow"
|
| 78 |
+
]
|
| 79 |
+
},
|
| 80 |
+
"action_3": {
|
| 81 |
+
"dtype": "float32",
|
| 82 |
+
"shape": [
|
| 83 |
+
1
|
| 84 |
+
],
|
| 85 |
+
"names": [
|
| 86 |
+
"kLeftElbow"
|
| 87 |
+
]
|
| 88 |
+
},
|
| 89 |
+
"observation.state_4": {
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": [
|
| 95 |
+
"kLeftWristRoll"
|
| 96 |
+
]
|
| 97 |
+
},
|
| 98 |
+
"action_4": {
|
| 99 |
+
"dtype": "float32",
|
| 100 |
+
"shape": [
|
| 101 |
+
1
|
| 102 |
+
],
|
| 103 |
+
"names": [
|
| 104 |
+
"kLeftWristRoll"
|
| 105 |
+
]
|
| 106 |
+
},
|
| 107 |
+
"observation.state_5": {
|
| 108 |
+
"dtype": "float32",
|
| 109 |
+
"shape": [
|
| 110 |
+
1
|
| 111 |
+
],
|
| 112 |
+
"names": [
|
| 113 |
+
"kLeftWristPitch"
|
| 114 |
+
]
|
| 115 |
+
},
|
| 116 |
+
"action_5": {
|
| 117 |
+
"dtype": "float32",
|
| 118 |
+
"shape": [
|
| 119 |
+
1
|
| 120 |
+
],
|
| 121 |
+
"names": [
|
| 122 |
+
"kLeftWristPitch"
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"observation.state_6": {
|
| 126 |
+
"dtype": "float32",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": [
|
| 131 |
+
"kLeftWristYaw"
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"action_6": {
|
| 135 |
+
"dtype": "float32",
|
| 136 |
+
"shape": [
|
| 137 |
+
1
|
| 138 |
+
],
|
| 139 |
+
"names": [
|
| 140 |
+
"kLeftWristYaw"
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
"observation.state_7": {
|
| 144 |
+
"dtype": "float32",
|
| 145 |
+
"shape": [
|
| 146 |
+
1
|
| 147 |
+
],
|
| 148 |
+
"names": [
|
| 149 |
+
"kRightShoulderPitch"
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
"action_7": {
|
| 153 |
+
"dtype": "float32",
|
| 154 |
+
"shape": [
|
| 155 |
+
1
|
| 156 |
+
],
|
| 157 |
+
"names": [
|
| 158 |
+
"kRightShoulderPitch"
|
| 159 |
+
]
|
| 160 |
+
},
|
| 161 |
+
"observation.state_8": {
|
| 162 |
+
"dtype": "float32",
|
| 163 |
+
"shape": [
|
| 164 |
+
1
|
| 165 |
+
],
|
| 166 |
+
"names": [
|
| 167 |
+
"kRightShoulderRoll"
|
| 168 |
+
]
|
| 169 |
+
},
|
| 170 |
+
"action_8": {
|
| 171 |
+
"dtype": "float32",
|
| 172 |
+
"shape": [
|
| 173 |
+
1
|
| 174 |
+
],
|
| 175 |
+
"names": [
|
| 176 |
+
"kRightShoulderRoll"
|
| 177 |
+
]
|
| 178 |
+
},
|
| 179 |
+
"observation.state_9": {
|
| 180 |
+
"dtype": "float32",
|
| 181 |
+
"shape": [
|
| 182 |
+
1
|
| 183 |
+
],
|
| 184 |
+
"names": [
|
| 185 |
+
"kRightShoulderYaw"
|
| 186 |
+
]
|
| 187 |
+
},
|
| 188 |
+
"action_9": {
|
| 189 |
+
"dtype": "float32",
|
| 190 |
+
"shape": [
|
| 191 |
+
1
|
| 192 |
+
],
|
| 193 |
+
"names": [
|
| 194 |
+
"kRightShoulderYaw"
|
| 195 |
+
]
|
| 196 |
+
