zijian2022 commited on
Commit
967be5a
·
verified ·
1 Parent(s): 09d54c8

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 sha256:9b5a6a5949fd66e2e3d6e0273acaa37a3173589da6aefdc539bb4c6fb87cbc0e
3
+ size 38207
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c7fa430b49429339bf051ca38891020cdce8fffc6d4ffca4a3a70e5b21b33dc9
3
+ size 39706
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:af1b9541c15746b549431905693b7c34822a60cfda238a5b25c57b33e3cdfc72
3
+ size 41405
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:639b702ad6cbf441ac56e46c315189ccee830f283b541cc39240e9ab7b2414c2
3
+ size 39903
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c17c1b74fe0b3897d428a34ede44030c29c33da40ad7efa6537046cc8dafa9d7
3
+ size 42104
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 529}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 590}
3
+ {"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 591}
4
+ {"episode_index": 3, "tasks": ["Grasp a lego block and put it in the bin."], "length": 594}
5
+ {"episode_index": 4, "tasks": ["Grasp a lego block and put it in the bin."], "length": 593}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-7.907244682312012, 101.90609741210938, 101.68600463867188, 44.24080276489258, -86.26460266113281, -1.662858486175537], "max": [56.2749137878418, 192.96023559570312, 181.1616973876953, 84.13978576660156, -6.163051605224609, 40.8464241027832], "mean": [8.76455307006836, 147.86573791503906, 139.78054809570312, 70.039794921875, -47.58096694946289, 6.042966842651367], "std": [21.713979721069336, 36.52570343017578, 32.790672302246094, 9.932891845703125, 30.976160049438477, 11.665438652038574], "count": [529]}, "observation.state": {"min": [-6.6796875, 100.72265625, 102.65625, 44.736328125, -85.25390625, -0.24077045917510986], "max": [55.37109375, 191.953125, 180.439453125, 83.49609375, -6.943359375, 38.924556732177734], "mean": [8.712303161621094, 145.77578735351562, 140.12342834472656, 69.74388885498047, -47.050228118896484, 6.59473991394043], "std": [21.1285400390625, 37.79142761230469, 32.27271270751953, 9.760991096496582, 31.4677677154541, 10.837570190429688], "count": [529]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6293656769904932]], [[0.5776324513517528]], [[0.5602998198900773]]], "std": [[[0.17122183711412686]], [[0.14262262379961993]], [[0.1344749505174955]]], "count": [110]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9176470588235294]], [[0.9411764705882353]], [[1.0]]], "mean": [[[0.5324394663547237]], [[0.5238700701871658]], [[0.4407765281491385]]], "std": [[[0.23138058601141967]], [[0.23943927980619673]], [[0.2567281146368965]]], "count": [110]}, "timestamp": {"min": [0.0], "max": [17.6], "mean": [8.8], "std": [5.090295778352287], "count": [529]}, "frame_index": {"min": [0], "max": [528], "mean": [264.0], "std": [152.7088733505686], "count": [529]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [529]}, "index": {"min": [0], "max": [528], "mean": [264.0], "std": [152.7088733505686], "count": [529]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [529]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-7.9240617752075195, 101.62908935546875, 102.33590698242188, 41.84845733642578, -86.00221252441406, -1.5682311058044434], "max": [57.450538635253906, 192.72413635253906, 180.7056884765625, 85.53317260742188, -6.014133453369141, 44.91460418701172], "mean": [16.834117889404297, 129.0961151123047, 121.61095428466797, 71.35706329345703, -63.4697151184082, 6.972962379455566], "std": [20.143577575683594, 28.3643741607666, 25.651447296142578, 9.838655471801758, 25.737382888793945, 11.06598949432373], "count": [590]}, "observation.state": {"min": [-14.501953125, 100.72265625, 103.7109375, 42.099609375, -84.90234375, -0.24077045917510986], "max": [56.337890625, 191.77734375, 179.47265625, 84.55078125, -4.482421875, 42.776885986328125], "mean": [16.23682403564453, 126.41557312011719, 122.22708892822266, 70.80826568603516, -63.065147399902344, 7.362507343292236], "std": [19.866168975830078, 29.2458438873291, 25.317724227905273, 9.579392433166504, 25.849891662597656, 