kumarhans commited on
Commit
27dc954
·
verified ·
1 Parent(s): 1ab84fc

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:f0e0d13d5832a5d95eeb87880f9cc9fa95bbbc3beaee5407229f6103ada29903
3
+ size 17439
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4e899bfe826fd7b09dddc87467744291428029e3d9644ce0f3e232abaf93dee5
3
+ size 19540
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 299}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 299}
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "so100",
4
+ "total_episodes": 2,
5
+ "total_frames": 598,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
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.wrist_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.fps": 30.0,
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.channels": 3,
62
+ "video.codec": "h264",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
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/stats.json ADDED
@@ -0,0 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ -18.826234817504883,
5
+ 104.65702819824219,
6
+ 100.4689712524414,
7
+ 57.16785430908203,
8
+ 27.982877731323242,
9
+ 10.993745803833008
10
+ ],
11
+ "std": [
12
+ 9.070918083190918,
13
+ 13.287569999694824,
14
+ 14.034680366516113,
15
+ 11.162516593933105,
16
+ 6.88618803024292,
17
+ 9.297616004943848
18
+ ],
19
+ "max": [
20
+ -0.52734375,
21
+ 153.017578125,
22
+ 124.1015625,
23
+ 84.7265625,
24
+ 44.208984375,
25
+ 24.34782600402832
26
+ ],
27
+ "min": [
28
+ -38.14453125,
29
+ 82.79296875,
30
+ 58.798828125,
31
+ 30.9375,
32
+ 11.689453125,
33
+ -0.17391304671764374
34
+ ]
35
+ },
36
+ "observation.state": {
37
+ "mean": [
38
+ -18.274343490600586,
39
+ 102.79762268066406,
40
+ 101.0115966796875,
41
+ 57.00413131713867,
42
+ 27.319726943969727,
43
+ 11.241739273071289
44
+ ],
45
+ "std": [
46
+ 8.989124298095703,
47
+ 13.120755195617676,
48
+ 13.412994384765625,
49
+ 10.745575904846191,
50
+ 6.9412689208984375,
51
+ 8.506632804870605
52
+ ],
53
+ "max": [
54
+ -0.439453125,
55
+ 150.64453125,
56
+ 124.013671875,
57
+ 83.583984375,
58
+ 43.59375,
59
+ 23.606271743774414
60
+ ],
61
+ "min": [
62
+ -37.79296875,
63
+ 81.474609375,
64
+ 62.2265625,
65
+ 31.11328125,
66
+ 11.513671875,
67
+ 1.0452961921691895
68
+ ]
69
+ },
70
+ "observation.images.wrist_cam": {
71
+ "mean": [
72
+ [
73
+ [
74
+ 0.4378509223461151
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.4246009290218353
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.4144843816757202
85
+ ]
86
+ ]
87
+ ],
88
+ "std": [
89
+ [
90
+ [
91
+ 0.28674718737602234
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.298175185918808
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.31010186672210693
102
+ ]
103
+ ]
104
+ ],
105
+ "max": [
106
+ [
107
+ [
108
+ 1.0
109
+ ]
110
+ ],
111
+ [
112
+ [
113
+ 1.0
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 1.0
119
+ ]
120
+ ]
121
+ ],
122
+ "min": [
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ],
128
+ [
129
+ [
130
+ 0.0
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 0.0
136
+ ]
137
+ ]
138
+ ]
139
+ },
140
+ "timestamp": {
141
+ "mean": [
142
+ 4.966665744781494
143
+ ],
144
+ "std": [
145
+ 2.877112627029419
146
+ ],
147
+ "max": [
148
+ 9.933333396911621
149
+ ],
150
+ "min": [
151
+ 0.0
152
+ ]
153
+ },
154
+ "frame_index": {
155
+ "mean": [
156
+ 148.99996948242188
157
+ ],
158
+ "std": [
159
+ 86.31338500976562
160
+ ],
161
+ "max": [
162
+ 298.0
163
+ ],
164
+ "min": [
165
+ 0.0
166
+ ]
167
+ },
168
+ "episode_index": {
169
+ "mean": [
170
+ 0.5000000596046448
171
+ ],
172
+ "std": [
173
+ 0.5
174
+ ],
175
+ "max": [
176
+ 1.0
177
+ ],
178
+ "min": [
179
+ 0.0
180
+ ]
181
+ },
182
+ "index": {
183
+ "mean": [
184
+ 298.5000305175781
185
+ ],
186
+ "std": [
187
+ 172.6274871826172
188
+ ],
189
+ "max": [
190
+ 597.0
191
+ ],
192
+ "min": [
193
+ 0.0
194
+ ]
195
+ },
196
+ "task_index": {
197
+ "mean": [
198
+ 0.0
199
+ ],
200
+ "std": [
201
+ 0.0
202
+ ],
203
+ "max": [
204
+ 0.0
205
+ ],
206
+ "min": [
207
+ 0.0
208
+ ]
209
+ }
210
+ }
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.wrist_cam/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:742522c5e506f520bd6057bea5fe6237f8b1731dfc9880e59331ea6fddab6c12
3
+ size 5679401
videos/chunk-000/observation.images.wrist_cam/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb9decfb7680a36959cbc76c06d5b2f1d73f9bf4929ce6be46156d90093937b8
3
+ size 5701547