dleon23 commited on
Commit
2f55227
·
verified ·
1 Parent(s): e346794

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 sha256:13e526a4b68b50888074eb5c6bb1207a956498bcfea477b88eca81f76fb943cb
3
+ size 19350
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7af9d26e0d0167953fdb518067643adfe3288c0f9c555247f803b6e514f07095
3
+ size 20128
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["put trash in box"], "length": 283}
2
+ {"episode_index": 1, "tasks": ["put trash in box"], "length": 299}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-8.495713233947754, -86.28998565673828, 2.587380886077881, 84.23567199707031, -8.557969093322754, 0.0, -47.49721908569336, -86.76716613769531, -44.90078353881836, 90.7325668334961, -1.1926848888397217, 0.5860806107521057], "max": [33.04754638671875, 4.777731418609619, 28.733545303344727, 96.25796508789062, -3.114367961883545, 31.786542892456055, -2.7067110538482666, 42.62981414794922, 24.134748458862305, 99.29390716552734, -0.5565862655639648, 37.36263656616211], "mean": [7.013978958129883, -25.03313636779785, 8.107636451721191, 91.04705810546875, -6.949779987335205, 11.116682052612305, -18.785024642944336, -5.427302837371826, -21.728303909301758, 95.8013916015625, -0.8899953365325928, 15.280542373657227], "std": [15.65583324432373, 36.473636627197266, 9.554479598999023, 4.714787483215332, 2.113964557647705, 12.44685173034668, 16.751007080078125, 43.94450759887695, 28.00368309020996, 3.347231388092041, 0.21776770055294037, 14.094552993774414], "count": [283]}, "observation.state": {"min": [-8.116270065307617, -86.63848114013672, 3.870387077331543, 84.09970092773438, -8.542977333068848, 0.47879618406295776, -47.01886749267578, -87.2590103149414, -42.844242095947266, 90.9643783569336, -1.0449321269989014, 0.7575757503509521], "max": [32.880332946777344, 5.116279125213623, 29.792980194091797, 96.13236236572266, -3.2494759559631348, 31.532148361206055, -2.4905660152435303, 43.084659576416016, 23.882617950439453, 99.0443115234375, -0.8881922960281372, 36.98347091674805], "mean": [6.912805080413818, -25.038419723510742, 9.6023530960083, 90.95110321044922, -6.923795700073242, 10.888319969177246, -18.70897102355957, -5.015112400054932, -20.221092224121094, 95.71504211425781, -0.9662865996360779, 15.562532424926758], "std": [15.634631156921387, 36.87437057495117, 9.744009971618652, 4.455053329467773, 2.1592369079589844, 12.057313919067383, 16.717830657958984, 45.42338943481445, 27.6226806640625, 3.1982805728912354, 0.0650533139705658, 13.860663414001465], "count": [283]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.14775537173202613]], [[0.14099610906862747]], [[0.1364578737745098]]], "std": [[[0.25299833258072385]], [[0.24633779020371221]], [[0.24388304961164214]]], "count": [100]}, "observation.images.rightWrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5061839317810457]], [[0.5061839317810457]], [[0.5061839317810457]]], "std": [[[0.23729696461963062]], [[0.23729696461963062]], [[0.23729696461963062]]], "count": [100]}, "observation.images.leftWrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3553148427287582]], [[0.3553148427287582]], [[0.3553148427287582]]], "std": [[[0.2911799305346437]], [[0.2911799305346437]], [[0.2911799305346437]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.4], "mean": [4.699999999999999], "std": [2.723151768733347], "count": [283]}, "frame_index": {"min": [0], "max": [282], "mean": [141.0], "std": [81.69455306200041], "count": [283]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [283]}, "index": {"min": [0], "max": [282], "mean": [141.0], "std": [81.69455306200041], "count": [283]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [283]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-11.535463333129883, -83.0494384765625, -16.659101486206055, 