Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec35f2ca9cd43e82639ef5f538ceeb0d31c29282fcd65fa2c33897d3bd2eb112
+size 32679

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d4243a35471823f99efc3f71f3b8d7a807ec8c75905638f0a4bc7badbb47af9
+size 29689

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1680c78038419d5dd475fab2d0954776e23a200bed40e658c000b0540a9650f2
+size 27428

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64f2cf3690fd8e1590fc697146402fd41a58845522b990273a8c3dca733a9af0
+size 30906

meta/episodes.jsonl

@@ -0,0 +1,4 @@
+{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 626}
+{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 490}
+{"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 482}
+{"episode_index": 3, "tasks": ["Grasp a lego block and put it in the bin."], "length": 618}

meta/episodes_stats.jsonl

@@ -0,0 +1,4 @@
+{"episode_index": 0, "stats": {"action": {"min": [-16.171875, 81.5625, 105.029296875, 56.162109375, -44.560546875, -0.0938086286187172, -4.3610749133314326e-15, -99.9892349243164, -1.794623528424263e-15], "max": [19.951171875, 194.0625, 179.6484375, 96.943359375, -1.669921875, 36.585365295410156, 4.3610749133314326e-15, 99.9892349243164, 1.794623528424263e-15], "mean": [-2.83215594291687, 157.86126708984375, 154.3960418701172, 69.13599395751953, -19.979393005371094, 7.335063934326172, -6.269914164308478e-16, -14.375452041625977, 2.5801314434613593e-16], "std": [8.56939697265625, 36.750762939453125, 23.506750106811523, 12.049262046813965, 15.935315132141113, 12.208541870117188, 2.8054798474575968e-15, 64.32313537597656, 1.154481343152141e-15], "count": [626]}, "observation.state": {"min": [-15.8203125, 80.68359375, 106.611328125, 56.6015625, -43.9453125, 0.6294256448745728, -6.391586780548096, -101.84908294677734, -2.9296875], "max": [17.9296875, 193.095703125, 179.12109375, 95.888671875, -2.373046875, 35.24783706665039, 5.113269329071045, 101.84908294677734, 1.7578125], "mean": [-3.278348445892334, 156.0837860107422, 154.07135009765625, 68.50138092041016, -18.931303024291992, 8.759187698364258, -0.06330321729183197, -14.045098304748535, -0.0037440096493810415], "std": [7.852842330932617, 37.14358139038086, 23.556196212768555, 11.959728240966797, 16.020557403564453, 11.06525707244873, 1.9731413125991821, 62.613914489746094, 0.5659276843070984], "count": [626]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.508169544117647]], [[0.5752709673202614]], [[0.6145844019607843]]], "std": [[[0.2591957719939686]], [[0.2636048253921419]], [[0.2566767931158298]]], "count": [125]}, "observation.images.wrist": {"min": [[[0.0]], [[0.00392156862745098]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5459459689542483]], [[0.5622885212418302]], [[0.5506576633986927]]], "std": [[[0.24000301212687572]], [[0.25927152090371447]], [[0.25740156759093297]]], "count": [125]}, "timestamp": {"min": [0.0], "max": [20.833333333333332], "mean": [10.416666666666664], "std": [6.023680122833733], "count": [626]}, "frame_index": {"min": [0], "max": [625], "mean": [312.5], "std": [180.710403685012], "count": [626]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [626]}, "index": {"min": [0], "max": [625], "mean": [312.5], "std": [180.710403685012], "count": [626]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [626]}}}
+{"episode_index": 1, "stats": {"action": {"min": [-11.6015625, 75.41015625, 96.064453125, 55.72265625, -56.953125, -0.0938086286187172, -100.01554870605469, 0.0, -1.794623528424263e-15], "max": [5.80078125, 194.0625, 177.626953125, 84.287109375, -0.263671875, 29.455909729003906, 4.3610749133314326e-15, 99.9892349243164, 9.542323782676205e-16], "mean": [0.41452088952064514, 148.5068359375, 147.60775756835938, 68.74189758300781, -21.293746948242188, 9.22809886932373, -1.0205668210983276, 12.651700973510742, -2.1733784136048617e-16], "std": [5.246219635009766, 39.121826171875, 27.039752960205078, 7.079425811767578, 19.989164352416992, 11.420149803161621, 10.051422119140625, 33.241024017333984, 6.079208931398909e-16], "count": [490]}, "observation.state": {"min": [-10.986328125, 74.619140625, 97.470703125, 55.01953125, -56.07421875, 0.7867820262908936, -103.543701171875, -2.2141106128692627, -2.34375], "max": [4.74609375, 193.095703125, 177.099609375, 83.583984375, -0.966796875, 28.638866424560547, 6.391586780548096, 104.06319427490234, 2.34375], "mean": [0.18474967777729034, 146.5055389404297, 147.10276794433594, 68.81732940673828, -21.012136459350586, 9.85802173614502, -0.78264319896698, 13.05873966217041, -0.010762117803096771], "std": [4.569532871246338, 39.202484130859375, 26.72089195251465, 6.8787994384765625, 19.646333694458008, 9.70604419708252, 9.324247360229492, 32.996273040771484, 0.5111054182052612], "count": [490]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.00784313725490196]]], "max": [[[0.9921568627450981]], [[1.0]], [[1.0]]], "mean": [[[0.5059383444884364]], [[0.5583548520770488]], [[0.5917841605392157]]], "std": [[[0.23232407650633286]], [[0.25672380635631037]], [[0.26557924338926314]]], "count": [104]}, "observation.images.wrist": {"min": [[[0.0]], [[0.01568627450980392]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5715986932032429]], [[0.5856821109854199]], [[0.5707558053670185]]], "std": [[[0.23972123284554414]], [[0.25718553770543556]], [[0.2567018393383998]]], "count": [104]}, "timestamp": {"min": [0.0], "max": [16.3], "mean": [8.15], "std": [4.715017379489591], "count": [490]}, "frame_index": {"min": [0], "max": [489], "mean": [244.5], "std": [141.45052138468773], "count": [490]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [490]}, "index": {"min": [626], "max": [1115], "mean": [870.5], "std": [141.45052138468773], "count": [490]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [490]}}}
