Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -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.laptop/episode_000002.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
- videos/chunk-000/observation.images.phone/episode_000002.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:e0c2e4448178180000b0dda7b987dc8e7d1a755984dbd6bd848a40093a413f1b
|
3 |
+
size 10792
|
data/chunk-000/episode_000001.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:a833c43c14c9547c5993d756bc0a1e1c0ba3f3e4eea9ebc057492a8c8ad045bf
|
3 |
+
size 12102
|
data/chunk-000/episode_000002.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:1b0e57011f81ef650c9aea7310c7ed7ecae33b484162910922f73ddd5f83d94a
|
3 |
+
size 12343
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
{"episode_index": 0, "tasks": ["Grasp a blue block and put it inside the yellow bin."], "length": 129}
|
2 |
+
{"episode_index": 1, "tasks": ["Grasp a blue block and put it inside the yellow bin."], "length": 136}
|
3 |
+
{"episode_index": 2, "tasks": ["Grasp a blue block and put it inside the yellow bin."], "length": 136}
|
meta/episodes_stats.jsonl
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-2.5433578491210938, 74.47706604003906, 70.04861450195312, 81.19816589355469, -91.36531066894531, -0.6574552059173584], "max": [2.711822509765625, 90.70712280273438, 92.29917907714844, 86.20570373535156, -81.1087646484375, -0.33132311701774597], "mean": [-0.23333272337913513, 82.89208984375, 83.34908294677734, 83.22176361083984, -88.49751281738281, -0.5106921792030334], "std": [1.4050530195236206, 3.5935752391815186, 5.4707865715026855, 1.1306817531585693, 1.755663514137268, 0.062099434435367584], "count": [129]}, "observation.state": {"min": [-2.28515625, 74.70703125, 73.740234375, 81.298828125, -91.142578125, -0.3069838881492615], "max": [2.724609375, 88.505859375, 92.900390625, 86.1328125, -82.529296875, -0.3069838881492615], "mean": [-0.19758357107639313, 82.3310317993164, 85.40992736816406, 83.28352355957031, -88.66529083251953, -0.30698391795158386], "std": [1.3548073768615723, 3.3714165687561035, 5.162881851196289, 1.2657653093338013, 1.4442634582519531, 2.9802322387695312e-08], "count": [129]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8352941176470589]], [[0.8941176470588236]], [[0.8705882352941177]]], "mean": [[[0.4322824244281046]], [[0.4362154595588235]], [[0.40122881535947713]]], "std": [[[0.185107641510535]], [[0.1960330310831005]], [[0.20636606678530653]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48912378472222223]], [[0.5074219158496732]], [[0.47912899714052287]]], "std": [[[0.2374957856092702]], [[0.231864828275801]], [[0.22847886315867197]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.266666666666667], "mean": [2.1333333333333333], "std": [1.2412657816683503], "count": [129]}, "frame_index": {"min": [0], "max": [128], "mean": [64.0], "std": [37.23797345005051], "count": [129]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [129]}, "index": {"min": [0], "max": [128], "mean": [64.0], "std": [37.23797345005051], "count": [129]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [129]}}}
|
2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-2.2943038940429688, 48.16850280761719, 46.27653503417969, 81.12813568115234, -91.50401306152344, -0.5728170871734619], "max": [4.955284118652344, 76.27156829833984, 72.5826187133789, 83.05278778076172, -76.58705139160156, 35.651676177978516], "mean": [2.620767831802368, 59.945831298828125, 56.51710891723633, 82.36640930175781, -86.25827026367188, 26.086658477783203], "std": [1.8257813453674316, 6.686439514160156, 5.826001167297363, 0.5762842297554016, 3.535465955734253, 13.582466125488281], "count": [136]}, "observation.state": {"min": [-2.021484375, 47.900390625, 49.39453125, 81.298828125, -91.142578125, -0.3069838881492615], "max": [4.658203125, 86.66015625, 92.109375, 85.78125, -76.81640625, 35.45663833618164], "mean": [2.448012351989746, 60.18827438354492, 59.74946975708008, 82.6747055053711, -86.15802001953125, 25.410245895385742], "std": [1.923566460609436, 8.065196990966797, 8.456496238708496, 0.7689046859741211, 3.4940688610076904, 