},
|
| 197 |
+
"observation.state_10": {
|
| 198 |
+
"dtype": "float32",
|
| 199 |
+
"shape": [
|
| 200 |
+
1
|
| 201 |
+
],
|
| 202 |
+
"names": [
|
| 203 |
+
"kRightElbow"
|
| 204 |
+
]
|
| 205 |
+
},
|
| 206 |
+
"action_10": {
|
| 207 |
+
"dtype": "float32",
|
| 208 |
+
"shape": [
|
| 209 |
+
1
|
| 210 |
+
],
|
| 211 |
+
"names": [
|
| 212 |
+
"kRightElbow"
|
| 213 |
+
]
|
| 214 |
+
},
|
| 215 |
+
"observation.state_11": {
|
| 216 |
+
"dtype": "float32",
|
| 217 |
+
"shape": [
|
| 218 |
+
1
|
| 219 |
+
],
|
| 220 |
+
"names": [
|
| 221 |
+
"kRightWristRoll"
|
| 222 |
+
]
|
| 223 |
+
},
|
| 224 |
+
"action_11": {
|
| 225 |
+
"dtype": "float32",
|
| 226 |
+
"shape": [
|
| 227 |
+
1
|
| 228 |
+
],
|
| 229 |
+
"names": [
|
| 230 |
+
"kRightWristRoll"
|
| 231 |
+
]
|
| 232 |
+
},
|
| 233 |
+
"observation.state_12": {
|
| 234 |
+
"dtype": "float32",
|
| 235 |
+
"shape": [
|
| 236 |
+
1
|
| 237 |
+
],
|
| 238 |
+
"names": [
|
| 239 |
+
"kRightWristPitch"
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
"action_12": {
|
| 243 |
+
"dtype": "float32",
|
| 244 |
+
"shape": [
|
| 245 |
+
1
|
| 246 |
+
],
|
| 247 |
+
"names": [
|
| 248 |
+
"kRightWristPitch"
|
| 249 |
+
]
|
| 250 |
+
},
|
| 251 |
+
"observation.state_13": {
|
| 252 |
+
"dtype": "float32",
|
| 253 |
+
"shape": [
|
| 254 |
+
1
|
| 255 |
+
],
|
| 256 |
+
"names": [
|
| 257 |
+
"kRightWristYaw"
|
| 258 |
+
]
|
| 259 |
+
},
|
| 260 |
+
"action_13": {
|
| 261 |
+
"dtype": "float32",
|
| 262 |
+
"shape": [
|
| 263 |
+
1
|
| 264 |
+
],
|
| 265 |
+
"names": [
|
| 266 |
+
"kRightWristYaw"
|
| 267 |
+
]
|
| 268 |
+
},
|
| 269 |
+
"observation.state_14": {
|
| 270 |
+
"dtype": "float32",
|
| 271 |
+
"shape": [
|
| 272 |
+
1
|
| 273 |
+
],
|
| 274 |
+
"names": [
|
| 275 |
+
"kLeftHandThumb0"
|
| 276 |
+
]
|
| 277 |
+
},
|
| 278 |
+
"action_14": {
|
| 279 |
+
"dtype": "float32",
|
| 280 |
+
"shape": [
|
| 281 |
+
1
|
| 282 |
+
],
|
| 283 |
+
"names": [
|
| 284 |
+
"kLeftHandThumb0"
|
| 285 |
+
]
|
| 286 |
+
},
|
| 287 |
+
"observation.state_15": {
|
| 288 |
+
"dtype": "float32",
|
| 289 |
+
"shape": [
|
| 290 |
+
1
|
| 291 |
+
],
|
| 292 |
+
"names": [
|
| 293 |
+
"kLeftHandThumb1"
|
| 294 |
+
]
|
| 295 |
+
},
|
| 296 |
+
"action_15": {
|
| 297 |
+
"dtype": "float32",
|
| 298 |
+
"shape": [
|
| 299 |
+
1
|
| 300 |
+
],
|
| 301 |
+
"names": [
|
| 302 |
+
"kLeftHandThumb1"
|
| 303 |
+
]
|
| 304 |
+
},
|
| 305 |
+
"observation.state_16": {
|
| 306 |
+
"dtype": "float32",
|
| 307 |
+
"shape": [
|
| 308 |
+
1
|
| 309 |
+
],
|
| 310 |
+
"names": [
|
| 311 |
+
"kLeftHandThumb2"
