Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/info.json +111 -0
- meta/stats.json +288 -0
- meta/tasks.jsonl +1 -0
data/chunk-000/episode_000000.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:8b02f35367b2300dc3e40257f443cb5db9e7e7fbaf16fc88e6a98bd0a6ad5365
|
3 |
+
size 132327633
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"episode_index": 0, "tasks": ["grip_box_and_return"], "length": 154}
|
meta/info.json
ADDED
@@ -0,0 +1,111 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"codebase_version": "v2.0",
|
3 |
+
"robot_type": "piper",
|
4 |
+
"total_episodes": 1,
|
5 |
+
"total_frames": 154,
|
6 |
+
"total_tasks": 1,
|
7 |
+
"total_videos": 0,
|
8 |
+
"total_chunks": 1,
|
9 |
+
"chunks_size": 1000,
|
10 |
+
"fps": 15,
|
11 |
+
"splits": {
|
12 |
+
"train": "0:1"
|
13 |
+
},
|
14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
15 |
+
"video_path": null,
|
16 |
+
"features": {
|
17 |
+
"action": {
|
18 |
+
"dtype": "float32",
|
19 |
+
"shape": [
|
20 |
+
7
|
21 |
+
],
|
22 |
+
"names": [
|
23 |
+
"main_shoulder_pan",
|
24 |
+
"main_shoulder_lift",
|
25 |
+
"main_elbow_flex",
|
26 |
+
"main_wrist_flex",
|
27 |
+
"main_wrist_angle",
|
28 |
+
"main_wrist_roll",
|
29 |
+
"main_gripper"
|
30 |
+
]
|
31 |
+
},
|
32 |
+
"observation.state": {
|
33 |
+
"dtype": "float32",
|
34 |
+
"shape": [
|
35 |
+
7
|
36 |
+
],
|
37 |
+
"names": [
|
38 |
+
"main_shoulder_pan",
|
39 |
+
"main_shoulder_lift",
|
40 |
+
"main_elbow_flex",
|
41 |
+
"main_wrist_flex",
|
42 |
+
"main_wrist_angle",
|
43 |
+
"main_wrist_roll",
|
44 |
+
"main_gripper"
|
45 |
+
]
|
46 |
+
},
|
47 |
+
"observation.images.laptop": {
|
48 |
+
"dtype": "image",
|
49 |
+
"shape": [
|
50 |
+
480,
|
51 |
+
640,
|
52 |
+
3
|
53 |
+
],
|
54 |
+
"names": [
|
55 |
+
"height",
|
56 |
+
"width",
|
57 |
+
"channels"
|
58 |
+
],
|
59 |
+
"info": null
|
60 |
+
},
|
61 |
+
"observation.images.phone": {
|
62 |
+
"dtype": "image",
|
63 |
+
"shape": [
|
64 |
+
480,
|
65 |
+
640,
|
66 |
+
3
|
67 |
+
],
|
68 |
+
"names": [
|
69 |
+
"height",
|
70 |
+
"width",
|
71 |
+
"channels"
|
72 |
+
],
|
73 |
+
"info": null
|
74 |
+
},
|
75 |
+
"timestamp": {
|
76 |
+
"dtype": "float32",
|
77 |
+
"shape": [
|
78 |
+
1
|
79 |
+
],
|
80 |
+
"names": null
|
81 |
+
},
|
82 |
+
"frame_index": {
|
83 |
+
"dtype": "int64",
|
84 |
+
"shape": [
|
85 |
+
1
|
86 |
+
],
|
87 |
+
"names": null
|
88 |
+
},
|
89 |
+
"episode_index": {
|
90 |
+
"dtype": "int64",
|
91 |
+
"shape": [
|
92 |
+
1
|
93 |
+
],
|
94 |
+
"names": null
|
95 |
+
},
|
96 |
+
"index": {
|
97 |
+
"dtype": "int64",
|
98 |
+
"shape": [
|
99 |
+
1
|
100 |
+
],
|
101 |
+
"names": null
|
102 |
+
},
|
103 |
+
"task_index": {
|
104 |
+
"dtype": "int64",
|
105 |
+
