Datasets:
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 sha256:842bdbe28318c53a72fc01a3832f6d83e864d833b7c6950fd2de54fac7911167
|
3 |
+
size 587236
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"episode_index": 0, "tasks": ["Fold a blue cloth"], "length": 8922}
|
meta/episodes_stats.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-29.970703125, 15.908203125, 12.3046875, -29.1796875, -25.6640625, -13.271484375, -4.98409366607666, -24.697265625, 15.29296875, -5.009765625, -24.521484375, -33.75, -40.95703125, -7.257203578948975], "max": [20.302734375, 182.4609375, 176.396484375, 95.009765625, 39.990234375, 42.71484375, 102.54507446289062, 65.7421875, 182.373046875, 177.451171875, 93.33984375, 43.857421875, 10.37109375, 103.7353286743164], "mean": [-10.966817855834961, 132.38034057617188, 144.12112426757812, 18.778640747070312, 0.08514219522476196, 9.373213768005371, 34.48394775390625, 7.841836929321289, 110.07093048095703, 125.00822448730469, 16.677627563476562, -9.140777587890625, -9.682195663452148, 30.836111068725586], "std": [7.909214019775391, 46.645381927490234, 41.77411651611328, 18.308847427368164, 9.151113510131836, 6.62954044342041, 34.31463623046875, 15.650909423828125, 43.409576416015625, 46.949684143066406, 18.03794288635254, 10.552199363708496, 7.310649871826172, 35.70366287231445], "count": [8922]}, "observation.state": {"min": [-28.388671875, 13.974609375, 15.029296875, -27.333984375, -24.9609375, -13.0078125, 1.8633540868759155, -23.90625, 13.271484375, 2.109375, -22.587890625, -33.22265625, -40.95703125, 0.0], "max": [21.181640625, 180.791015625, 177.01171875, 92.021484375, 39.0234375, 41.923828125, 99.58592224121094, 65.7421875, 178.76953125, 177.1875, 91.142578125, 43.857421875, 10.01953125, 100.0], "mean": [-11.151487350463867, 131.15232849121094, 145.57713317871094, 19.44698143005371, 0.08127075433731079, 9.357534408569336, 34.96350860595703, 7.908327102661133, 108.47686004638672, 126.97679901123047, 17.860958099365234, -9.099706649780273, -9.679607391357422, 31.225793838500977], "std": [7.62351131439209, 47.24333572387695, 41.254051208496094, 18.21751594543457, 9.084484100341797, 6.6429595947265625, 33.39870834350586, 15.64236831665039, 44.16529083251953, 46.07038497924805, 18.020151138305664, 10.48811149597168, 7.26369047164917, 35.004852294921875], "count": [8922]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3485362509700685]], [[0.3579338624656471]], [[0.34769411938250244]]], "std": [[[0.28632094273077485]], [[0.29665668234329284]], [[0.3234341497773119]]], "count": [918]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34690106458342235]], [[0.34464408520761247]], [[0.30577283888319307]]], "std": [[[0.2875702679004775]], [[0.2998742171009319]], [[0.3097994678683382]]], "count": [918]}, "timestamp": {"min": [0.0], "max": [297.3666666666667], "mean": [148.68333333333334], "std": [85.85198448924021], "count": [8922]}, "frame_index": {"min": [0], "max": [8921], "mean": [4460.5], "std": [2575.559534677206], "count": [8922]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [8922]}, "index": {"min": [0], "max": [8921], "mean": [4460.5], "std": [2575.559534677206], "count": [8922]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [8922]}}}
|
meta/info.json
ADDED
@@ -0,0 +1,143 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"codebase_version": "v2.1",
|
3 |
+
"robot_type": "sam_bimanual",
|
4 |
