Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/info.json +104 -0
- meta/stats.json +210 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_left/episode_000000.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 sha256:42faffe28f2d61d74b902545562c6939d3141de933993c1305a0e1bf3a6d4c9e
|
| 3 |
+
size 12867
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["test_grab"], "length": 352}
|
meta/info.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "so100",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 352,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 1,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 50,
|
| 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 |
+
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.cam_left": {
|
| 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": 50.0,
|
| 59 |
+
"video.height": 480,
|
| 60 |
+
"video.width": 640,
|
| 61 |
+
"video.channels": 3,
|
| 62 |
+
"video.codec": "av1",
|
| 63 |
+
"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"timestamp": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
1
|
| 72 |
+
],
|
| 73 |
+
"names": null
|
| 74 |
+
},
|
| 75 |
+
"frame_index": {
|
| 76 |
+
"dtype": "int64",
|
| 77 |
+
"shape": [
|
| 78 |
+
1
|
| 79 |
+
],
|
| 80 |
+
"names": null
|
| 81 |
+
},
|
| 82 |
+
"episode_index": {
|
| 83 |
+
"dtype": "int64",
|
| 84 |
+
"shape": [
|
| 85 |
+
1
|
| 86 |
+
],
|
| 87 |
+
"names": null
|
| 88 |
+
},
|
| 89 |
+
"index": {
|
| 90 |
+
"dtype": "int64",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"task_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"mean": [
|
| 4 |
+
-5.659705638885498,
|
| 5 |
+
186.8799591064453,
|
| 6 |
+
168.0393829345703,
|
| 7 |
+
70.01860809326172,
|
| 8 |
+
0.3657947778701782,
|
| 9 |
+
-29.733922958374023
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
3.2183620929718018,
|
| 13 |
+
4.221466064453125,
|
| 14 |
+
7.562024116516113,
|
| 15 |
+
1.0942838191986084,
|
| 16 |
+
1.9147512912750244,
|
| 17 |
+
12.043756484985352
|
| 18 |
+
],
|
| 19 |
+
"max": [
|
| 20 |
+
-3.779296875,
|
| 21 |
+
187.91015625,
|
| 22 |
+
172.44140625,
|
| 23 |
+
73.388671875,
|
| 24 |
+
6.6796875,
|
| 25 |
+
4.773561954498291
|
| 26 |
+
],
|
| 27 |
+
"min": [
|
| 28 |
+
-14.0625,
|
| 29 |
+
162.158203125,
|
| 30 |
+
137.724609375,
|
| 31 |
+
64.775390625,
|
| 32 |
+
-1.23046875,
|
| 33 |
+
-34.761322021484375
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
"observation.state": {
|
| 37 |
+
"mean": [
|
| 38 |
+
-4.988292217254639,
|
| 39 |
+
186.25201416015625,
|
| 40 |
+
168.37371826171875,
|
| 41 |
+
69.64533233642578,
|
| 42 |
+
0.8911409974098206,
|
| 43 |
+
-3.8355813026428223
|
| 44 |
+
],
|
| 45 |
+
"std": [
|
| 46 |
+
3.070470094680786,
|
| 47 |
+
3.1682446002960205,
|
| 48 |
+
6.284957408905029,
|
| 49 |
+
1.143625259399414,
|
| 50 |
+
1.4953900575637817,
|
| 51 |
+
1.7137025594711304
|
| 52 |
+
],
|
| 53 |
+
"max": [
|
| 54 |
+
-3.251953125,
|
| 55 |
+
187.03125,
|
| 56 |
+
172.08984375,
|
| 57 |
+
72.861328125,
|
| 58 |
+
5.888671875,
|
| 59 |
+
3.4970858097076416
