Datasets:

Formats:
parquet
Size:
< 1K
ArXiv:
Libraries:
Datasets
Dask
License:
aliberts HF staff commited on
Commit
36d1a88
·
verified ·
1 Parent(s): 28e3e6f

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. meta/episodes.jsonl +14 -0
  2. meta/info.json +128 -0
  3. meta/stats.json +232 -0
  4. meta/tasks.jsonl +12 -0
meta/episodes.jsonl ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["erase the board"], "length": 40}
2
+ {"episode_index": 1, "tasks": ["hang the hanger on the rod"], "length": 30}
3
+ {"episode_index": 2, "tasks": ["reach the blue mark on the table"], "length": 30}
4
+ {"episode_index": 3, "tasks": ["close the door"], "length": 30}
5
+ {"episode_index": 4, "tasks": ["stack the cups"], "length": 30}
6
+ {"episode_index": 5, "tasks": ["turn the knob"], "length": 40}
7
+ {"episode_index": 6, "tasks": ["insert the peg in the cup"], "length": 30}
8
+ {"episode_index": 7, "tasks": ["press the button"], "length": 30}
9
+ {"episode_index": 8, "tasks": ["hang the bag on the hook"], "length": 30}
10
+ {"episode_index": 9, "tasks": ["insert the peg in the cup"], "length": 30}
11
+ {"episode_index": 10, "tasks": ["open the box"], "length": 30}
12
+ {"episode_index": 11, "tasks": ["pour the almonds into the cup"], "length": 30}
13
+ {"episode_index": 12, "tasks": ["insert the peg in the cup"], "length": 30}
14
+ {"episode_index": 13, "tasks": ["hang the mug on the hook"], "length": 30}
meta/info.json ADDED
@@ -0,0 +1,128 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "unknown",
4
+ "total_episodes": 14,
5
+ "total_frames": 440,
6
+ "total_tasks": 12,
7
+ "total_videos": 14,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 5,
11
+ "splits": {
12
+ "train": "0:14"
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
+ "observation.images.image": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 84,
21
+ 84,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 5.0,
31
+ "video.codec": "av1",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ }
36
+ },
37
+ "language_instruction": {
38
+ "dtype": "string",
39
+ "shape": [
40
+ 1
41
+ ],
42
+ "names": null
43
+ },
44
+ "observation.state": {
45
+ "dtype": "float32",
46
+ "shape": [
47
+ 7
48
+ ],
49
+ "names": {
50
+ "motors": [
51
+ "motor_0",
52
+ "motor_1",
53
+ "motor_2",
54
+ "motor_3",
55
+ "motor_4",
56
+ "motor_5",
57
+ "motor_6"
58
+ ]
59
+ }
60
+ },
61
+ "action": {
62
+ "dtype": "float32",
63
+ "shape": [
64
+ 7
65
+ ],
66
+ "names": {
67
+ "motors": [
68
+ "motor_0",
69
+ "motor_1",
70
+ "motor_2",
71
+ "motor_3",
72
+ "motor_4",
73
+ "motor_5",
74
+ "motor_6"
75
+ ]
76
+ }
77
+ },
78
+ "timestamp": {
79
+ "dtype": "float32",
80
+ "shape": [
81
+ 1
82
+ ],
83
+ "names": null
84
+ },
85
+ "episode_index": {
86
+ "dtype": "int64",
87
+ "shape": [
88
+ 1
89
+ ],
90
+ "names": null
91
+ },
92
+ "frame_index": {
93
+ "dtype": "int64",
94
+ "shape": [
95
+ 1
96
+ ],
97
+ "names": null
98
+ },
99
+ "next.reward": {
100
+ "dtype": "float32",
101
+ "shape": [
102
+ 1
103
+ ],
104
+ "names": null
105
+ },
106
+ "next.done": {
107
+ "dtype": "bool",
108
+ "shape": [
109
+ 1
110
+ ],
111
+ "names": null
112
+ },
113
+ "index": {
114
+ "dtype": "int64",
115
+ "shape": [
116
+ 1
117
+ ],
118
+ "names": null
119
+ },
120
+ "task_index": {
121
+ "dtype": "int64",
122
+ "shape": [
123
+ 1
124
+ ],
125
+ "names": null
126
+ }
127
+ }
128
+ }
meta/stats.json ADDED
@@ -0,0 +1,232 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "max": [
4
+ 1.0,
5
+ 1.0,
6
+ 1.0,
7
+ 0.0,
8
+ 1.0,
9
+ 0.0,
10
+ 0.0
11
+ ],
12
+ "mean": [
13
+ 0.1965462863445282,
14
+ -0.10499951243400574,
15
+ -0.03981919586658478,
16
+ 0.0,
17
+ 0.002272727433592081,
18
+ 0.0,
