asafxrev commited on
Commit
1798f3b
·
verified ·
1 Parent(s): 1294e5b

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 sha256:04974d5b5a82ca3ccbb1f95aeabe9ebd2f254e5874a868b0336d938dbe7077ed
3
+ size 17064
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b8d0e7083b3bed2849d11512567157566babfc423ae3757a2ccf37466e9d85af
3
+ size 19047
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:92f065a193d7d5359f11392460bc580888c313fa39b80fb0892742c7876a5acc
3
+ size 18252
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e78cf64d8146dbf61390cf6b3b69b402b740968d1cf6e5a7dc48747e88f31a5a
3
+ size 19506
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:90639e05b8956d2c0368d2d5c850370902f1945b8b5db78f275b3c6eaa9946ab
3
+ size 19361
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a Jenga piece and put it on top the box"], "length": 332}
2
+ {"episode_index": 1, "tasks": ["Grasp a Jenga piece and put it on top the box"], "length": 355}
3
+ {"episode_index": 2, "tasks": ["Grasp a Jenga piece and put it on top the box"], "length": 335}
4
+ {"episode_index": 3, "tasks": ["Grasp a Jenga piece and put it on top the box"], "length": 351}
5
+ {"episode_index": 4, "tasks": ["Grasp a Jenga piece and put it on top the box"], "length": 338}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-27.509765625, 64.951171875, 73.740234375, 63.28125, -5.9765625, -0.21164020895957947], "max": [10.107421875, 192.83203125, 173.759765625, 79.541015625, 2.98828125, 33.333335876464844], "mean": [-6.5483808517456055, 142.7630615234375, 129.62083435058594, 73.83077239990234, -2.8005871772766113, 5.36367654800415], "std": [15.129685401916504, 53.78145980834961, 42.31789779663086, 3.8328990936279297, 2.9034645557403564, 10.952174186706543], "count": [332]}, "observation.state": {"min": [-27.333984375, 64.599609375, 76.025390625, 64.16015625, -5.9765625, 0.6018916368484497], "max": [10.01953125, 193.18359375, 173.935546875, 78.837890625, 2.8125, 33.104042053222656], "mean": [-6.254794597625732, 143.24929809570312, 131.58033752441406, 74.02191162109375, -2.7306981086730957, 6.495973110198975], "std": [15.121745109558105, 54.35431671142578, 41.27592849731445, 3.7655673027038574, 2.984945774078369, 10.836721420288086], "count": [332]}, "observation.images.follower_cam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5270605433006536]], [[0.523943991013072]], [[0.5041043525326798]]], "std": [[[0.281441053752644]], [[0.26955146712466194]], [[0.2898408633605274]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.033333333333333], "mean": [5.516666666666667], "std": [3.194656997759436], "count": [332]}, "frame_index": {"min": [0], "max": [331], "mean": [165.5], "std": [95.83970993278308], "count": [332]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [332]}, "index": {"min": [0], "max": [331], "mean": [165.5], "std": [95.83970993278308], "count": [332]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [332]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-1.23046875, 52.119140625, 26.54296875, 64.6875, -10.546875, -0.21164020895957947], "max": [10.72265625, 192.83203125, 173.759765625, 105.1171875, 12.919921875, 27.089946746826172], "mean": [3.917198419570923, 126.77664947509766, 112.77848052978516, 78.2739028930664, 0.23643815517425537, 5.601315975189209], "std": [3.2853732109069824, 50.84828186035156, 52.624061584472656, 13.252050399780273, 7.4912800788879395, 8.002293586730957], "count": [355]}, "observation.state": {"min": [-1.40625, 51.50390625, 29.00390625, 65.390625, -10.107421875, 0.7738606929779053], "max": [10.72265625, 192.568359375, 173.935546875, 104.853515625, 12.744140625, 26.741186141967773], "mean": [3.8231184482574463, 126.35311126708984, 114.64139556884766, 78.18799591064453, 0.24584616720676422, 8.310710906982422], "std": [3.244173049926758, 51.671207427978516, 52.262454986572266, 13.207690238952637, 7.367949962615967, 8.511324882507324], "count": [355]}, "observation.images.follower_cam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5609749142156862]], [[0.5524943014705882]], [[0.525447373366013]]], "std": [[[0.2774494576688275]], [[0.2746460540456566]], [[0.30658443709556]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.8], "mean": [5.9], "std": [3.41597553985518], "count": [355]}, "frame_index": {"min": [0], "max": [354], "mean": [177.0], "std": [102.4792661956554], "count": [355]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [355]}, "index": {"min": [332], "max": [686], "mean": [509.0], "std": [102.4792661956554], "count": [355]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [355]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [3.1640625, 50.888671875, 28.564453125, 66.09375, -9.404296875, -0.10582010447978973], "max": [10.634765625, 192.83203125, 173.583984375, 105.1171875, 8.26171875, 35.44973373413086], "mean": [5.58774471282959, 121.45487213134766, 108.2667465209961, 77.99178314208984, 0.7729128003120422, 9.321012496948242], "std": [2.2666449546813965, 51.44001770019531, 51.448299407958984, 11.261907577514648, 5.935164928436279, 11.796969413757324], "count": [335]}, "observation.state": {"min": [3.076171875, 50.44921875, 30.673828125, 66.796875, -9.052734375, 0.7738606929779053], "max": [10.8984375, 192.744140625, 173.759765625, 104.94140625, 7.822265625, 34.99570083618164], "mean": [5.539995193481445, 120.87031555175781, 109.73360443115234, 78.10433197021484, 0.8678871393203735, 11.383841514587402], "std": [2.2657735347747803, 