14.18088436126709], "count": [136]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9803921568627451]], [[0.9568627450980393]]], "mean": [[[0.4343908905228758]], [[0.4365663255718954]], [[0.40040916258169934]]], "std": [[[0.18569977879560753]], [[0.19687358088539494]], [[0.20636012830162045]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4839356045751634]], [[0.5021442177287582]], [[0.4757270302287582]]], "std": [[[0.2584545132837165]], [[0.2529862611523984]], [[0.2460363825007031]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.5], "mean": [2.25], "std": [1.3086252328302401], "count": [136]}, "frame_index": {"min": [0], "max": [135], "mean": [67.5], "std": [39.2587569849072], "count": [136]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [136]}, "index": {"min": [129], "max": [264], "mean": [196.5], "std": [39.2587569849072], "count": [136]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [136]}}}
|
3 |
+
{"episode_index": 2, "stats": {"action": {"min": [-9.092109680175781, 37.812705993652344, 20.005998611450195, 81.42131805419922, -91.94168853759766, -0.721932590007782], "max": [4.796783447265625, 70.00584411621094, 66.92819213867188, 89.94511413574219, -78.67916107177734, 26.718097686767578], "mean": [-4.345159530639648, 50.086822509765625, 37.4052848815918, 87.6823501586914, -83.38400268554688, 1.677178978919983], "std": [3.9382081031799316, 8.525372505187988, 13.174027442932129, 1.7311146259307861, 3.331217050552368, 6.263704776763916], "count": [136]}, "observation.state": {"min": [-9.052734375, 37.353515625, 22.587890625, 81.73828125, -91.40625, -0.4604758322238922], "max": [4.5703125, 86.923828125, 92.021484375, 90.0, -78.92578125, 26.477359771728516], "mean": [-4.162525653839111, 50.75812911987305, 41.59423828125, 87.8221206665039, -83.59949493408203, 2.0924606323242188], "std": [3.944171667098999, 10.977479934692383, 16.681894302368164, 1.6475145816802979, 3.248786687850952, 6.032374858856201], "count": [136]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.984313725490196]], [[0.9568627450980393]]], "mean": [[[0.4335378084150327]], [[0.4349334783496732]], [[0.3999711764705882]]], "std": [[[0.18933934270246927]], [[0.2001265349510671]], [[0.2099226108958581]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4911347916666667]], [[0.5097390849673202]], [[0.4865144015522876]]], "std": [[[0.2470223391290569]], [[0.24038190849361993]], [[0.23440472428012518]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.5], "mean": [2.25], "std": [1.3086252328302401], "count": [136]}, "frame_index": {"min": [0], "max": [135], "mean": [67.5], "std": [39.2587569849072], "count": [136]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [136]}, "index": {"min": [265], "max": [400], "mean": [332.5], "std": [39.2587569849072], "count": [136]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [136]}}}
|
meta/info.json
ADDED
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"codebase_version": "v2.1",
|
3 |
+
"robot_type": "so100",
|
4 |
+
"total_episodes": 3,
|
5 |
+
"total_frames": 401,
|
6 |
+
"total_tasks": 1,
|
7 |
+
"total_videos": 6,
|
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 |
+
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": "h264",
|
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": "h264",
|
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 blue block and put it inside the yellow 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:cf7bc7d2a238124f1cf251f678b96277ca911c8ba6a527facf79bb8312a7a085
|
3 |
+
size 1573398
|
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:b6f74d5e24705d8f89e5f1416e5655c483929813e2f145e4ef9402e1a487ab67
|
3 |
+
size 1668323
|
videos/chunk-000/observation.images.laptop/episode_000002.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:9eef597f8a5b700e5582c01dcfd8c60da0c2c1d20d94e414eb96608a4dfeee33
|
3 |
+
size 1695726
|
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:cf477183087ebb4cc0945bf99a0dc654bcabff9bbf476c5eba823d4c8efd2cc6
|
3 |
+
size 1302098
|
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 sha256:5ff77302e7b8a0fa4f20f76191951aa494e503f7d6c3b1469e753dec22dd95d5
|
3 |
+
size 1480354
|
videos/chunk-000/observation.images.phone/episode_000002.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:ab71e7d2369cd7af6dd528f864172321103b22060eb254c52f619174aafa2b4d
|
3 |
+
size 1409684
|