76.99044799804688, -8.505626678466797, 0.6187161803245544, -52.24323272705078, -70.35176086425781, -18.781726837158203, 86.58428955078125, -0.02650410868227482, 11.355311393737793], "max": [35.54169845581055, 0.45700040459632874, 26.191556930541992, 96.49681854248047, -7.772834300994873, 32.250579833984375, 5.15387487411499, 23.199329376220703, 36.31748962402344, 99.4704360961914, 0.609594464302063, 46.00732421875], "mean": [6.894378662109375, -37.864864349365234, 14.380671501159668, 91.52061462402344, -8.099669456481934, 22.682697296142578, -15.031309127807617, -14.17876148223877, 0.6178184747695923, 94.13402557373047, 0.35997724533081055, 24.267227172851562], "std": [16.314964294433594, 29.975168228149414, 11.651813507080078, 6.392163276672363, 0.22512634098529816, 13.191271781921387, 18.51588249206543, 25.061302185058594, 17.92679214477539, 3.5470170974731445, 0.20490339398384094, 14.710952758789062], "count": [299]}, "observation.state": {"min": [-11.211777687072754, -83.00211334228516, -14.58145809173584, 77.22389221191406, -8.438155174255371, 1.4363884925842285, -51.849056243896484, -70.49455261230469, -16.930023193359375, 86.96785736083984, 0.05224660411477089, 11.157024383544922], "max": [34.99433898925781, 0.5496828556060791, 26.012601852416992, 96.47615051269531, -7.599580764770508, 31.94254493713379, 5.056603908538818, 23.470243453979492, 36.343116760253906, 99.21807098388672, 0.6792058348655701, 45.73002624511719], "mean": [6.846903324127197, -37.35028076171875, 15.512853622436523, 91.66043090820312, -8.195564270019531, 22.942424774169922, -15.021142959594727, -13.32242488861084, 2.1829068660736084, 94.12797546386719, 0.27591070532798767, 24.697105407714844], "std": [16.18462562561035, 30.092761993408203, 11.266637802124023, 6.295078277587891, 0.14053493738174438, 12.910812377929688, 18.439105987548828, 25.017032623291016, 17.496789932250977, 3.451113224029541, 0.14729316532611847, 13.907326698303223], "count": [299]}, "observation.images.overhead": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.11010682598039216]], [[0.10408447916666666]], [[0.09977058823529412]]], "std": [[[0.2004728286231985]], [[0.1936555018266927]], [[0.19016230082283803]]], "count": [100]}, "observation.images.rightWrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.520654891748366]], [[0.520654891748366]], [[0.520654891748366]]], "std": [[[0.22247979631912743]], [[0.22247979631912743]], [[0.22247979631912743]]], "count": [100]}, "observation.images.leftWrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3122464011437909]], [[0.3122464011437909]], [[0.3122464011437909]]], "std": [[[0.2536251957190899]], [[0.2536251957190899]], [[0.2536251957190899]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.933333333333334], "mean": [4.966666666666667], "std": [2.8771127502720115], "count": [299]}, "frame_index": {"min": [0], "max": [298], "mean": [149.0], "std": [86.31338250816034], "count": [299]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [299]}, "index": {"min": [283], "max": [581], "mean": [432.0], "std": [86.31338250816034], "count": [299]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [299]}}}
meta/info.json ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "dual_so101_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 582,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
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
+ 12
21
+ ],
22
+ "names": [
23
+ "left_shoulder_pan.pos",
24
+ "left_shoulder_lift.pos",
