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:be09af3301de209084f0553051a784a3285e8b6ba8616f73e2a919b9b461d6a2
|
3 |
+
size 70134
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"episode_index": 0, "tasks": ["Grasp a dice and put it in the box."], "length": 587}
|
meta/info.json
ADDED
@@ -0,0 +1,139 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"codebase_version": "v2.0",
|
3 |
+
"robot_type": "so100",
|
4 |
+
"total_episodes": 1,
|
5 |
+
"total_frames": 587,
|
6 |
+
"total_tasks": 1,
|
7 |
+
"total_videos": 2,
|
8 |
+
"total_chunks": 1,
|
9 |
+
"chunks_size": 1000,
|
10 |
+
"fps": 30,
|
11 |
+
"splits": {
|
12 |
+
"train": "0:1"
|
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 |
+
12
|
21 |
+
],
|
22 |
+
"names": [
|
23 |
+
"left_shoulder_pan",
|
24 |
+
"left_shoulder_lift",
|
25 |
+
"left_elbow_flex",
|
26 |
+
"left_wrist_flex",
|
27 |
+
"left_wrist_roll",
|
28 |
+
"left_gripper",
|
29 |
+
"right_shoulder_pan",
|
30 |
+
"right_shoulder_lift",
|
31 |
+
"right_elbow_flex",
|
32 |
+
"right_wrist_flex",
|
33 |
+
"right_wrist_roll",
|
34 |
+
"right_gripper"
|
35 |
+
]
|
36 |
+
},
|
37 |
+
"observation.state": {
|
38 |
+
"dtype": "float32",
|
39 |
+
"shape": [
|
40 |
+
12
|
41 |
+
],
|
42 |
+
"names": [
|
43 |
+
"left_shoulder_pan",
|
44 |
+
"left_shoulder_lift",
|
45 |
+
"left_elbow_flex",
|
46 |
+
"left_wrist_flex",
|
47 |
+
"left_wrist_roll",
|
48 |
+
"left_gripper",
|
49 |
+
"right_shoulder_pan",
|
50 |
+
"right_shoulder_lift",
|
51 |
+
"right_elbow_flex",
|
52 |
+
"right_wrist_flex",
|
53 |
+
"right_wrist_roll",
|
54 |
+
"right_gripper"
|
55 |
+
]
|
56 |
+
},
|
57 |
+
"observation.images.laptop": {
|
58 |
+
"dtype": "video",
|
59 |
+
"shape": [
|
60 |
+
480,
|
61 |
+
640,
|
62 |
+
3
|
63 |
+
],
|
64 |
+
"names": [
|
65 |
+
"height",
|
66 |
+
"width",
|
67 |
+
"channels"
|
68 |
+
],
|
69 |
+
"info": {
|
70 |
+
"video.fps": 30.0,
|
71 |
+
"video.height": 480,
|
72 |
+
"video.width": 640,
|
73 |
+
"video.channels": 3,
|
74 |
+
"video.codec": "h264",
|
75 |
+
"video.pix_fmt": "yuv420p",
|
76 |
+
"video.is_depth_map": false,
|
77 |
+
"has_audio": false
|
78 |
+
}
|
79 |
+
},
|
80 |
+
"observation.images.phone": {
|
81 |
+
"dtype": "video",
|
82 |
+
"shape": [
|
83 |
+
480,
|
84 |
+
640,
|
85 |
+
3
|
86 |
+
],
|
87 |
+
"names": [
|
88 |
+
"height",
|
89 |
+
"width",
|
90 |
+
"channels"
|
91 |
+
],
|
92 |
+
"info": {
|
93 |
+
"video.fps": 30.0,
|
94 |
+
"video.height": 480,
|
95 |
+
"video.width": 640,
|
96 |
+
"video.channels": 3,
|
97 |
+
"video.codec": "h264",