"shape": [
|
106 |
+
1
|
107 |
+
],
|
108 |
+
"names": null
|
109 |
+
}
|
110 |
+
}
|
111 |
+
}
|
meta/stats.json
ADDED
@@ -0,0 +1,288 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"action": {
|
3 |
+
"mean": [
|
4 |
+
0.039186108857393265,
|
5 |
+
-0.009633510373532772,
|
6 |
+
0.01631763018667698,
|
7 |
+
0.30590561032295227,
|
8 |
+
0.43390923738479614,
|
9 |
+
0.07122164219617844,
|
10 |
+
0.9599999785423279
|
11 |
+
],
|
12 |
+
"std": [
|
13 |
+
0.004832131788134575,
|
14 |
+
0.0,
|
15 |
+
0.0,
|
16 |
+
0.0012261217925697565,
|
17 |
+
0.0,
|
18 |
+
0.0,
|
19 |
+
0.0
|
20 |
+
],
|
21 |
+
"max": [
|
22 |
+
0.045375220477581024,
|
23 |
+
-0.009633510373532772,
|
24 |
+
0.01631763018667698,
|
25 |
+
0.3064223527908325,
|
26 |
+
0.43390923738479614,
|
27 |
+
0.07122164219617844,
|
28 |
+
0.9599999785423279
|
29 |
+
],
|
30 |
+
"min": [
|
31 |
+
0.031448520720005035,
|
32 |
+
-0.009633510373532772,
|
33 |
+
0.01631763018667698,
|
34 |
+
0.30291450023651123,
|
35 |
+
0.43390923738479614,
|
36 |
+
0.07122164219617844,
|
37 |
+
0.9599999785423279
|
38 |
+
]
|
39 |
+
},
|
40 |
+
"observation.state": {
|
41 |
+
"mean": [
|
42 |
+
0.039186108857393265,
|
43 |
+
-0.009633510373532772,
|
44 |
+
0.01631763018667698,
|
45 |
+
0.30590561032295227,
|
46 |
+
0.43390923738479614,
|
47 |
+
0.07122164219617844,
|
48 |
+
0.9599999785423279
|
49 |
+
],
|
50 |
+
"std": [
|
51 |
+
0.004832131788134575,
|
52 |
+
0.0,
|
53 |
+
0.0,
|
54 |
+
0.0012261217925697565,
|
55 |
+
0.0,
|
56 |
+
0.0,
|
57 |
+
0.0
|
58 |
+
],
|
59 |
+
"max": [
|
60 |
+
0.045375220477581024,
|
61 |
+
-0.009633510373532772,
|
62 |
+
0.01631763018667698,
|
63 |
+
0.3064223527908325,
|
64 |
+
0.43390923738479614,
|
65 |
+
0.07122164219617844,
|
66 |
+
0.9599999785423279
|
67 |
+
],
|
68 |
+
"min": [
|
69 |
+
0.031448520720005035,
|
70 |
+
-0.009633510373532772,
|
71 |
+
0.01631763018667698,
|
72 |
+
0.30291450023651123,
|
73 |
+
0.43390923738479614,
|
74 |
+
0.07122164219617844,
|
75 |
+
0.9599999785423279
|
76 |
+
]
|
77 |
+
},
|
78 |
+
"observation.images.laptop": {
|
79 |
+
"mean": [
|
80 |
+
[
|
81 |
+
[
|
82 |
+
0.45176663994789124
|
83 |
+
]
|
84 |
+
],
|
85 |
+
[
|
86 |
+
[
|
87 |
+
0.47700467705726624
|
88 |
+
]
|
89 |
+
],
|
90 |
+
[
|
91 |
+
[
|
92 |
+
0.47312653064727783
|
93 |
+
]
|
94 |
+
]
|
95 |
+
],
|
96 |
+
"std": [
|
97 |
+
[
|
98 |
+
[
|
99 |
+
0.17478522658348083
|
100 |
+
]
|
101 |
+
],
|
102 |
+
[
|
103 |
+
[
|
104 |
+
0.1597185879945755
|
105 |
+
]
|
106 |
+
],
|
107 |
+
[
|
108 |
+
[
|
109 |
+
0.1713617891073227
|
110 |
+
]
|
111 |
+
]
|
112 |
+
],
|
113 |
+
"max": [
|
114 |
+
[
|
115 |
+
[
|
116 |
+
0.9686274528503418
|
117 |
+
]
|
118 |
+
],
|
119 |
+
[
|
120 |
+
[
|
121 |
+
0.95686274766922