19
+ 0.0
20
+ ],
21
+ "min": [
22
+ -1.0,
23
+ -1.0,
24
+ -1.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ "std": [
31
+ 0.4231606423854828,
32
+ 0.469015896320343,
33
+ 0.4272557199001312,
34
+ 0.0,
35
+ 0.04761892557144165,
36
+ 0.0,
37
+ 0.0
38
+ ]
39
+ },
40
+ "episode_index": {
41
+ "max": [
42
+ 13.0
43
+ ],
44
+ "mean": [
45
+ 6.318181991577148
46
+ ],
47
+ "min": [
48
+ 0.0
49
+ ],
50
+ "std": [
51
+ 4.0607476234436035
52
+ ]
53
+ },
54
+ "frame_index": {
55
+ "max": [
56
+ 39.0
57
+ ],
58
+ "mean": [
59
+ 15.409090995788574
60
+ ],
61
+ "min": [
62
+ 0.0
63
+ ],
64
+ "std": [
65
+ 9.446784019470215
66
+ ]
67
+ },
68
+ "index": {
69
+ "max": [
70
+ 439.0
71
+ ],
72
+ "mean": [
73
+ 219.50001525878906
74
+ ],
75
+ "min": [
76
+ 0.0
77
+ ],
78
+ "std": [
79
+ 127.01673126220703
80
+ ]
81
+ },
82
+ "next.done": {
83
+ "max": [
84
+ 1.0
85
+ ],
86
+ "mean": [
87
+ 0.03181818127632141
88
+ ],
89
+ "min": [
90
+ 0.0
91
+ ],
92
+ "std": [
93
+ 0.1755157709121704
94
+ ]
95
+ },
96
+ "next.reward": {
97
+ "max": [
98
+ 1.0
99
+ ],
100
+ "mean": [
101
+ 0.3227272927761078
102
+ ],
103
+ "min": [
104
+ 0.0
105
+ ],
106
+ "std": [
107
+ 0.4675194025039673
108
+ ]
109
+ },
110
+ "observation.images.image": {
111
+ "max": [
112
+ [
113
+ [
114
+ 1.0
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 1.0
120
+ ]
121
+ ],
122
+ [
123
+ [
124
+ 1.0
125
+ ]
126
+ ]
127
+ ],
128
+ "mean": [
129
+ [
130
+ [
131
+ 0.4770863652229309
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.4658970534801483
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 0.44463682174682617
142
+ ]
143
+ ]
144
+ ],
145
+ "min": [
146
+ [
147
+ [
148
+ 0.0
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.0
154
+ ]
155
+ ],
156
+ [
157
+ [
158
+ 0.0
159
+ ]
160
+ ]
161
+ ],
162
+ "std": [
163
+ [
164
+ [
165
+ 0.2035670131444931
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.21423952281475067
171
+ ]
172
+ ],
173
+ [
174
+ [
175
+ 0.24281173944473267
176
+ ]
177
+ ]
178
+ ]
179
+ },
180
+ "observation.state": {
181
+ "max": [
182
+ 1.0,
183
+ 1.0,
184
+ 1.0,
185
+ 6.2831854820251465,
186
+ 1.0,
187
+ 6.2831854820251465,
188
+ 1.0
189
+ ],
190
+ "mean": [
191
+ 0.9234098196029663,
192
+ 0.17681744694709778,
193
+ 0.8427971005439758,
194
+ 5.426387786865234,
195
+ -0.5744166970252991,
196
+ 6.283185005187988,
197
+ 0.9318181872367859
198
+ ],
199
+ "min": [
200
+ 0.25000596046447754,
201
+ -1.0,
202
+ -0.1999940574169159,
203
+ -3.1415927410125732,
204
+ -3.1415927410125732,
205
+ 6.2831854820251465,
206
+ 0.0
207
+ ],
208
+ "std": [
209
+ 0.18067769706249237,
210
+ 0.6520705223083496,
211
+ 0.34829699993133545,
212
+ 2.4485042095184326,
213
+ 1.325522541999817,
214
+ 4.76837158203125e-07,
215
+ 0.25205764174461365
216
+ ]
217
+ },
218
+ "timestamp": {
219
+ "max": [
220
+ 7.800000190734863
221
+ ],
222
+ "mean": [
223
+ 3.0818183422088623
224
+ ],
225
+ "min": [
226
+ 0.0
227
+ ],
228
+ "std": [
229
+ 1.8893569707870483
230
+ ]
231
+ }
232
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"task_index": 0, "task": "erase the board"}
2
+ {"task_index": 1, "task": "hang the hanger on the rod"}
3
+ {"task_index": 2, "task": "reach the blue mark on the table"}
4
+ {"task_index": 3, "task": "close the door"}
5
+ {"task_index": 4, "task": "stack the cups"}
6
+ {"task_index": 5, "task": "turn the knob"}
7
+ {"task_index": 6, "task": "insert the peg in the cup"}
8
+ {"task_index": 7, "task": "press the button"}
9
+ {"task_index": 8, "task": "hang the bag on the hook"}
10
+ {"task_index": 9, "task": "open the box"}
11
+ {"task_index": 10, "task": "pour the almonds into the cup"}
12
+ {"task_index": 11, "task": "hang the mug on the hook"}