|
| 312 |
+
]
|
| 313 |
+
},
|
| 314 |
+
"action_16": {
|
| 315 |
+
"dtype": "float32",
|
| 316 |
+
"shape": [
|
| 317 |
+
1
|
| 318 |
+
],
|
| 319 |
+
"names": [
|
| 320 |
+
"kLeftHandThumb2"
|
| 321 |
+
]
|
| 322 |
+
},
|
| 323 |
+
"observation.state_17": {
|
| 324 |
+
"dtype": "float32",
|
| 325 |
+
"shape": [
|
| 326 |
+
1
|
| 327 |
+
],
|
| 328 |
+
"names": [
|
| 329 |
+
"kLeftHandMiddle0"
|
| 330 |
+
]
|
| 331 |
+
},
|
| 332 |
+
"action_17": {
|
| 333 |
+
"dtype": "float32",
|
| 334 |
+
"shape": [
|
| 335 |
+
1
|
| 336 |
+
],
|
| 337 |
+
"names": [
|
| 338 |
+
"kLeftHandMiddle0"
|
| 339 |
+
]
|
| 340 |
+
},
|
| 341 |
+
"observation.state_18": {
|
| 342 |
+
"dtype": "float32",
|
| 343 |
+
"shape": [
|
| 344 |
+
1
|
| 345 |
+
],
|
| 346 |
+
"names": [
|
| 347 |
+
"kLeftHandMiddle1"
|
| 348 |
+
]
|
| 349 |
+
},
|
| 350 |
+
"action_18": {
|
| 351 |
+
"dtype": "float32",
|
| 352 |
+
"shape": [
|
| 353 |
+
1
|
| 354 |
+
],
|
| 355 |
+
"names": [
|
| 356 |
+
"kLeftHandMiddle1"
|
| 357 |
+
]
|
| 358 |
+
},
|
| 359 |
+
"observation.state_19": {
|
| 360 |
+
"dtype": "float32",
|
| 361 |
+
"shape": [
|
| 362 |
+
1
|
| 363 |
+
],
|
| 364 |
+
"names": [
|
| 365 |
+
"kLeftHandIndex0"
|
| 366 |
+
]
|
| 367 |
+
},
|
| 368 |
+
"action_19": {
|
| 369 |
+
"dtype": "float32",
|
| 370 |
+
"shape": [
|
| 371 |
+
1
|
| 372 |
+
],
|
| 373 |
+
"names": [
|
| 374 |
+
"kLeftHandIndex0"
|
| 375 |
+
]
|
| 376 |
+
},
|
| 377 |
+
"observation.state_20": {
|
| 378 |
+
"dtype": "float32",
|
| 379 |
+
"shape": [
|
| 380 |
+
1
|
| 381 |
+
],
|
| 382 |
+
"names": [
|
| 383 |
+
"kLeftHandIndex1"
|
| 384 |
+
]
|
| 385 |
+
},
|
| 386 |
+
"action_20": {
|
| 387 |
+
"dtype": "float32",
|
| 388 |
+
"shape": [
|
| 389 |
+
1
|
| 390 |
+
],
|
| 391 |
+
"names": [
|
| 392 |
+
"kLeftHandIndex1"
|
| 393 |
+
]
|
| 394 |
+
},
|
| 395 |
+
"observation.state_21": {
|
| 396 |
+
"dtype": "float32",
|
| 397 |
+
"shape": [
|
| 398 |
+
1
|
| 399 |
+
],
|
| 400 |
+
"names": [
|
| 401 |
+
"kRightHandThumb0"
|
| 402 |
+
]
|
| 403 |
+
},
|
| 404 |
+
"action_21": {
|
| 405 |
+
"dtype": "float32",
|
| 406 |
+
"shape": [
|
| 407 |
+
1
|
| 408 |
+
],
|
| 409 |
+
"names": [
|
| 410 |
+
"kRightHandThumb0"
|
| 411 |
+
]
|
| 412 |
+
},
|
| 413 |
+
"observation.state_22": {
|
| 414 |
+
"dtype": "float32",
|
| 415 |
+
"shape": [
|
| 416 |
+
1
|
| 417 |
+
],
|
| 418 |
+
"names": [
|
| 419 |
+
"kRightHandThumb1"
|
| 420 |
+
]
|
| 421 |
+
},
|
| 422 |
+
"action_22": {
|
| 423 |
+
"dtype": "float32",
|
| 424 |
+
"shape": [
|
| 425 |
+
1
|
| 426 |
+
],
|
| 427 |
+
"names": [
|
| 428 |
+