25
+ "left_elbow_flex.pos",
26
+ "left_wrist_flex.pos",
27
+ "left_wrist_roll.pos",
28
+ "left_gripper.pos",
29
+ "right_shoulder_pan.pos",
30
+ "right_shoulder_lift.pos",
31
+ "right_elbow_flex.pos",
32
+ "right_wrist_flex.pos",
33
+ "right_wrist_roll.pos",
34
+ "right_gripper.pos"
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "left_shoulder_pan.pos",
44
+ "left_shoulder_lift.pos",
45
+ "left_elbow_flex.pos",
46
+ "left_wrist_flex.pos",
47
+ "left_wrist_roll.pos",
48
+ "left_gripper.pos",
49
+ "right_shoulder_pan.pos",
50
+ "right_shoulder_lift.pos",
51
+ "right_elbow_flex.pos",
52
+ "right_wrist_flex.pos",
53
+ "right_wrist_roll.pos",
54
+ "right_gripper.pos"
55
+ ]
56
+ },
57
+ "observation.images.overhead": {
58
+ "dtype": "video",
59
+ "shape": [
60
+ 480,
61
+ 640,
62
+ 3
63
+ ],
64
+ "names": [
65
+ "height",
66
+ "width",
67
+ "channels"
68
+ ],
69
+ "info": {
70
+ "video.height": 480,
71
+ "video.width": 640,
72
+ "video.codec": "av1",
73
+ "video.pix_fmt": "yuv420p",
74
+ "video.is_depth_map": false,
75
+ "video.fps": 30,
76
+ "video.channels": 3,
77
+ "has_audio": false
78
+ }
79
+ },
80
+ "observation.images.rightWrist": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 480,
84
+ 640,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channels"
91
+ ],
92
+ "info": {
93
+ "video.height": 480,
94
+ "video.width": 640,
95
+ "video.codec": "av1",
96
+ "video.pix_fmt": "yuv420p",
97
+ "video.is_depth_map": false,
98
+ "video.fps": 30,
99
+ "video.channels": 3,
100
+ "has_audio": false
101
+ }
102
+ },
103
+ "observation.images.leftWrist": {
104
+ "dtype": "video",
105
+ "shape": [
106
+ 480,
107
+ 640,
108
+ 3
109
+ ],
110
+ "names": [
111
+ "height",
112
+ "width",
113
+ "channels"
114
+ ],
115
+ "info": {
116
+ "video.height": 480,
117
+ "video.width": 640,
118
+ "video.codec": "av1",
119
+ "video.pix_fmt": "yuv420p",
120
+ "video.is_depth_map": false,
121
+ "video.fps": 30,
122
+ "video.channels": 3,
123
+ "has_audio": false
124
+ }
125
+ },
126
+ "timestamp": {
127
+ "dtype": "float32",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "frame_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ },
140
+ "episode_index": {
141
+ "dtype": "int64",
142
+ "shape": [
143
+ 1
144
+ ],
145
+ "names": null
146
+ },
147
+ "index": {
148
+ "dtype": "int64",
149
+ "shape": [
150
+ 1
151
+ ],
152
+ "names": null
153
+ },
154
+ "task_index": {
155
+ "dtype": "int64",
156
+ "shape": [
157
+ 1
158
+ ],
159
+ "names": null
160
+ }
161
+ }
162
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "put trash in box"}
videos/chunk-000/observation.images.leftWrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:042bb9169ef36ffe8348bf2fddd9c77077aba0b2a52b44c452979780169aa75b
3
+ size 3660303
videos/chunk-000/observation.images.leftWrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4655fec8635f7671953ff2a395e1b16cc146ff7f6a3ccc5f334c3e36efc9e4e8
3
+ size 2401635
videos/chunk-000/observation.images.overhead/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b760529d49ed5903c886e52ff63dc54a499dc7b2af043e93ed1e03a7ceebb31a
3
+ size 3298388
videos/chunk-000/observation.images.overhead/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b27f05bae9a2bbe964f91c515c51cfd603ec3ba9ca56c38f5f96884b7c1d9291
3
+ size 2781142
videos/chunk-000/observation.images.rightWrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4d60a098f4e6bde1b6db5b0f7fc858452aefa7489e3ee28d1a303efbf0bbc1ea
3
+ size 3895349
videos/chunk-000/observation.images.rightWrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f9ecd769c1e50d6829e4969fc9103cbafbea6cb1370b6669ed98a4d54ce08786
3
+ size 4167339