|
98 |
+
"video.pix_fmt": "yuv420p",
|
99 |
+
"video.is_depth_map": false,
|
100 |
+
"has_audio": false
|
101 |
+
}
|
102 |
+
},
|
103 |
+
"timestamp": {
|
104 |
+
"dtype": "float32",
|
105 |
+
"shape": [
|
106 |
+
1
|
107 |
+
],
|
108 |
+
"names": null
|
109 |
+
},
|
110 |
+
"frame_index": {
|
111 |
+
"dtype": "int64",
|
112 |
+
"shape": [
|
113 |
+
1
|
114 |
+
],
|
115 |
+
"names": null
|
116 |
+
},
|
117 |
+
"episode_index": {
|
118 |
+
"dtype": "int64",
|
119 |
+
"shape": [
|
120 |
+
1
|
121 |
+
],
|
122 |
+
"names": null
|
123 |
+
},
|
124 |
+
"index": {
|
125 |
+
"dtype": "int64",
|
126 |
+
"shape": [
|
127 |
+
1
|
128 |
+
],
|
129 |
+
"names": null
|
130 |
+
},
|
131 |
+
"task_index": {
|
132 |
+
"dtype": "int64",
|
133 |
+
"shape": [
|
134 |
+
1
|
135 |
+
],
|
136 |
+
"names": null
|
137 |
+
}
|
138 |
+
}
|
139 |
+
}
|
meta/stats.json
ADDED
@@ -0,0 +1,328 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"action": {
|
3 |
+
"mean": [
|
4 |
+
56.972354888916016,
|
5 |
+
71.82661437988281,
|
6 |
+
107.7893295288086,
|
7 |
+
-16.26288414001465,
|
8 |
+
-90.53036499023438,
|
9 |
+
13.491666793823242,
|
10 |
+
-7.605602264404297,
|
11 |
+
184.83592224121094,
|
12 |
+
174.17391967773438,
|
13 |
+
73.11904907226562,
|
14 |
+
19.61471939086914,
|
15 |
+
1.7406142950057983
|
16 |
+
],
|
17 |
+
"std": [
|
18 |
+
5.5690436363220215,
|
19 |
+
10.222949981689453,
|
20 |
+
13.320415496826172,
|
21 |
+
19.007614135742188,
|
22 |
+
9.985334396362305,
|
23 |
+
7.348141670227051,
|
24 |
+
5.7227702140808105,
|
25 |
+
6.377713680267334,
|
26 |
+
5.093438148498535,
|
27 |
+
1.522085428237915,
|
28 |
+
3.822944402694702,
|
29 |
+
2.2479031085968018
|
30 |
+
],
|
31 |
+
"max": [
|
32 |
+
65.62991333007812,
|
33 |
+
94.36585235595703,
|
34 |
+
128.6934051513672,
|
35 |
+
30.67841339111328,
|
36 |
+
-57.62361145019531,
|
37 |
+
24.32737159729004,
|
38 |
+
-0.15805530548095703,
|
39 |
+
193.5460205078125,
|
40 |
+
182.14105224609375,
|
41 |
+
76.64754486083984,
|
42 |
+
29.832374572753906,
|
43 |
+
9.991559982299805
|
44 |
+
],
|
45 |
+
"min": [
|
46 |
+
44.602210998535156,
|
47 |
+
50.08820343017578,
|
48 |
+
71.59040832519531,
|
49 |
+
-54.38774490356445,
|
50 |
+
-104.99713134765625,
|
51 |
+
-0.49190473556518555,
|
52 |
+
-18.965072631835938,
|
53 |
+
167.9115753173828,
|
54 |
+
161.7917022705078,
|
55 |
+
70.76654052734375,
|
56 |
+
15.27412223815918,
|
57 |
+
-0.21473050117492676
|
58 |
+
]
|
59 |
+
},
|
60 |
+
"observation.state": {
|
61 |
+
"mean": [
|
62 |
+
56.62894821166992,
|