+{"episode_index": 2, "stats": {"action": {"min": [-14.501953125, 70.13671875, 91.318359375, 52.470703125, -63.720703125, -0.0938086286187172, 0.0, 0.0, -1.794623528424263e-15], "max": [7.998046875, 194.150390625, 177.71484375, 99.4921875, 1.58203125, 31.613508224487305, 4.3610749133314326e-15, 99.9892349243164, 0.0], "mean": [-2.0554006099700928, 154.4565887451172, 151.36294555664062, 70.84932708740234, -22.5277156829834, 8.587774276733398, 2.1895905448059702e-15, 50.20191192626953, -9.010359563229719e-16], "std": [5.846723556518555, 40.825592041015625, 27.608348846435547, 9.393017768859863, 21.580707550048828, 11.60070514678955, 2.1805135279849563e-15, 49.99419403076172, 8.97305623223264e-16], "count": [482]}, "observation.state": {"min": [-13.974609375, 69.609375, 92.98828125, 52.470703125, -62.9296875, 0.7867820262908936, -10.22653865814209, -2.2141106128692627, -3.515625], "max": [6.416015625, 193.271484375, 177.275390625, 98.173828125, 0.087890625, 30.68450164794922, 12.783173561096191, 101.84908294677734, 2.9296875], "mean": [-1.8783429861068726, 150.80795288085938, 150.47781372070312, 68.80176544189453, -21.79705810546875, 9.608166694641113, 0.19360403716564178, 48.393409729003906, 0.001215638010762632], "std": [5.560757637023926, 42.806884765625, 28.439170837402344, 8.76701545715332, 21.512903213500977, 10.194864273071289, 2.763087511062622, 48.28522872924805, 0.6767560243606567], "count": [482]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[1.0]], [[1.0]]], "mean": [[[0.509235193995899]], [[0.5793960796328335]], [[0.621881760220428]]], "std": [[[0.2559704186575308]], [[0.26451796026961594]], [[0.25897382009216985]]], "count": [102]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5463405921600667]], [[0.5672318559368192]], [[0.5470990103966423]]], "std": [[[0.2611935291579336]], [[0.26885948578862573]], [[0.2696803578855246]]], "count": [102]}, "timestamp": {"min": [0.0], "max": [16.033333333333335], "mean": [8.016666666666666], "std": [4.6380371806281255], "count": [482]}, "frame_index": {"min": [0], "max": [481], "mean": [240.5], "std": [139.14111541884375], "count": [482]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [482]}, "index": {"min": [1116], "max": [1597], "mean": [1356.5], "std": [139.14111541884375], "count": [482]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [482]}}}
+{"episode_index": 3, "stats": {"action": {"min": [-7.822265625, 78.92578125, 100.634765625, 59.0625, -60.8203125, -0.1876172572374344, 0.0, 0.0, -1.794623528424263e-15], "max": [17.578125, 194.150390625, 178.154296875, 90.615234375, -4.921875, 35.64727783203125, 4.3610749133314326e-15, 99.9892349243164, 0.0], "mean": [-0.9751877188682556, 157.53335571289062, 155.56185913085938, 71.82794952392578, -27.639469146728516, 6.862915992736816, 8.326972851989357e-16, 19.091798782348633, -3.4266302305632974e-16], "std": [4.075226783752441, 36.515472412109375, 23.71602439880371, 7.19625997543335, 20.21146583557129, 11.554521560668945, 1.7140744009095234e-15, 39.299842834472656, 7.053592223481709e-16], "count": [618]}, "observation.state": {"min": [-6.943359375, 77.87109375, 102.3046875, 60.46875, -59.94140625, 0.7867820262908936, -2.5566346645355225, -2.2141106128692627, -1.171875], "max": [15.99609375, 193.271484375, 178.06640625, 89.82421875, -4.482421875, 34.53973388671875, 5.113269329071045, 101.84908294677734, 2.34375], "mean": [-0.7109469771385193, 157.19247436523438, 156.3223876953125, 71.30036163330078, -28.68149757385254, 8.562275886535645, -0.02275322563946247, 21.98703956604004, -0.004740594886243343], "std": [3.8783228397369385, 35.22824478149414, 22.2427921295166, 6.8838348388671875, 20.327512741088867, 10.498213768005371, 0.6601288914680481, 40.377803802490234, 0.31881213188171387], "count": [618]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[1.0]], [[1.0]]], "mean": [[[0.48435742467718795]], [[0.519174727004623]], [[0.5446476283941761]]], "std": [[[0.23129504685981142]], [[0.2723073576171598]], [[0.29534471463463247]]], "count": [123]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5450894010043041]], [[0.5760499362346565]], [[0.5602442295685212]]], "std": [[[0.268336977413098]], [[0.2697543956921866]], [[0.2675006340967657]]], "count": [123]}, "timestamp": {"min": [0.0], "max": [20.566666666666666], "mean": [10.283333333333333], "std": [5.946699987450244], "count": [618]}, "frame_index": {"min": [0], "max": [617], "mean": [308.5], "std": [178.40099962350735], "count": [618]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [618]}, "index": {"min": [1598], "max": [2215], "mean": [1906.5], "std": [178.40099962350735], "count": [618]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [618]}}}