52.172367095947266, 51.164459228515625, 11.151123046875, 5.761086940765381, 11.492554664611816], "count": [335]}, "observation.images.follower_cam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5614566074346405]], [[0.5584620424836602]], [[0.5320407863562092]]], "std": [[[0.2797241675515872]], [[0.27678569625836746]], [[0.31045851921361933]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.133333333333333], "mean": [5.566666666666666], "std": [3.2235246409964224], "count": [335]}, "frame_index": {"min": [0], "max": [334], "mean": [167.0], "std": [96.70573922989266], "count": [335]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [335]}, "index": {"min": [687], "max": [1021], "mean": [854.0], "std": [96.70573922989266], "count": [335]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [335]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-1.142578125, 46.58203125, 19.775390625, 55.72265625, -10.458984375, -0.10582010447978973], "max": [15.556640625, 192.83203125, 179.47265625, 105.205078125, 50.80078125, 41.16402053833008], "mean": [4.739082336425781, 141.73281860351562, 128.69580078125, 71.79662322998047, 1.200420618057251, 6.505070686340332], "std": [2.4210965633392334, 51.46027374267578, 52.38040542602539, 13.000177383422852, 10.218953132629395, 11.796337127685547], "count": [351]}, "observation.state": {"min": [-1.318359375, 45.87890625, 22.32421875, 56.25, -10.107421875, 0.7738606929779053], "max": [14.677734375, 193.18359375, 179.384765625, 104.853515625, 47.8125, 40.584693908691406], "mean": [4.698768138885498, 141.0622100830078, 130.13189697265625, 71.98367309570312, 1.2742888927459717, 8.711152076721191], "std": [2.3539206981658936, 51.99055099487305, 51.59314727783203, 12.797494888305664, 9.791458129882812, 11.623384475708008], "count": [351]}, "observation.images.follower_cam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5479927675653594]], [[0.5537698447712418]], [[0.5321021568627451]]], "std": [[[0.2793718825044069]], [[0.2726319206392974]], [[0.3022781900408656]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.666666666666666], "mean": [5.833333333333333], "std": [3.3774853674601473], "count": [351]}, "frame_index": {"min": [0], "max": [350], "mean": [175.0], "std": [101.32456102380442], "count": [351]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [351]}, "index": {"min": [1022], "max": [1372], "mean": [1197.0], "std": [101.32456102380442], "count": [351]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [351]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-4.130859375, 33.310546875, -5.888671875, 50.712890625, -8.61328125, -0.10582010447978973], "max": [15.556640625, 192.919921875, 175.166015625, 105.46875, 17.138671875, 26.031747817993164], "mean": [5.671545505523682, 139.40850830078125, 121.90611267089844, 74.75773620605469, 2.1169159412384033, 9.394190788269043], "std": [4.112467288970947, 56.40483856201172, 61.5318489074707, 17.435752868652344, 5.627173900604248, 9.61064624786377], "count": [338]}, "observation.state": {"min": [-4.21875, 32.607421875, -3.515625, 51.50390625, -8.0859375, 0.7738606929779053], "max": [15.029296875, 193.271484375, 175.166015625, 105.205078125, 16.69921875, 25.62338638305664], "mean": [5.698588848114014, 138.58609008789062, 123.26569366455078, 74.94703674316406, 2.1189961433410645, 11.993061065673828], "std": [4.039819240570068, 57.176082611083984, 61.22254180908203, 17.275949478149414, 5.5719475746154785, 8.498329162597656], "count": [338]}, "observation.images.follower_cam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5394892524509803]], [[0.5412013664215687]], [[0.524020612745098]]], "std": [[[0.2810060041133597]], [[0.2783546683275654]], [[0.3065057215778215]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.233333333333333], "mean": [5.616666666666667], "std": [3.2523922819296502], "count": [338]}, "frame_index": {"min": [0], "max": [337], "mean": [168.5], "std": [97.5717684578895], "count": [338]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [338]}, "index": {"min": [1373], "max": [1710], "mean": [1541.5], "std": [97.5717684578895], "count": [338]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [338]}}}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 5,
5
+ "total_frames": 1711,
6
+ "total_tasks": 1,
7
+ "total_videos": 5,
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.follower_cam": {
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.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a Jenga piece and put it on top the box"}
videos/chunk-000/observation.images.follower_cam/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d1af5168d7091c0de0498af97194b7013ea2db9f0dd0d4e5932edf060e7827f
3
+ size 2803099
videos/chunk-000/observation.images.follower_cam/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9d92aeedf43df417b6ef1169d094b698df9f60906e48575ab77f649c3d52e9ed
3
+ size 2711294
videos/chunk-000/observation.images.follower_cam/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bfb805b9e8d595f81f49d2c72faf9c8060a0fbcb02bdf151f219d99fbff03f41
3
+ size 2501242
videos/chunk-000/observation.images.follower_cam/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1b16c3a5ff0f2c02fe1b8d89ddeb9b5686367b174d69ac09c1d55b35043dc12a
3
+ size 2733360
videos/chunk-000/observation.images.follower_cam/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3f6c31ac453bf4b9cc304e71e22189975cae3be3e79cb3d883cb1c8365452065
3
+ size 2399155