63 |
+
67.05245208740234,
|
64 |
+
109.11763000488281,
|
65 |
+
-14.952333450317383,
|
66 |
+
-88.99082946777344,
|
67 |
+
12.859258651733398,
|
68 |
+
-7.073472499847412,
|
69 |
+
184.7421875,
|
70 |
+
174.47772216796875,
|
71 |
+
70.73023986816406,
|
72 |
+
18.79557228088379,
|
73 |
+
1.7817997932434082
|
74 |
+
],
|
75 |
+
"std": [
|
76 |
+
5.528383731842041,
|
77 |
+
9.739728927612305,
|
78 |
+
12.655720710754395,
|
79 |
+
18.657873153686523,
|
80 |
+
9.88826847076416,
|
81 |
+
7.166374206542969,
|
82 |
+
5.666384696960449,
|
83 |
+
5.884241580963135,
|
84 |
+
4.933809757232666,
|
85 |
+
1.7385839223861694,
|
86 |
+
3.6588752269744873,
|
87 |
+
1.817879557609558
|
88 |
+
],
|
89 |
+
"max": [
|
90 |
+
64.951171875,
|
91 |
+
88.2421875,
|
92 |
+
128.408203125,
|
93 |
+
29.35546875,
|
94 |
+
-57.48046875,
|
95 |
+
23.741548538208008,
|
96 |
+
-0.263671875,
|
97 |
+
191.513671875,
|
98 |
+
180.966796875,
|
99 |
+
75.498046875,
|
100 |
+
28.388671875,
|
101 |
+
8.833333015441895
|
102 |
+
],
|
103 |
+
"min": [
|
104 |
+
45.263671875,
|
105 |
+
49.130859375,
|
106 |
+
75.498046875,
|
107 |
+
-52.294921875,
|
108 |
+
-102.48046875,
|
109 |
+
0.4507888853549957,
|
110 |
+
-17.9296875,
|
111 |
+
169.27734375,
|
112 |
+
164.267578125,
|
113 |
+
69.08203125,
|
114 |
+
15.1171875,
|
115 |
+
0.5833333134651184
|
116 |
+
]
|
117 |
+
},
|
118 |
+
"observation.images.laptop": {
|
119 |
+
"mean": [
|
120 |
+
[
|
121 |
+
[
|
122 |
+
0.3884577453136444
|
123 |
+
]
|
124 |
+
],
|
125 |
+
[
|
126 |
+
[
|
127 |
+
0.39497339725494385
|
128 |
+
]
|
129 |
+
],
|
130 |
+
[
|
131 |
+
[
|
132 |
+
0.3756101131439209
|
133 |
+
]
|
134 |
+
]
|
135 |
+
],
|
136 |
+
"std": [
|
137 |
+
[
|
138 |
+
[
|
139 |
+
0.27666905522346497
|
140 |
+
]
|
141 |
+
],
|
142 |
+
[
|
143 |
+
[
|
144 |
+
0.27252811193466187
|
145 |
+
]
|
146 |
+
],
|
147 |
+
[
|
148 |
+
[
|
149 |
+
0.27254870533943176
|
150 |
+
]
|
151 |
+
]
|
152 |
+
],
|
153 |
+
"max": [
|
154 |
+
[
|
155 |
+
[
|
156 |
+
1.0
|
157 |
+
]
|
158 |
+
],
|
159 |
+
[
|
160 |
+
[
|
161 |
+
1.0
|
162 |
+
]
|
163 |
+
],
|
164 |
+
[
|
165 |
+
[
|
166 |
+
1.0
|
167 |
+
]
|
168 |
+
]
|
169 |
+
],
|
170 |
+
"min": [
|
171 |
+
[
|
172 |
+
[
|
173 |
+
0.0
|
174 |
+
]
|
175 |
+
],
|
176 |
+
[
|
177 |
+
[
|
178 |
+
0.0
|
179 |
+
]
|
180 |
+
],
|
181 |
+
[
|
182 |
+
[
|
183 |
+
0.0
|
184 |
+
]
|
185 |
+
]
|
186 |
+
]
|
187 |
+
},
|
188 |
+
"observation.images.phone": {
|
189 |
+
"mean": [
|
190 |
+
[
|
191 |
+
[
|
192 |
+
0.4725860357284546
|
193 |
+
]
|
194 |
+
],
|
195 |
+
[
