1g0rrr commited on
Commit
7de3128
·
verified ·
1 Parent(s): c345c94

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 sha256:1175ed2da42685fca52763d076b608c1dbbd588b387d14cd8b631368d62ca7a5
3
+ size 18806
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:30f19d1eb7262ab3e7ffbb009d46cc63e2bce47d5da9d5f31bde70e58919b3c0
3
+ size 17586
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fd24183d90ce04a6b0358912fc7f3b2241a67a5c649e322a50abb59fd686431f
3
+ size 18523
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ec54af090d2dc12280fe96176e19e83c2b4e0fe0ac5a9728f5fda691f74faf5
3
+ size 19186
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a4644e249f13231af933aca8b973f40e02940af6975f8ec2755f7ff6536840e8
3
+ size 17930
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["bring contact to the pad on the board."], "length": 299}
2
+ {"episode_index": 1, "tasks": ["bring contact to the pad on the board."], "length": 299}
3
+ {"episode_index": 2, "tasks": ["bring contact to the pad on the board."], "length": 299}
4
+ {"episode_index": 3, "tasks": ["bring contact to the pad on the board."], "length": 299}
5
+ {"episode_index": 4, "tasks": ["bring contact to the pad on the board."], "length": 299}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-4.306640625, 107.2265625, 127.79296875, 31.201171875, -19.3359375, -7.3828125, 100.26881408691406], "max": [23.642578125, 175.078125, 171.73828125, 48.33984375, 7.470703125, 4.921875, 100.26881408691406], "mean": [14.121877670288086, 141.8901824951172, 147.85684204101562, 39.33325958251953, -10.805843353271484, -2.1872713565826416, 100.26909637451172], "std": [9.144455909729004, 28.87010383605957, 18.77278709411621, 5.981173038482666, 8.520298957824707, 3.792119026184082, 0.00028228759765625], "count": [299]}, "observation.state": {"min": [-4.39453125, 107.05078125, 128.3203125, 31.376953125, -19.16015625, -7.3828125, 99.51338195800781], "max": [23.73046875, 174.990234375, 172.001953125, 48.427734375, 7.734375, 5.009765625, 99.51338195800781], "mean": [14.101301193237305, 141.50242614746094, 148.1750946044922, 39.47406005859375, -10.694143295288086, -2.162285804748535, 99.51356506347656], "std": [9.141617774963379, 28.880399703979492, 18.696369171142578, 5.966144561767578, 8.465633392333984, 3.795855760574341, 0.00018310546875], "count": [299]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4739454758986928]], [[0.5227901899509804]], [[0.5235936070261439]]], "std": [[[0.2842054737733704]], [[0.2506454670289587]], [[0.25624416744420186]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6926619587418301]], [[0.7263004901960785]], [[0.7565824754901961]]], "std": [[[0.3283531220133427]], [[0.2806844328545311]], [[0.23697722662502127]]], "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": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [299]}, "index": {"min": [0], "max": [298], "mean": [149.0], "std": [86.31338250816034], "count": [299]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [299]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [8.0859375, 109.072265625, 122.607421875, 31.904296875, -15.64453125, -0.17578125, 100.26881408691406], "max": [19.16015625, 174.990234375, 171.650390625, 47.021484375, 2.724609375, 22.236328125, 100.26881408691406], "mean": [10.68973445892334, 144.51844787597656, 149.3916473388672, 40.3015251159668, -4.636157035827637, 9.56861400604248, 100.26909637451172], "std": [2.4544310569763184, 29.035785675048828, 19.961864471435547, 4.689614772796631, 5.301150321960449, 8.63321590423584, 0.00028228759765625], "count": [299]}, "observation.state": {"min": [8.0859375, 108.896484375, 123.134765625, 32.080078125, -15.46875, -0.17578125, 99.51338195800781], "max": [19.16015625, 174.90234375, 172.001953125, 47.109375, 2.63671875, 22.32421875, 99.51338195800781], "mean": [10.681503295898438, 144.3070068359375, 149.77175903320312, 40.4405632019043, -4.643799781799316, 9.595951080322266, 99.51356506347656], "std": [2.449007511138916, 29.11031723022461, 19.944252014160156, 4.711383819580078, 5.320084571838379, 8.64494800567627, 