meta/info.json

@@ -0,0 +1,133 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lekiwi",
+    "total_episodes": 4,
+    "total_frames": 2216,
+    "total_tasks": 1,
+    "total_videos": 8,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:4"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "shoulder_pan",
+                "shoulder_lift",
+                "elbow_flex",
+                "wrist_flex",
+                "wrist_roll",
+                "gripper",
+                "x_mm",
+                "y_mm",
+                "theta"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "shoulder_pan",
+                "shoulder_lift",
+                "elbow_flex",
+                "wrist_flex",
+                "wrist_roll",
+                "gripper",
+                "x_mm",
+                "y_mm",
+                "theta"
+            ]
+        },
+        "observation.images.front": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 30.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}

videos/chunk-000/observation.images.front/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45066649ec086ce7efb1b2d19ef1b7d8668e0799b99c6d6ec45d7c2e3d41b71b
+size 2982274

videos/chunk-000/observation.images.front/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0194931f0a6d2388a8918eb9ea3e7cfe40cfa5eb315c8f0c5df68a8867ccf97f
+size 2553213

videos/chunk-000/observation.images.front/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15dfbaaffe9e1eb1a439b567cf954b503a47e28c18324a80fcc8edf1d9ece51f
+size 2501226

videos/chunk-000/observation.images.front/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f649c00b9a007dbab0588571e311d2ae29c0dde755927bb68d2d83b5790821ee
+size 3214789

videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d3234c1968d5105531d3603415f1365ab705de21d8f0c1c26ca8cf1a7fe7a5e
+size 10777017

videos/chunk-000/observation.images.wrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70349d18f294f502948689e763905a7353ae4ff7bce5077566982ecf722c8bf2
+size 8892550

videos/chunk-000/observation.images.wrist/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85e00709b5c8b0aeeb1b3d3360dddaa819b463d3f5c9e8a7ea19423ba7659a9d
+size 10381852

videos/chunk-000/observation.images.wrist/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30e1bdcd23ec1e4841f0c77dc46dec278a2fd42985f66ee9db3df51ace0ab319
+size 15487114