kumarhans commited on
Commit
d97f21e
·
verified ·
1 Parent(s): 174642e

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 sha256:62c359e68363910df75d5a115c98c0a4f95fc6e94775cfed36fb29d55cee7fb5
3
+ size 93121
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6954e217a933197ea2706dea862978c8d0d7b0c17e9aa125a46153e5df9c281e
3
+ size 89237
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d39b4a1f58a0a242bba0eda6334235a4f3c80598935a8e300580ff4cef0de71c
3
+ size 85752
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grab the cable and plug it in"], "length": 1250}
2
+ {"episode_index": 1, "tasks": ["Grab the cable and plug it in"], "length": 1251}
3
+ {"episode_index": 2, "tasks": ["Grab the cable and plug it in"], "length": 1250}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [20.351648330688477, -33.010990142822266, -76.71428680419922, -76.87911987304688, 59.27472686767578, -96.74725341796875, 1.1494252681732178, -75.9120864868164, -40.659339904785156, -85.94505310058594, -88.13186645507812, -90.0, 8.04395580291748, 0.0], "max": [97.010986328125, 4.615384578704834, -4.450549602508545, 5.494505405426025, 133.73626708984375, -1.6263736486434937, 800.0, 65.010986328125, 53.406593322753906, -1.197802186012268, 80.30769348144531, 70.79120635986328, 144.8351593017578, 798.8904418945312], "mean": [73.54523468017578, -24.372230529785156, -21.664772033691406, -14.804327011108398, 76.76973724365234, -27.491153717041016, 666.5486450195312, 14.883720397949219, 0.8886336088180542, -48.528053283691406, 21.769872665405273, -11.014002799987793, 74.09371948242188, 281.89239501953125], "std": [33.24680709838867, 10.943564414978027, 23.241065979003906, 29.54737663269043, 24.061981201171875, 34.64058303833008, 276.4298095703125, 37.1751708984375, 33.66468811035156, 24.215795516967773, 34.787899017333984, 60.864070892333984, 26.7631778717041, 355.1789245605469], "count": [1250]}, "observation.state": {"min": [20.351633071899414, -33.010963439941406, -76.71429443359375, -76.87913513183594, 59.27471923828125, -96.74724578857422, 99.0, -75.42479705810547, -40.65932083129883, -85.9450454711914, -88.13185119628906, -89.99998474121094, 8.043984413146973, 67.0], "max": [97.01097869873047, 4.61540412902832, -4.450563907623291, 5.494493007659912, 133.7362518310547, -1.626397967338562, 802.0, 65.00308990478516, 53.40659713745117, -1.4615579843521118, 80.3077163696289, 70.77185821533203, 144.8351287841797, 797.0], "mean": [73.54350280761719, -24.36980628967285, -21.66615104675293, -14.818367004394531, 76.76693725585938, -27.49141502380371, 677.2783813476562, 14.891897201538086, 0.9060194492340088, -48.54048156738281, 21.738853454589844, -11.051505088806152, 74.1369857788086, 335.60400390625], "std": [33.253883361816406, 10.943978309631348, 23.247961044311523, 29.559110641479492, 24.066547393798828, 34.65141296386719, 249.5366973876953, 37.13258361816406, 33.65977478027344, 24.208377838134766, 34.81591796875, 60.8418083190918, 26.699039459228516, 312.1535949707031], "count": [1250]}, "observation.images.ego": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.415106960978836]], [[0.3981133014316838]], [[0.38047684893401806]]], "std": [[[0.258281322754317]], [[0.2388118502286493]], [[0.23752399516900763]]], "count": [210]}, "observation.images.left_wrist": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41465661959228134]], [[0.4465585862122627]], [[0.45484317713196387]]], "std": [[[0.2622285696174447]], [[0.2421561893393483]], [[0.25026587104888437]]], "count": [210]}, "observation.images.right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3845099945533769]], [[0.4149080580843449]], [[0.4055115225256769]]], "std": [[[0.2754673532512068]], [[0.2571532917192871]], [[0.26425349325446507]]], "count": [210]}, "timestamp": {"min": [0.0], "max": [41.63333333333333], "mean": [20.816666666666663], "std": [12.028126759114793], "count": [1250]}, "frame_index": {"min": [0], "max": [1249], "mean": [624.5], "std": [360.84380277344377], "count": [1250]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1250]}, "index": {"min": [0], "max": [1249], "mean": [624.5], "std": [360.84380277344377], "count": [1250]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1250]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [14.10988998413086, -33.18681335449219, -76.97801971435547, -79.42857360839844, 