Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:dd30278b22bbd8c52c97f5445c2c11004d649c1380d03e511849a333def2581e
|
3 |
+
size 17606
|
data/chunk-000/episode_000001.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:de1600d2002fe33769d450e2bdf7cb5363eacd56fe656c34c85a74f3d6653794
|
3 |
+
size 14655
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
1 |
+
{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 286}
|
2 |
+
{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 277}
|
meta/episodes_stats.jsonl
ADDED
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
1 |
+
{"episode_index": 0, "stats": {"action": {"min": [4.130859375, -39.638671875, 47.197265625, 96.328125, 77.607421875, 3.987730026245117], "max": [39.111328125, -13.7109375, 81.73828125, 177.1875, 191.513671875, 14.928425788879395], "mean": [15.402678489685059, -25.415142059326172, 61.62177658081055, 137.7513427734375, 130.40403747558594, 10.916773796081543], "std": [14.482481002807617, 9.892687797546387, 8.123157501220703, 27.802186965942383, 39.5234489440918, 2.715552806854248], "count": [286]}, "observation.state": {"min": [4.130859375, -38.671875, 47.63671875, 97.998046875, 76.552734375, 2.9439697265625], "max": [38.759765625, -13.0078125, 80.771484375, 177.099609375, 190.283203125, 14.339981079101562], "mean": [18.957332611083984, -24.90623664855957, 61.47580337524414, 137.85853576660156, 128.17910766601562, 10.347402572631836], "std": [12.82616901397705, 9.715953826904297, 8.226297378540039, 26.983911514282227, 39.304134368896484, 2.8044466972351074], "count": [286]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42027569444444446]], [[0.4216053227124183]], [[0.44773737540849673]]], "std": [[[0.2041284216826391]], [[0.20944082738250333]], [[0.2156812036113682]]], "count": [100]}, "observation.images.phone": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4601954554738562]], [[0.45502212826797384]], [[0.46416440155228755]]], "std": [[[0.21840951428494015]], [[0.22068307698195197]], [[0.2251296936787997]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.5], "mean": [4.75], "std": [2.7520194605255086], "count": [286]}, "frame_index": {"min": [0], "max": [285], "mean": [142.5], "std": [82.56058381576526], "count": [286]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [286]}, "index": {"min": [0], "max": [285], "mean": [142.5], "std": [82.56058381576526], "count": [286]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [286]}}}
|
2 |
+
{"episode_index": 1, "stats": {"action": {"min": [4.130859375, -20.302734375, 52.998046875, 116.54296875, 92.8125, 4.192229270935059], "max": [40.25390625, -13.271484375, 76.640625, 174.990234375, 191.6015625, 5.01022481918335], "mean": [10.368555068969727, -16.801071166992188, 63.73117446899414, 149.2390594482422, 150.68141174316406, 4.522611618041992], "std": [11.150070190429688, 1.7973554134368896, 5.046276569366455, 24.01915168762207, 39.12110137939453, 0.3372374176979065], "count": [277]}, "observation.state": {"min": [4.130859375, -19.775390625, 53.173828125, 117.7734375, 91.7578125, 3.608736991882324], "max": [39.638671875, -13.0078125, 75.849609375, 174.287109375, 190.37109375, 5.128205299377441], "mean": [12.188240051269531, -16.358760833740234, 63.24729919433594, 149.56016540527344, 149.46511840820312, 4.4168219566345215], "std": [10.89936637878418, 1.7405014038085938, 5.006070613861084, 23.48695945739746, 39.310203552246094, 