"kRightHandThumb1"
|
| 429 |
+
]
|
| 430 |
+
},
|
| 431 |
+
"observation.state_23": {
|
| 432 |
+
"dtype": "float32",
|
| 433 |
+
"shape": [
|
| 434 |
+
1
|
| 435 |
+
],
|
| 436 |
+
"names": [
|
| 437 |
+
"kRightHandThumb2"
|
| 438 |
+
]
|
| 439 |
+
},
|
| 440 |
+
"action_23": {
|
| 441 |
+
"dtype": "float32",
|
| 442 |
+
"shape": [
|
| 443 |
+
1
|
| 444 |
+
],
|
| 445 |
+
"names": [
|
| 446 |
+
"kRightHandThumb2"
|
| 447 |
+
]
|
| 448 |
+
},
|
| 449 |
+
"observation.state_24": {
|
| 450 |
+
"dtype": "float32",
|
| 451 |
+
"shape": [
|
| 452 |
+
1
|
| 453 |
+
],
|
| 454 |
+
"names": [
|
| 455 |
+
"kRightHandIndex0"
|
| 456 |
+
]
|
| 457 |
+
},
|
| 458 |
+
"action_24": {
|
| 459 |
+
"dtype": "float32",
|
| 460 |
+
"shape": [
|
| 461 |
+
1
|
| 462 |
+
],
|
| 463 |
+
"names": [
|
| 464 |
+
"kRightHandIndex0"
|
| 465 |
+
]
|
| 466 |
+
},
|
| 467 |
+
"observation.state_25": {
|
| 468 |
+
"dtype": "float32",
|
| 469 |
+
"shape": [
|
| 470 |
+
1
|
| 471 |
+
],
|
| 472 |
+
"names": [
|
| 473 |
+
"kRightHandIndex1"
|
| 474 |
+
]
|
| 475 |
+
},
|
| 476 |
+
"action_25": {
|
| 477 |
+
"dtype": "float32",
|
| 478 |
+
"shape": [
|
| 479 |
+
1
|
| 480 |
+
],
|
| 481 |
+
"names": [
|
| 482 |
+
"kRightHandIndex1"
|
| 483 |
+
]
|
| 484 |
+
},
|
| 485 |
+
"observation.state_26": {
|
| 486 |
+
"dtype": "float32",
|
| 487 |
+
"shape": [
|
| 488 |
+
1
|
| 489 |
+
],
|
| 490 |
+
"names": [
|
| 491 |
+
"kRightHandMiddle0"
|
| 492 |
+
]
|
| 493 |
+
},
|
| 494 |
+
"action_26": {
|
| 495 |
+
"dtype": "float32",
|
| 496 |
+
"shape": [
|
| 497 |
+
1
|
| 498 |
+
],
|
| 499 |
+
"names": [
|
| 500 |
+
"kRightHandMiddle0"
|
| 501 |
+
]
|
| 502 |
+
},
|
| 503 |
+
"observation.state_27": {
|
| 504 |
+
"dtype": "float32",
|
| 505 |
+
"shape": [
|
| 506 |
+
1
|
| 507 |
+
],
|
| 508 |
+
"names": [
|
| 509 |
+
"kRightHandMiddle1"
|
| 510 |
+
]
|
| 511 |
+
},
|
| 512 |
+
"action_27": {
|
| 513 |
+
"dtype": "float32",
|
| 514 |
+
"shape": [
|
| 515 |
+
1
|
| 516 |
+
],
|
| 517 |
+
"names": [
|
| 518 |
+
"kRightHandMiddle1"
|
| 519 |
+
]
|
| 520 |
+
},
|
| 521 |
+
"observation.images.cam_left_high": {
|
| 522 |
+
"dtype": "video",
|
| 523 |
+
"shape": [
|
| 524 |
+
480,
|
| 525 |
+
640,
|
| 526 |
+
3
|
| 527 |
+
],
|
| 528 |
+
"names": [
|
| 529 |
+
"height",
|
| 530 |
+
"width",
|
| 531 |
+
"channel"
|
| 532 |
+
],
|
| 533 |
+
"info": {
|
| 534 |
+
"video.height": 480,
|
| 535 |
+
"video.width": 640,
|
| 536 |
+
"video.codec": "av1",
|
| 537 |
+
"video.pix_fmt": "yuv420p",
|
| 538 |
+
"video.is_depth_map": false,
|
| 539 |
+
"video.fps": 30,
|
| 540 |
+