|
| 60 |
+
],
|
| 61 |
+
"min": [
|
| 62 |
+
-13.7109375,
|
| 63 |
+
166.11328125,
|
| 64 |
+
141.416015625,
|
| 65 |
+
64.951171875,
|
| 66 |
+
-0.3515625,
|
| 67 |
+
-4.412989139556885
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"observation.images.cam_left": {
|
| 71 |
+
"mean": [
|
| 72 |
+
[
|
| 73 |
+
[
|
| 74 |
+
0.39344918727874756
|
| 75 |
+
]
|
| 76 |
+
],
|
| 77 |
+
[
|
| 78 |
+
[
|
| 79 |
+
0.41579562425613403
|
| 80 |
+
]
|
| 81 |
+
],
|
| 82 |
+
[
|
| 83 |
+
[
|
| 84 |
+
0.41012412309646606
|
| 85 |
+
]
|
| 86 |
+
]
|
| 87 |
+
],
|
| 88 |
+
"std": [
|
| 89 |
+
[
|
| 90 |
+
[
|
| 91 |
+
0.21110551059246063
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
[
|
| 95 |
+
[
|
| 96 |
+
0.1884908527135849
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
[
|
| 100 |
+
[
|
| 101 |
+
0.18136310577392578
|
| 102 |
+
]
|
| 103 |
+
]
|
| 104 |
+
],
|
| 105 |
+
"max": [
|
| 106 |
+
[
|
| 107 |
+
[
|
| 108 |
+
1.0
|
| 109 |
+
]
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
[
|
| 113 |
+
1.0
|
| 114 |
+
]
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
[
|
| 118 |
+
1.0
|
| 119 |
+
]
|
| 120 |
+
]
|
| 121 |
+
],
|
| 122 |
+
"min": [
|
| 123 |
+
[
|
| 124 |
+
[
|
| 125 |
+
0.0
|
| 126 |
+
]
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
[
|
| 130 |
+
0.0
|
| 131 |
+
]
|
| 132 |
+
],
|
| 133 |
+
[
|
| 134 |
+
[
|
| 135 |
+
0.0
|
| 136 |
+
]
|
| 137 |
+
]
|
| 138 |
+
]
|
| 139 |
+
},
|
| 140 |
+
"timestamp": {
|
| 141 |
+
"mean": [
|
| 142 |
+
3.5099995136260986
|
| 143 |
+
],
|
| 144 |
+
"std": [
|
| 145 |
+
2.0322647094726562
|
| 146 |
+
],
|
| 147 |
+
"max": [
|
| 148 |
+
7.019999980926514
|
| 149 |
+
],
|
| 150 |
+
"min": [
|
| 151 |
+
0.0
|
| 152 |
+
]
|
| 153 |
+
},
|
| 154 |
+
"frame_index": {
|
| 155 |
+
"mean": [
|
| 156 |
+
175.5
|
| 157 |
+
],
|
| 158 |
+
"std": [
|
| 159 |
+
101.61323547363281
|
| 160 |
+
],
|
| 161 |
+
"max": [
|
| 162 |
+
351.0
|
| 163 |
+
],
|
| 164 |
+
"min": [
|
| 165 |
+
0.0
|
| 166 |
+
]
|
| 167 |
+
},
|
| 168 |
+
"episode_index": {
|
| 169 |
+
"mean": [
|
| 170 |
+
0.0
|
| 171 |
+
],
|
| 172 |
+
"std": [
|
| 173 |
+
0.0
|
| 174 |
+
],
|
| 175 |
+
"max": [
|
| 176 |
+
0.0
|
| 177 |
+
],
|
| 178 |
+
"min": [
|
| 179 |
+
0.0
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"index": {
|
| 183 |
+
"mean": [
|
| 184 |
+
175.5
|
| 185 |
+
],
|
| 186 |
+
"std": [
|
| 187 |
+
101.61323547363281
|
| 188 |
+
],
|
| 189 |
+
"max": [
|
| 190 |
+
351.0
|
| 191 |
+
],
|
| 192 |
+
"min": [
|
| 193 |
+
0.0
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"task_index": {
|
| 197 |
+
"mean": [
|
| 198 |
+
0.0
|
| 199 |
+
],
|
| 200 |
+
"std": [
|
| 201 |
+
0.0
|
| 202 |
+
],
|
| 203 |
+
"max": [
|
| 204 |
+
0.0
|
| 205 |
+
],
|
| 206 |
+
"min": [
|
| 207 |
+
0.0
|
| 208 |
+
]
|
| 209 |
+
}
|
| 210 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "test_grab"}
|
videos/chunk-000/observation.images.cam_left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7829d07732ffc5f8fe0c1e8bd086ac908b19b5409e0b024dfca33c5d315b5195
|
| 3 |
+
size 7783196
|