0.20360317826271057], "count": [277]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45245953635620917]], [[0.45129099673202616]], [[0.4753584946895425]]], "std": [[[0.21093762356920945]], [[0.2214412757827095]], [[0.22934336552225756]]], "count": [100]}, "observation.images.phone": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47680541666666665]], [[0.4741294566993464]], [[0.47838400939542486]]], "std": [[[0.2280093834504189]], [[0.22924974854447833]], [[0.23086967859506557]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.2], "mean": [4.600000000000001], "std": [2.665416373560507], "count": [277]}, "frame_index": {"min": [0], "max": [276], "mean": [138.0], "std": [79.96249120681522], "count": [277]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [277]}, "index": {"min": [286], "max": [562], "mean": [424.0], "std": [79.96249120681522], "count": [277]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [277]}}}
|
meta/info.json
ADDED
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"codebase_version": "v2.1",
|
3 |
+
"robot_type": "so100",
|
4 |
+
"total_episodes": 2,
|
5 |
+
"total_frames": 563,
|
6 |
+
"total_tasks": 1,
|
7 |
+
"total_videos": 4,
|
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 |
+
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.laptop": {
|
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.fps": 30.0,
|
59 |
+
"video.height": 480,
|
60 |
+
"video.width": 640,
|
61 |
+
"video.channels": 3,
|
62 |
+
"video.codec": "av1",
|
63 |
+
"video.pix_fmt": "yuv420p",
|
64 |
+
"video.is_depth_map": false,
|
65 |
+
"has_audio": false
|
66 |
+
}
|
67 |
+
},
|
68 |
+
"observation.images.phone": {
|
69 |
+
"dtype": "video",
|
70 |
+
"shape": [
|
71 |
+
480,
|
72 |
+
640,
|
73 |
+
3
|
74 |
+
],
|
75 |
+
"names": [
|
76 |
+
"height",
|
77 |
+
"width",
|
78 |
+
"channels"
|
79 |
+
],
|
80 |
+
"info": {
|
81 |
+
"video.fps": 30.0,
|
82 |
+
"video.height": 480,
|
83 |
+
"video.width": 640,
|
84 |
+
"video.channels": 3,
|
85 |
+
"video.codec": "av1",
|
86 |
+
"video.pix_fmt": "yuv420p",
|
87 |
+
"video.is_depth_map": false,
|
88 |
+
"has_audio": false
|
89 |
+
}
|
90 |
+
},
|
91 |
+
"timestamp": {
|
92 |
+
"dtype": "float32",
|
93 |
+
"shape": [
|
94 |
+
1
|
95 |
+
],
|
96 |
+
"names": null
|
97 |
+
},
|
98 |
+
"frame_index": {
|
99 |
+
"dtype": "int64",
|
100 |
+
"shape": [
|
101 |
+
1
|
102 |
+
],
|
103 |
+
"names": null
|
104 |
+
},
|
105 |
+
"episode_index": {
|
106 |
+
"dtype": "int64",
|
107 |
+
"shape": [
|
108 |
+
1
|
109 |
+
],
|
110 |
+
"names": null
|
111 |
+
},
|
112 |
+
"index": {
|
113 |
+
"dtype": "int64",
|
114 |
+
"shape": [
|
115 |
+
1
|
116 |
+
],
|
117 |
+
"names": null
|
118 |
+
},
|
119 |
+
"task_index": {
|
120 |
+
"dtype": "int64",
|
121 |
+
"shape": [
|
122 |
+
1
|
123 |
+
],
|
124 |
+
"names": null
|
125 |
+
}
|
126 |
+
}
|
127 |
+
}
|
meta/tasks.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
|
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:d2c3f657536c186b852f5c7439b653e8a24754b7c068de932f1a0847a27f3997
|
3 |
+
size 1886883
|
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:eefa6f91095b3a88e29e908c5b932a5b7bd9635a0a9133e857abdb2f80a41804
|
3 |
+
size 1988110
|
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 sha256:7ee00c61daaefb8117473d970492d06c7efa92d430a7fc3ece4766a4c96e159f
|
3 |
+
size 2089508
|
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:adcee3cb12591438f78983627cefafa8f236c10a581b67240c248d25b4084e54
|
3 |
+
size 2145343
|