0.00018310546875], "count": [299]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4707377818627451]], [[0.5199476286764706]], [[0.5161681740196079]]], "std": [[[0.28792694677271685]], [[0.25490287081556473]], [[0.25778893710308715]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6971545935457516]], [[0.7220823488562091]], [[0.7571409742647058]]], "std": [[[0.3311279010268579]], [[0.2864848544453494]], [[0.2414711170137974]]], "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": [299], "max": [597], "mean": [448.0], "std": [86.31338250816034], "count": [299]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [299]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-6.416015625, 98.26171875, 115.3125, 31.376953125, -39.638671875, -10.01953125, 100.26881408691406], "max": [29.00390625, 174.990234375, 171.9140625, 47.63671875, 32.6953125, 44.912109375, 100.26881408691406], "mean": [8.675304412841797, 141.82496643066406, 146.86557006835938, 42.79685592651367, 1.1813793182373047, 17.241260528564453, 100.26909637451172], "std": [11.811820983886719, 34.4105339050293, 24.723724365234375, 4.131630897521973, 26.401737213134766, 21.506568908691406, 0.00028228759765625], "count": [299]}, "observation.state": {"min": [-6.416015625, 97.998046875, 115.83984375, 31.46484375, -39.55078125, -10.01953125, 99.51338195800781], "max": [29.00390625, 174.990234375, 172.177734375, 47.724609375, 32.607421875, 44.912109375, 99.51338195800781], "mean": [8.539793968200684, 141.38192749023438, 147.12693786621094, 42.90767288208008, 1.5661580562591553, 17.351783752441406, 99.51356506347656], "std": [11.749451637268066, 34.460540771484375, 24.70057487487793, 4.105348110198975, 26.152204513549805, 21.47330093383789, 0.00018310546875], "count": [299]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46446766135620915]], [[0.5089466360294117]], [[0.5104131107026144]]], "std": [[[0.29733550262208036]], [[0.2641813073690034]], [[0.2638815991498617]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7070974305555556]], [[0.7233752410130718]], [[0.7530973223039216]]], "std": [[[0.33415875894302516]], [[0.3014715634254812]], [[0.2699315522652051]]], "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": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [299]}, "index": {"min": [598], "max": [896], "mean": [747.0], "std": [86.31338250816034], "count": [299]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [299]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [1.93359375, 87.978515625, 99.140625, 43.41796875, -38.759765625, -32.783203125, 100.26881408691406], "max": [32.958984375, 174.990234375, 171.650390625, 63.720703125, 1.0546875, 4.130859375, 100.26881408691406], "mean": [18.476137161254883, 136.31895446777344, 138.71017456054688, 51.66352081298828, -21.323617935180664, -13.25737476348877, 100.26909637451172], "std": [11.893356323242188, 37.979793548583984, 30.899818420410156, 7.338620662689209, 15.208481788635254, 14.702503204345703, 0.00028228759765625], "count": [299]}, "observation.state": {"min": [1.93359375, 87.71484375, 99.66796875, 43.505859375, -38.49609375, -32.783203125, 99.51338195800781], "max": [32.783203125, 174.90234375, 172.177734375, 63.720703125, 0.966796875, 4.130859375, 99.51338195800781], "mean": [18.51082420349121, 135.9809112548828, 139.02915954589844, 51.79844284057617, -21.506160736083984, -13.286181449890137, 99.51356506347656], "std": [11.793597221374512, 38.06917953491211, 30.91643714904785, 7.289188861846924, 15.006513595581055, 14.68359375, 0.00018310546875], "count": [299]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48482291258169935]], [[0.5247071446078432]], [[0.5240066237745098]]], "std": [[[0.28406645648835316]], [[0.2481626075996511]], [[0.25552166691984035]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7527345098039216]], [[0.7824703737745098]], [[0.8170683578431372]]], "std": [[[0.3224602049784128]], [[0.2729457746362059]], [[0.2242675783781702]]], "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": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [299]}, "index": {"min": [897], "max": [1195], "mean": [1046.0], "std": [86.31338250816034], "count": [299]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [299]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [0.0, 97.998046875, 117.0703125, 38.49609375, -34.541015625, -19.423828125, 100.26881408691406], "max": [30.9375, 175.166015625, 171.650390625, 46.845703125, 5.361328125, 5.712890625, 100.26881408691406], "mean": [15.284443855285645, 141.9434356689453, 147.10850524902344, 43.70721435546875, -14.4331693649292, -5.82870626449585, 100.26909637451172], "std": [12.7381010055542, 