|
122 |
+
]
|
123 |
+
],
|
124 |
+
[
|
125 |
+
[
|
126 |
+
1.0
|
127 |
+
]
|
128 |
+
]
|
129 |
+
],
|
130 |
+
"min": [
|
131 |
+
[
|
132 |
+
[
|
133 |
+
0.0
|
134 |
+
]
|
135 |
+
],
|
136 |
+
[
|
137 |
+
[
|
138 |
+
0.0
|
139 |
+
]
|
140 |
+
],
|
141 |
+
[
|
142 |
+
[
|
143 |
+
0.0
|
144 |
+
]
|
145 |
+
]
|
146 |
+
]
|
147 |
+
},
|
148 |
+
"observation.images.phone": {
|
149 |
+
"mean": [
|
150 |
+
[
|
151 |
+
[
|
152 |
+
0.46083369851112366
|
153 |
+
]
|
154 |
+
],
|
155 |
+
[
|
156 |
+
[
|
157 |
+
0.47643911838531494
|
158 |
+
]
|
159 |
+
],
|
160 |
+
[
|
161 |
+
[
|
162 |
+
0.4608948528766632
|
163 |
+
]
|
164 |
+
]
|
165 |
+
],
|
166 |
+
"std": [
|
167 |
+
[
|
168 |
+
[
|
169 |
+
0.24540331959724426
|
170 |
+
]
|
171 |
+
],
|
172 |
+
[
|
173 |
+
[
|
174 |
+
0.22637128829956055
|
175 |
+
]
|
176 |
+
],
|
177 |
+
[
|
178 |
+
[
|
179 |
+
0.2344486266374588
|
180 |
+
]
|
181 |
+
]
|
182 |
+
],
|
183 |
+
"max": [
|
184 |
+
[
|
185 |
+
[
|
186 |
+
1.0
|
187 |
+
]
|
188 |
+
],
|
189 |
+
[
|
190 |
+
[
|
191 |
+
1.0
|
192 |
+
]
|
193 |
+
],
|
194 |
+
[
|
195 |
+
[
|
196 |
+
1.0
|
197 |
+
]
|
198 |
+
]
|
199 |
+
],
|
200 |
+
"min": [
|
201 |
+
[
|
202 |
+
[
|
203 |
+
0.0
|
204 |
+
]
|
205 |
+
],
|
206 |
+
[
|
207 |
+
[
|
208 |
+
0.0
|
209 |
+
]
|
210 |
+
],
|
211 |
+
[
|
212 |
+
[
|
213 |
+
0.0
|
214 |
+
]
|
215 |
+
]
|
216 |
+
]
|
217 |
+
},
|
218 |
+
"timestamp": {
|
219 |
+
"mean": [
|
220 |
+
5.099999904632568
|
221 |
+
],
|
222 |
+
"std": [
|
223 |
+
2.9636690616607666
|
224 |
+
],
|
225 |
+
"max": [
|
226 |
+
10.199999809265137
|
227 |
+
],
|
228 |
+
"min": [
|
229 |
+
0.0
|
230 |
+
]
|
231 |
+
},
|
232 |
+
"frame_index": {
|
233 |
+
"mean": [
|
234 |
+
76.50000762939453
|
235 |
+
],
|
236 |
+
"std": [
|
237 |
+
44.45503234863281
|
238 |
+
],
|
239 |
+
"max": [
|
240 |
+
153.0
|
241 |
+
],
|
242 |
+
"min": [
|
243 |
+
0.0
|
244 |
+
]
|
245 |
+
},
|
246 |
+
"episode_index": {
|
247 |
+
"mean": [
|
248 |
+
0.0
|
249 |
+
],
|
250 |
+
"std": [
|
251 |
+
0.0
|
252 |
+
],
|
253 |
+
"max": [
|
254 |
+
0.0
|
255 |
+
],
|
256 |
+
"min": [
|
257 |
+
0.0
|
258 |
+
]
|
259 |
+
},
|
260 |
+
"index": {
|
261 |
+
"mean": [
|
262 |
+
76.50000762939453
|
263 |
+
],
|
264 |
+
"std": [
|
265 |
+
44.45503234863281
|
266 |
+
],
|
267 |
+
"max": [
|
268 |
+
153.0
|
269 |
+
],
|
270 |
+
"min": [
|
271 |
+
0.0
|
272 |
+
]
|
273 |
+
},
|
274 |
+
"task_index": {
|
275 |
+
"mean": [
|
276 |
+
0.0
|
277 |
+
],
|
278 |
+
"std": [
|
279 |
+
0.0
|
280 |
+
],
|
281 |
+
"max": [
|
282 |
+
0.0
|
283 |
+
],
|
284 |
+
"min": [
|
285 |
+
0.0
|
286 |
+
]
|
287 |
+
}
|
288 |
+
}
|
meta/tasks.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"task_index": 0, "task": "grip_box_and_return"}
|