+
"total_episodes": 1,
|
5 |
+
"total_frames": 8922,
|
6 |
+
"total_tasks": 1,
|
7 |
+
"total_videos": 2,
|
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 |
+
"action": {
|
18 |
+
"dtype": "float32",
|
19 |
+
"shape": [
|
20 |
+
14
|
21 |
+
],
|
22 |
+
"names": [
|
23 |
+
"left_shoulder_pan",
|
24 |
+
"left_shoulder_lift",
|
25 |
+
"left_elbow_flex",
|
26 |
+
"left_wrist_flex",
|
27 |
+
"left_wrist_pan",
|
28 |
+
"left_wrist_roll",
|
29 |
+
"left_gripper",
|
30 |
+
"right_shoulder_pan",
|
31 |
+
"right_shoulder_lift",
|
32 |
+
"right_elbow_flex",
|
33 |
+
"right_wrist_flex",
|
34 |
+
"right_wrist_pan",
|
35 |
+
"right_wrist_roll",
|
36 |
+
"right_gripper"
|
37 |
+
]
|
38 |
+
},
|
39 |
+
"observation.state": {
|
40 |
+
"dtype": "float32",
|
41 |
+
"shape": [
|
42 |
+
14
|
43 |
+
],
|
44 |
+
"names": [
|
45 |
+
"left_shoulder_pan",
|
46 |
+
"left_shoulder_lift",
|
47 |
+
"left_elbow_flex",
|
48 |
+
"left_wrist_flex",
|
49 |
+
"left_wrist_pan",
|
50 |
+
"left_wrist_roll",
|
51 |
+
"left_gripper",
|
52 |
+
"right_shoulder_pan",
|
53 |
+
"right_shoulder_lift",
|
54 |
+
"right_elbow_flex",
|
55 |
+
"right_wrist_flex",
|
56 |
+
"right_wrist_pan",
|
57 |
+
"right_wrist_roll",
|
58 |
+
"right_gripper"
|
59 |
+
]
|
60 |
+
},
|
61 |
+
"observation.images.laptop": {
|
62 |
+
"dtype": "video",
|
63 |
+
"shape": [
|
64 |
+
480,
|
65 |
+
640,
|
66 |
+
3
|
67 |
+
],
|
68 |
+
"names": [
|
69 |
+
"height",
|
70 |
+
"width",
|
71 |
+
"channels"
|
72 |
+
],
|
73 |
+
"info": {
|
74 |
+
"video.fps": 30.0,
|
75 |
+
"video.height": 480,
|
76 |
+
"video.width": 640,
|
77 |
+
"video.channels": 3,
|
78 |
+
"video.codec": "h264",
|
79 |
+
"video.pix_fmt": "yuv420p",
|
80 |
+
"video.is_depth_map": false,
|
81 |
+
"has_audio": false
|
82 |
+
}
|
83 |
+
},
|
84 |
+
"observation.images.phone": {
|
85 |
+
"dtype": "video",
|
86 |
+
"shape": [
|
87 |
+
480,
|
88 |
+
640,
|
89 |
+
3
|
90 |
+
],
|
91 |
+
"names": [
|
92 |
+
"height",
|
93 |
+
"width",
|
94 |
+
"channels"
|
95 |
+
],
|
96 |
+
"info": {
|
97 |
+
"video.fps": 30.0,
|
98 |
+
"video.height": 480,
|
99 |
+
"video.width": 640,
|
100 |
+
"video.channels": 3,
|
101 |
+
"video.codec": "h264",
|
102 |
+
"video.pix_fmt": "yuv420p",
|
103 |
+
"video.is_depth_map": false,
|
104 |
+
"has_audio": false
|
105 |
+
}
|
106 |
+
},
|
107 |
+
"timestamp": {
|
108 |
+
"dtype": "float32",
|
109 |
+
"shape": [
|
110 |
+
1
|
111 |
+
],
|
112 |
+
"names": null
|
113 |
+
},
|
114 |
+
"frame_index": {
|
115 |
+
"dtype": "int64",
|
116 |
+
"shape": [
|
117 |
+
1
|
118 |
+
],
|
119 |
+
"names": null
|
120 |
+
},
|
121 |
+
"episode_index": {
|
122 |
+
"dtype": "int64",
|
123 |
+
"shape": [
|
124 |
+
1
|
125 |
+
],
|
126 |
+
"names": null
|
127 |
+
},
|
128 |
+
"index": {
|
129 |
+
"dtype": "int64",
|
130 |
+
"shape": [
|
131 |
+
1
|
132 |
+
],
|
133 |
+
"names": null
|
134 |
+
},
|
135 |
+
"task_index": {
|
136 |
+
"dtype": "int64",
|
137 |
+
"shape": [
|
138 |
+
1
|
139 |
+
],
|
140 |
+
"names": null
|
141 |
+
}
|
142 |
+
}
|
143 |
+
}
|
meta/tasks.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"task_index": 0, "task": "Fold a blue cloth"}
|
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 sha256:9ef0d4eb95fb4ec5be43577d045f9d2eadf46916e95e67b222d2927e54c7c2fd
|
3 |
+
size 33043250
|
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 sha256:2f522673aa43f353e8c21d6bb4140a1337d7539c07b1db2295eac4a234987c4f
|
3 |
+
size 41081488
|