61.03296661376953, -92.61538696289062, 1.1494252681732178, -84.43955993652344, -47.60439682006836, -101.15384674072266, -180.0, -78.83516693115234, 4.791208744049072, 0.0], "max": [97.0988998413086, 11.032966613769531, -5.769230842590332, 11.648351669311523, 131.45054626464844, -3.8241758346557617, 800.0, 65.71428680419922, 59.82417678833008, -0.4065934121608734, 377579360.0, 68.4175796508789, 173.3186798095703, 800.0], "mean": [69.89708709716797, -21.94734764099121, -21.87578010559082, -8.718378067016602, 78.2269058227539, -32.517845153808594, 682.0094604492188, 11.876622200012207, 4.4999799728393555, -53.68906784057617, 9960158.0, -16.33806037902832, 72.42198944091797, 303.6114196777344], "std": [30.961509704589844, 13.564410209655762, 23.016714096069336, 32.145870208740234, 22.140125274658203, 31.488981246948242, 263.47332763671875, 44.515140533447266, 36.40802001953125, 29.480058670043945, 60510640.0, 57.80742645263672, 35.369136810302734, 360.189208984375], "count": [1251]}, "observation.state": {"min": [14.109888076782227, -33.186805725097656, -76.97802734375, -79.4285659790039, 61.032955169677734, -92.61536407470703, 94.0, -84.43953704833984, -47.6043701171875, -101.15386199951172, -180.00001525878906, -78.83515167236328, 4.791187763214111, 63.0], "max": [97.09886932373047, 11.032990455627441, -5.769227027893066, 11.648346900939941, 131.4505615234375, -3.8241500854492188, 800.0, 65.71430969238281, 59.82418441772461, -0.40657100081443787, 83.41251373291016, 68.4175796508789, 171.59564208984375, 801.0], "mean": [69.88895416259766, -21.93203353881836, -21.88912010192871, -8.762414932250977, 78.23555755615234, -32.53322219848633, 689.6930541992188, 11.94869613647461, 4.199875354766846, -53.6225700378418, 20.958972930908203, -16.207162857055664, 72.2879867553711, 354.8057556152344], "std": [30.975868225097656, 13.57494068145752, 23.02777099609375, 32.17292785644531, 22.156330108642578, 31.517576217651367, 236.43324279785156, 44.323158264160156, 36.725528717041016, 29.55168914794922, 55.42634582519531, 57.678871154785156, 35.023155212402344, 316.9778137207031], "count": [1251]}, "observation.images.ego": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4167181246109555]], [[0.4038693783068783]], [[0.389699474789916]]], "std": [[[0.2575069844226109]], [[0.2402661799755486]], [[0.23885254727266028]]], "count": [210]}, "observation.images.left_wrist": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39552197031590414]], [[0.4291420955882353]], [[0.44421727357609714]]], "std": [[[0.2623462298475569]], [[0.24146014292916607]], [[0.24453593160435483]]], "count": [210]}, "observation.images.right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39570637060379704]], [[0.42637559426548394]], [[0.4192607940398382]]], "std": [[[0.27864119263612047]], [[0.2580989427193473]], [[0.2629572309285945]]], "count": [210]}, "timestamp": {"min": [0.0], "max": [41.666666666666664], "mean": [20.833333333333332], "std": [12.037749266678029], "count": [1251]}, "frame_index": {"min": [0], "max": [1250], "mean": [625.0], "std": [361.1324780003409], "count": [1251]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1251]}, "index": {"min": [1250], "max": [2500], "mean": [1875.0], "std": [361.1324780003409], "count": [1251]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1251]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [21.758241653442383, -38.373626708984375, -68.53845977783203, -77.84615325927734, 