|
196 |
+
[
|
197 |
+
0.45035216212272644
|
198 |
+
]
|
199 |
+
],
|
200 |
+
[
|
201 |
+
[
|
202 |
+
0.432731032371521
|
203 |
+
]
|
204 |
+
]
|
205 |
+
],
|
206 |
+
"std": [
|
207 |
+
[
|
208 |
+
[
|
209 |
+
0.2062716782093048
|
210 |
+
]
|
211 |
+
],
|
212 |
+
[
|
213 |
+
[
|
214 |
+
0.18883025646209717
|
215 |
+
]
|
216 |
+
],
|
217 |
+
[
|
218 |
+
[
|
219 |
+
0.20015579462051392
|
220 |
+
]
|
221 |
+
]
|
222 |
+
],
|
223 |
+
"max": [
|
224 |
+
[
|
225 |
+
[
|
226 |
+
1.0
|
227 |
+
]
|
228 |
+
],
|
229 |
+
[
|
230 |
+
[
|
231 |
+
1.0
|
232 |
+
]
|
233 |
+
],
|
234 |
+
[
|
235 |
+
[
|
236 |
+
1.0
|
237 |
+
]
|
238 |
+
]
|
239 |
+
],
|
240 |
+
"min": [
|
241 |
+
[
|
242 |
+
[
|
243 |
+
0.0
|
244 |
+
]
|
245 |
+
],
|
246 |
+
[
|
247 |
+
[
|
248 |
+
0.0
|
249 |
+
]
|
250 |
+
],
|
251 |
+
[
|
252 |
+
[
|
253 |
+
0.0
|
254 |
+
]
|
255 |
+
]
|
256 |
+
]
|
257 |
+
},
|
258 |
+
"timestamp": {
|
259 |
+
"mean": [
|
260 |
+
9.7666654586792
|
261 |
+
],
|
262 |
+
"std": [
|
263 |
+
5.648402214050293
|
264 |
+
],
|
265 |
+
"max": [
|
266 |
+
19.53333282470703
|
267 |
+
],
|
268 |
+
"min": [
|
269 |
+
0.0
|
270 |
+
]
|
271 |
+
},
|
272 |
+
"frame_index": {
|
273 |
+
"mean": [
|
274 |
+
292.9999694824219
|
275 |
+
],
|
276 |
+
"std": [
|
277 |
+
169.45205688476562
|
278 |
+
],
|
279 |
+
"max": [
|
280 |
+
586.0
|
281 |
+
],
|
282 |
+
"min": [
|
283 |
+
0.0
|
284 |
+
]
|
285 |
+
},
|
286 |
+
"episode_index": {
|
287 |
+
"mean": [
|
288 |
+
0.0
|
289 |
+
],
|
290 |
+
"std": [
|
291 |
+
0.0
|
292 |
+
],
|
293 |
+
"max": [
|
294 |
+
0.0
|
295 |
+
],
|
296 |
+
"min": [
|
297 |
+
0.0
|
298 |
+
]
|
299 |
+
},
|
300 |
+
"index": {
|
301 |
+
"mean": [
|
302 |
+
292.9999694824219
|
303 |
+
],
|
304 |
+
"std": [
|
305 |
+
169.45205688476562
|
306 |
+
],
|
307 |
+
"max": [
|
308 |
+
586.0
|
309 |
+
],
|
310 |
+
"min": [
|
311 |
+
0.0
|
312 |
+
]
|
313 |
+
},
|
314 |
+
"task_index": {
|
315 |
+
"mean": [
|
316 |
+
0.0
|
317 |
+
],
|
318 |
+
"std": [
|
319 |
+
0.0
|
320 |
+
],
|
321 |
+
"max": [
|
322 |
+
0.0
|
323 |
+
],
|
324 |
+
"min": [
|
325 |
+
0.0
|
326 |
+
]
|
327 |
+
}
|
328 |
+
}
|
meta/tasks.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"task_index": 0, "task": "Grasp a dice and put it in the box."}
|
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 sha256:5ddd6b80172c0b37ea586d8d73f76e2436da4f8a41b06a0ff69467b6b3136a06
|
3 |
+
size 10269099
|
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:b1d26b2753a139888415c237e1825d6c405783f3ca00d928a6640e2bfa848c47
|
3 |
+
size 11341082
|