10.524819374084473], "count": [590]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6480864039243148]], [[0.5983124725380348]], [[0.5815905283682101]]], "std": [[[0.17585983842289155]], [[0.14003262753310253]], [[0.13099268642960776]]], "count": [119]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9098039215686274]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.5316688790712364]], [[0.5207330799967046]], [[0.44104890804360963]]], "std": [[[0.23280960852108573]], [[0.24170329386370093]], [[0.26172278878481636]]], "count": [119]}, "timestamp": {"min": [0.0], "max": [19.633333333333333], "mean": [9.816666666666668], "std": [5.677269492360645], "count": [590]}, "frame_index": {"min": [0], "max": [589], "mean": [294.5], "std": [170.31808477081933], "count": [590]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [590]}, "index": {"min": [529], "max": [1118], "mean": [823.5], "std": [170.31808477081933], "count": [590]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [590]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [-8.208062171936035, 101.04483032226562, 101.72723388671875, 38.3670768737793, -86.15576171875, -1.4867525100708008], "max": [57.40404510498047, 192.39947509765625, 180.53179931640625, 86.97101593017578, -7.852668762207031, 45.106937408447266], "mean": [13.300333023071289, 143.5228729248047, 135.20736694335938, 71.03783416748047, -49.367401123046875, 6.446680545806885], "std": [23.16636085510254, 36.1387825012207, 32.89115524291992, 10.18044376373291, 29.88832664489746, 11.889753341674805], "count": [591]}, "observation.state": {"min": [-14.4140625, 101.07421875, 102.568359375, 38.935546875, -85.4296875, -0.8025681972503662], "max": [56.337890625, 191.162109375, 179.560546875, 85.60546875, -4.5703125, 43.65970993041992], "mean": [12.877835273742676, 141.279296875, 135.5313262939453, 70.7144775390625, -49.24254608154297, 6.888525009155273], "std": [22.999351501464844, 37.11635971069336, 32.26316452026367, 9.93753719329834, 30.023941040039062, 11.285225868225098], "count": [591]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6391946933185039]], [[0.6013147021063326]], [[0.5827872384247816]]], "std": [[[0.17103641455085722]], [[0.134530106778286]], [[0.12863698051980904]]], "count": [119]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.5336777715988356]], [[0.5214242118415994]], [[0.4525932865793376]]], "std": [[[0.23432721194461217]], [[0.2420219430970855]], [[0.2633538220796013]]], "count": [119]}, "timestamp": {"min": [0.0], "max": [19.666666666666668], "mean": [9.833333333333334], "std": [5.686892010645247], "count": [591]}, "frame_index": {"min": [0], "max": [590], "mean": [295.0], "std": [170.60676031935742], "count": [591]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [591]}, "index": {"min": [1119], "max": [1709], "mean": [1414.0], "std": [170.60676031935742], "count": [591]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [591]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [-9.3064603805542, 100.75593566894531, 101.93474578857422, 51.490478515625, -84.52842712402344, -1.5160446166992188], "max": [56.977516174316406, 192.57269287109375, 180.61631774902344, 86.54447174072266, -8.268306732177734, 45.37208557128906], "mean": [16.256589889526367, 132.08712768554688, 124.41500854492188, 73.83890533447266, -60.29882049560547, 6.8356146812438965], "std": [20.250194549560547, 31.4410457611084, 28.882957458496094, 6.846493721008301, 26.60041046142578, 11.463794708251953], "count": [594]}, "observation.state": {"min": [-14.501953125, 99.931640625, 102.568359375, 51.767578125, -83.3203125, -0.8025681972503662], "max": [55.634765625, 191.6015625, 179.6484375, 85.60546875, -5.009765625, 44.060997009277344], "mean": [15.658291816711426, 129.7740478515625, 125.30338287353516, 73.49078369140625, -59.680240631103516, 6.914785861968994], "std": [19.960416793823242, 33.09981918334961, 28.579002380371094, 6.627588748931885, 27.06922149658203, 