55.846153259277344, -94.9011001586914, 2.2988505363464355, -84.35164642333984, -45.93406677246094, -66.86813354492188, -179.2967071533203, -69.86813354492188, -3.1208791732788086, 0.0], "max": [101.67032623291016, 3.296703338623047, -3.5714285373687744, 11.472527503967285, 141.4725341796875, 5.406593322753906, 800.0, 55.42856979370117, 40.21977996826172, 1.0, 377579360.0, 75.18681335449219, 177.53846740722656, 800.0], "mean": [73.9806900024414, -23.35965347290039, -20.80092430114746, -21.21977996826172, 78.53282165527344, -27.375431060791016, 653.1309814453125, -1.1187714338302612, -16.45608901977539, -35.66811752319336, 26883670.0, -0.3277917802333832, 88.80049896240234, 382.8883056640625], "std": [34.24100112915039, 10.799762725830078, 21.34777069091797, 30.250123977661133, 30.794822692871094, 40.29155349731445, 287.68505859375, 48.811058044433594, 26.699193954467773, 19.034099578857422, 97097504.0, 50.95601272583008, 47.78428649902344, 369.0799865722656], "count": [1250]}, "observation.state": {"min": [21.758243560791016, -38.373619079589844, -68.50575256347656, -77.8461685180664, 55.84613800048828, -94.901123046875, 97.0, -84.35164642333984, -45.934085845947266, -66.86812591552734, -179.2967071533203, -69.8536376953125, -3.120901107788086, 30.0], "max": [101.67032623291016, 3.296684980392456, -3.617885112762451, 11.472505569458008, 141.47256469726562, 5.406601905822754, 800.0, 55.428565979003906, 40.21980285644531, 0.999983012676239, 35.736236572265625, 75.1867904663086, 177.4398193359375, 800.0], "mean": [73.95684051513672, -23.34941864013672, -20.814905166625977, -21.23908042907715, 78.56046295166016, -27.412641525268555, 664.2991943359375, -0.040003880858421326, -17.100584030151367, -35.74369812011719, -9.21994400024414, -0.6747187376022339, 88.93757629394531, 419.7336120605469], "std": [34.23879623413086, 10.807806968688965, 21.35361099243164, 30.276832580566406, 30.808443069458008, 40.29749298095703, 257.3601379394531, 47.3245735168457, 27.119794845581055, 18.97388458251953, 65.15721130371094, 51.31605529785156, 47.63652801513672, 329.0318908691406], "count": [1250]}, "observation.images.ego": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4115193666355431]], [[0.40057203159041394]], [[0.38575912990196076]]], "std": [[[0.2572508821016936]], [[0.2371651279807753]], [[0.23174139528675852]]], "count": [210]}, "observation.images.left_wrist": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44108136574074075]], [[0.44958720821661996]], [[0.44528939270152507]]], "std": [[[0.2388722405987874]], [[0.22444779108448473]], [[0.22908823293946165]]], "count": [210]}, "observation.images.right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4032570329520697]], [[0.4365651367491441]], [[0.4324519160441955]]], "std": [[[0.26047745149114904]], [[0.2428372239785587]], [[0.25237712009149726]]], "count": [210]}, "timestamp": {"min": [0.0], "max": [41.63333333333333], "mean": [20.816666666666663], "std": [12.028126759114793], "count": [1250]}, "frame_index": {"min": [0], "max": [1249], "mean": [624.5], "std": [360.84380277344377], "count": [1250]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1250]}, "index": {"min": [2501], "max": [3750], "mean": [3125.5], "std": [360.84380277344377], "count": [1250]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1250]}}}
meta/info.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "bi_xarm6_follower",
4
+ "total_episodes": 3,
5
+ "total_frames": 3751,
6
+ "total_tasks": 1,
7
+ "total_videos": 9,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:3"
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_joint1.pos",
24
+ "left_joint2.pos",
25
+ "left_joint3.pos",
26
+ "left_joint4.pos",
27
+ "left_joint5.pos",
28
+ "left_joint6.pos",
29
+ "left_gripper.pos",
30
+ "right_joint1.pos",
31
+ "right_joint2.pos",
32
+ "right_joint3.pos",
33