33.76737976074219, 24.192913055419922, 1.5361950397491455, 15.955806732177734, 10.240793228149414, 0.00028228759765625], "count": [299]}, "observation.state": {"min": [0.0, 97.734375, 117.509765625, 38.84765625, -34.365234375, -19.423828125, 99.51338195800781], "max": [30.9375, 175.078125, 171.9140625, 46.93359375, 5.09765625, 5.712890625, 99.51338195800781], "mean": [15.285032272338867, 141.7135009765625, 147.46401977539062, 43.822147369384766, -14.4652099609375, -5.823415279388428, 99.51356506347656], "std": [12.722553253173828, 33.855308532714844, 24.177282333374023, 1.538413166999817, 15.85236644744873, 10.237800598144531, 0.00018310546875], "count": [299]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4880935968137255]], [[0.5314909517973857]], [[0.5266146323529411]]], "std": [[[0.28012841095659174]], [[0.245499406099563]], [[0.25521270013785274]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7408785784313725]], [[0.7717066687091504]], [[0.8037371098856209]]], "std": [[[0.31449423931460146]], [[0.2664074440290342]], [[0.21860188588920357]]], "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": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [299]}, "index": {"min": [1196], "max": [1494], "mean": [1345.0], "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 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 5,
5
+ "total_frames": 1495,
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
+ 7
21
+ ],
22
+ "names": [
23
+ "main_shoulder_pan",
24
+ "main_shoulder_lift",
25
+ "main_elbow_flex",
26
+ "main_wrist_flex",
27
+ "main_wrist_side",
28
+ "main_wrist_roll",
29
+ "main_gripper"
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "shape": [
35
+ 7
36
+ ],
37
+ "names": [
38
+ "main_shoulder_pan",
39
+ "main_shoulder_lift",
40
+ "main_elbow_flex",
41
+ "main_wrist_flex",
42
+ "main_wrist_side",
43
+ "main_wrist_roll",
44
+ "main_gripper"
45
+ ]
46
+ },
47
+ "observation.images.laptop": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.fps": 30.0,
61
+ "video.height": 480,
62
+ "video.width": 640,
63
+ "video.channels": 3,
64
+ "video.codec": "av1",
65
+ "video.pix_fmt": "yuv420p",
66
+ "video.is_depth_map": false,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.phone": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.fps": 30.0,
84
+ "video.height": 480,
85
+ "video.width": 640,
86
+ "video.channels": 3,
87
+ "video.codec": "av1",
88
+ "video.pix_fmt": "yuv420p",
89
+ "video.is_depth_map": false,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "timestamp": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "frame_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "task_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ }
128
+ }
129
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "bring contact to the pad on the board."}
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 sha256:59eb3e65d30269c0d6a6c504c9aaf6dd61a746bc929beb4921da17f0ec7d501d
3
+ size 3903670
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 sha256:831f44fc2e78a585b56446a302dc241ba5f341caac5701d4bc79f7e8e1b65343
3
+ size 3860978
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 sha256:44052c860ebe41a7fea3b4f45106dfa07bcff82e0b662b75ef21bf879ba15991
3
+ size 3762453
videos/chunk-000/observation.images.laptop/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a883c55e1fceca5b21a65579456338158b9f9f65fca3fa56cd2bcf19ef1b3c0b
3
+ size 3831657
videos/chunk-000/observation.images.laptop/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba27f0b526ff48839d8bc2b2d8fb8cb5689428f1c4a2b1fb95cba472873144fc
3
+ size 3899785
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:a8bcf66acca1c330c845393b5157d7a122c05d153ff167e2301025fe4da74200
3
+ size 2360562
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 sha256:68860e98b70c086a45b3585cfb5538c6a4b8d5dfef8637cd7cd63d341c89e5fb
3
+ size 2110232
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:bd16a4a30ebd764ccaf49d5e29d1f0d2a043ed9c938ad794f80df3038f85daa8
3
+ size 2201780
videos/chunk-000/observation.images.phone/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1bc5848a27c88d2425c7062a31fe6a56e824b3df0e3019894f80d6e2be6b13a6
3
+ size 2290688
videos/chunk-000/observation.images.phone/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c50efc07b06251fc051b941a1315af3eefdeab412de4585127af038117542b7f
3
+ size 2091642