11.050572395324707], "count": [594]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6390960239651416]], [[0.6063094924428105]], [[0.5905839818218954]]], "std": [[[0.17140591772510624]], [[0.13160569635275585]], [[0.12469312450288786]]], "count": [120]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.9686274509803922]], [[1.0]]], "mean": [[[0.5436293590005447]], [[0.5322218664896514]], [[0.46575169696350766]]], "std": [[[0.23412389663905261]], [[0.24493365651178456]], [[0.26825950581602753]]], "count": [120]}, "timestamp": {"min": [0.0], "max": [19.766666666666666], "mean": [9.883333333333333], "std": [5.715759565220305], "count": [594]}, "frame_index": {"min": [0], "max": [593], "mean": [296.5], "std": [171.47278695660916], "count": [594]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [594]}, "index": {"min": [1710], "max": [2303], "mean": [2006.5], "std": [171.47278695660916], "count": [594]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [594]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-12.09404468536377, 101.13561248779297, 99.96288299560547, 37.76713562011719, -86.58375549316406, -1.6296100616455078], "max": [56.652015686035156, 193.25103759765625, 181.15740966796875, 85.3335952758789, -8.809913635253906, 38.683292388916016], "mean": [8.645857810974121, 147.41952514648438, 138.74424743652344, 68.74225616455078, -47.03136444091797, 5.198910236358643], "std": [21.03615951538086, 36.43623352050781, 32.98020935058594, 11.591912269592285, 30.583147048950195, 9.770235061645508], "count": [593]}, "observation.state": {"min": [-14.4140625, 101.25, 101.513671875, 38.14453125, -85.4296875, 0.0], "max": [55.37109375, 191.953125, 180.439453125, 84.55078125, -4.482421875, 36.99839401245117], "mean": [8.149373054504395, 145.4831085205078, 139.2586212158203, 68.376708984375, -46.533565521240234, 5.700788974761963], "std": [20.755807876586914, 37.792869567871094, 32.53364944458008, 11.163561820983887, 30.834781646728516, 9.000707626342773], "count": [593]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6340760552832244]], [[0.6048919355936819]], [[0.5832926011029412]]], "std": [[[0.16773302823427674]], [[0.13213087261384063]], [[0.12665942884144687]]], "count": [120]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9725490196078431]], [[1.0]]], "mean": [[[0.5353513139978213]], [[0.5264030807461874]], [[0.4613331478077342]]], "std": [[[0.2369869797804274]], [[0.24647748370452588]], [[0.2690928937481602]]], "count": [120]}, "timestamp": {"min": [0.0], "max": [19.733333333333334], "mean": [9.866666666666667], "std": [5.706137047074843], "count": [593]}, "frame_index": {"min": [0], "max": [592], "mean": [296.0], "std": [171.18411141224527], "count": [593]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [593]}, "index": {"min": [2304], "max": [2896], "mean": [2600.0], "std": [171.18411141224527], "count": [593]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [593]}}}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "so100",
4
+ "total_episodes": 5,
5
+ "total_frames": 2897,
6
+ "total_tasks": 1,
7
+ "total_videos": 10,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:5"
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 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 sha256:339b6265932c6d8050d3a5bc13176de25affa14cd0f10844884a7839b59e34fe
3
+ size 4144977
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 sha256:35b3d4256ffadf3ca60bf46fe99a97b5c743c00e9e0dc2a4ef7d8b0fc665ff79
3
+ size 4632054
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 sha256:2e05b96c6d40ac83a17a755a51c60ed893136a42b61b3d570929ee26ef3c54a0
3
+ size 4284088
videos/chunk-000/observation.images.laptop/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ed1bee61a958de95e37275fa1052f6d92cfd72e766c43f5a52e881fc84eceb4
3
+ size 4426205
videos/chunk-000/observation.images.laptop/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0f578ee7fc840c27fc8ef720f8d79d3d902da4a4bfb4a03189f7ef46c31c9ed3
3
+ size 4217080
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 sha256:133254436c908e12ffe301cecb36a782f11c5b7267d2bd3b04bfd3be39d84708
3
+ size 7523932
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:c3aa27bdc2d1489e3ec0cd89d1f12d558c49fae0a04842aa223d6b25887e9fae
3
+ size 8472807
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:e48acd68913f2d7553ca71bcb540675083faee25a428a4dd8a5fbaceda8bddf5
3
+ size 8211116
videos/chunk-000/observation.images.phone/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:159fc227778f840a4b86f8c9b3b053ca6cdbb23d6fcaa3b6aadf1b8f98881bf5
3
+ size 8403926
videos/chunk-000/observation.images.phone/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e9d029b19d5dca4c0c11b3f2b9b2860a526beb1a4d6a0af8026e9db776ba5a68
3
+ size 8293826