+ "right_joint4.pos",
34
+ "right_joint5.pos",
35
+ "right_joint6.pos",
36
+ "right_gripper.pos"
37
+ ]
38
+ },
39
+ "observation.state": {
40
+ "dtype": "float32",
41
+ "shape": [
42
+ 14
43
+ ],
44
+ "names": [
45
+ "left_joint1.pos",
46
+ "left_joint2.pos",
47
+ "left_joint3.pos",
48
+ "left_joint4.pos",
49
+ "left_joint5.pos",
50
+ "left_joint6.pos",
51
+ "left_gripper.pos",
52
+ "right_joint1.pos",
53
+ "right_joint2.pos",
54
+ "right_joint3.pos",
55
+ "right_joint4.pos",
56
+ "right_joint5.pos",
57
+ "right_joint6.pos",
58
+ "right_gripper.pos"
59
+ ]
60
+ },
61
+ "observation.images.ego": {
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.height": 480,
75
+ "video.width": 640,
76
+ "video.codec": "av1",
77
+ "video.pix_fmt": "yuv420p",
78
+ "video.is_depth_map": false,
79
+ "video.fps": 30,
80
+ "video.channels": 3,
81
+ "has_audio": false
82
+ }
83
+ },
84
+ "observation.images.left_wrist": {
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.height": 480,
98
+ "video.width": 640,
99
+ "video.codec": "av1",
100
+ "video.pix_fmt": "yuv420p",
101
+ "video.is_depth_map": false,
102
+ "video.fps": 30,
103
+ "video.channels": 3,
104
+ "has_audio": false
105
+ }
106
+ },
107
+ "observation.images.right_wrist": {
108
+ "dtype": "video",
109
+ "shape": [
110
+ 480,
111
+ 640,
112
+ 3
113
+ ],
114
+ "names": [
115
+ "height",
116
+ "width",
117
+ "channels"
118
+ ],
119
+ "info": {
120
+ "video.height": 480,
121
+ "video.width": 640,
122
+ "video.codec": "av1",
123
+ "video.pix_fmt": "yuv420p",
124
+ "video.is_depth_map": false,
125
+ "video.fps": 30,
126
+ "video.channels": 3,
127
+ "has_audio": false
128
+ }
129
+ },
130
+ "timestamp": {
131
+ "dtype": "float32",
132
+ "shape": [
133
+ 1
134
+ ],
135
+ "names": null
136
+ },
137
+ "frame_index": {
138
+ "dtype": "int64",
139
+ "shape": [
140
+ 1
141
+ ],
142
+ "names": null
143
+ },
144
+ "episode_index": {
145
+ "dtype": "int64",
146
+ "shape": [
147
+ 1
148
+ ],
149
+ "names": null
150
+ },
151
+ "index": {
152
+ "dtype": "int64",
153
+ "shape": [
154
+ 1
155
+ ],
156
+ "names": null
157
+ },
158
+ "task_index": {
159
+ "dtype": "int64",
160
+ "shape": [
161
+ 1
162
+ ],
163
+ "names": null
164
+ }
165
+ }
166
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grab the cable and plug it in"}
videos/chunk-000/observation.images.ego/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e980574f22dd9a4181c72c4f4a4f20fbe945987c48d0933fa0c3a49fd09de103
3
+ size 13382093
videos/chunk-000/observation.images.ego/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3fdcca0de2c42759190c6c6e163be67a430c85bc3f3b0fbd0f42673f972da98a
3
+ size 13646930
videos/chunk-000/observation.images.ego/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a2e7340c7f4c59297d0ea2a608e7b0bde5dc16c6b0ccea5ffc52fe630c0f999a
3
+ size 13554558
videos/chunk-000/observation.images.left_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:629ce38857ead75524d849efc62f531361fceffc098e6d68f002b1b722fd6514
3
+ size 9584991
videos/chunk-000/observation.images.left_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0dc9de76f48e809f2c587975c0789c2ed7814725b371b83fc8941c39c325f503
3
+ size 10269699
videos/chunk-000/observation.images.left_wrist/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9e6bb68c0c1ec6b714cca9ea9dd2942bfb065a1f7bbe0fbd717b972d7e3044a9
3
+ size 7546535
videos/chunk-000/observation.images.right_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a89f60e694b9928f0e590c437c942566a6ac4ee77dc0fc18057a2c7198b20425
3
+ size 12104355
videos/chunk-000/observation.images.right_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6325855ca7c5bfa4383f05aee49895d2f1961bcb8a0de71ef6162226313326fe
3
+ size 11780553
videos/chunk-000/observation.images.right_wrist/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f5810992e386d97dcf4d97010f98435f097fbce11306a0b518ccab28220cd1e6
3
+ size 10883068