"video.channels": 3,
|
| 541 |
+
"has_audio": false
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"observation.images.cam_left_wrist": {
|
| 545 |
+
"dtype": "video",
|
| 546 |
+
"shape": [
|
| 547 |
+
480,
|
| 548 |
+
640,
|
| 549 |
+
3
|
| 550 |
+
],
|
| 551 |
+
"names": [
|
| 552 |
+
"height",
|
| 553 |
+
"width",
|
| 554 |
+
"channel"
|
| 555 |
+
],
|
| 556 |
+
"info": {
|
| 557 |
+
"video.height": 480,
|
| 558 |
+
"video.width": 640,
|
| 559 |
+
"video.codec": "av1",
|
| 560 |
+
"video.pix_fmt": "yuv420p",
|
| 561 |
+
"video.is_depth_map": false,
|
| 562 |
+
"video.fps": 30,
|
| 563 |
+
"video.channels": 3,
|
| 564 |
+
"has_audio": false
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"observation.images.cam_right_wrist": {
|
| 568 |
+
"dtype": "video",
|
| 569 |
+
"shape": [
|
| 570 |
+
480,
|
| 571 |
+
640,
|
| 572 |
+
3
|
| 573 |
+
],
|
| 574 |
+
"names": [
|
| 575 |
+
"height",
|
| 576 |
+
"width",
|
| 577 |
+
"channel"
|
| 578 |
+
],
|
| 579 |
+
"info": {
|
| 580 |
+
"video.height": 480,
|
| 581 |
+
"video.width": 640,
|
| 582 |
+
"video.codec": "av1",
|
| 583 |
+
"video.pix_fmt": "yuv420p",
|
| 584 |
+
"video.is_depth_map": false,
|
| 585 |
+
"video.fps": 30,
|
| 586 |
+
"video.channels": 3,
|
| 587 |
+
"has_audio": false
|
| 588 |
+
}
|
| 589 |
+
},
|
| 590 |
+
"timestamp": {
|
| 591 |
+
"dtype": "float32",
|
| 592 |
+
"shape": [
|
| 593 |
+
1
|
| 594 |
+
],
|
| 595 |
+
"names": null
|
| 596 |
+
},
|
| 597 |
+
"frame_index": {
|
| 598 |
+
"dtype": "int64",
|
| 599 |
+
"shape": [
|
| 600 |
+
1
|
| 601 |
+
],
|
| 602 |
+
"names": null
|
| 603 |
+
},
|
| 604 |
+
"episode_index": {
|
| 605 |
+
"dtype": "int64",
|
| 606 |
+
"shape": [
|
| 607 |
+
1
|
| 608 |
+
],
|
| 609 |
+
"names": null
|
| 610 |
+
},
|
| 611 |
+
"index": {
|
| 612 |
+
"dtype": "int64",
|
| 613 |
+
"shape": [
|
| 614 |
+
1
|
| 615 |
+
],
|
| 616 |
+
"names": null
|
| 617 |
+
},
|
| 618 |
+
"task_index": {
|
| 619 |
+
"dtype": "int64",
|
| 620 |
+
"shape": [
|
| 621 |
+
1
|
| 622 |
+
],
|
| 623 |
+
"names": null
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "e.g. pick the red cube on the table."}
|
videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8c778ede4865719d8ff5a90f0ff2cd1a1a5660bf5538043b6ca3503f97611b09
|
| 3 |
+
size 6824525
|
videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3352f4ac821c4c27091f0fbed4f16d8e25ad82b569ef6531b7d1a4667ab55f22
|
| 3 |
+
size 4964597
|
videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6ceb504fb295630fb8a2d1eae3278af4e3c2eda4ac802c518aefc389c6bb9269
|
| 3 |
+
size 4929971
|