zijian2022 commited on
Commit
4b46015
·
verified ·
1 Parent(s): 1c751c1

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 sha256:784e9c251a3f3c1aaea2934f1b3af92ee26de439f85ca2e0318925fad104b2b2
3
+ size 165524
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:531e1f132154c4a3f9307185f80d6c502120a05dbbe3c20554482c35d71496d8
3
+ size 179663
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd5a411950065d3cc8be8da4caf55b7e376029c5e283530da76bd292b79afcca
3
+ size 167079
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c7ad04ffd3c5ae7a805337a83810b8a2f07a3b0a0edcb1e38982fce1f8c11c57
3
+ size 165423
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:58c159336b6adc03b0c1b3a942a4c815d3ba04634032908c15451b9f6b3279b2
3
+ size 183976
meta/episodes.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 2894}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 2907}
3
+ {"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 2909}
4
+ {"episode_index": 3, "tasks": ["Grasp a lego block and put it in the bin."], "length": 2907}
5
+ {"episode_index": 4, "tasks": ["Grasp a lego block and put it in the bin."], "length": 2906}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [1.7945693731307983, 161.0282745361328, 143.03326416015625, 65.58817291259766, -10.060744285583496, 0.42096996307373047], "max": [9.614015579223633, 188.48947143554688, 171.225341796875, 88.6962890625, 0.12392330169677734, 3.772141456604004], "mean": [4.0941619873046875, 186.25889587402344, 169.29904174804688, 86.90310668945312, -2.7457327842712402, 0.7959495782852173], "std": [1.2685461044311523, 2.2995975017547607, 2.376697063446045, 2.8930931091308594, 1.613276481628418, 0.2035839855670929], "count": [2894]}, "observation.state": {"min": [1.318359375, 161.19140625, 145.72265625, 65.7421875, -5.888671875, 0.291332870721817], "max": [8.7890625, 186.50390625, 170.595703125, 87.890625, -0.263671875, 2.694828748703003], "mean": [3.533482551574707, 185.23464965820312, 169.26246643066406, 85.95077514648438, -2.1549298763275146, 0.39833003282546997], "std": [1.2299606800079346, 2.090135335922241, 1.9633020162582397, 2.5865190029144287, 1.4598180055618286, 0.14827804267406464], "count": [2894]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5219100094140872]], [[0.5653777988246906]], [[0.5216273353778906]]], "std": [[[0.34975840065652297]], [[0.21450937067375833]], [[0.20069454409194282]]], "count": [394]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4180555317092996]], [[0.4370761607942669]], [[0.4358784898477157]]], "std": [[[0.2275787074960599]], [[0.19002552516659402]], [[0.18849104413227136]]], "count": [394]}, "timestamp": {"min": [0.0], "max": [96.43333333333334], "mean": [48.21666666666666], "std": [27.847526321420762], "count": [2894]}, "frame_index": {"min": [0], "max": [2893], "mean": [1446.5], "std": [835.4257896426229], "count": [2894]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2894]}, "index": {"min": [0], "max": [2893], "mean": [1446.5], "std": [835.4257896426229], "count": [2894]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2894]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-27.980785369873047, 67.4610595703125, 85.75819396972656, -0.7347259521484375, -46.94620895385742, 0.3037147521972656], "max": [91.10354614257812, 188.3722686767578, 171.27561950683594, 89.5833969116211, 11.782391548156738, 49.31627655029297], "mean": [8.98553466796875, 156.294189453125, 144.7601776123047, 72.65425872802734, -4.042511463165283, 6.352623462677002], "std": [15.842122077941895, 41.26095962524414, 33.19921875, 25.54267120361328, 5.96645450592041, 10.763349533081055], "count": [2907]}, "observation.state": {"min": [-26.54296875, 66.26953125, 87.802734375, 0.17578125, -6.15234375, 0.21849963068962097], "max": [90.263671875, 186.416015625, 170.595703125, 88.681640625, 13.7109375, 48.434085845947266], "mean": [8.537635803222656, 155.06643676757812, 145.2361297607422, 72.03589630126953, -2.1659128665924072, 6.217433929443359], "std": [15.966525077819824, 41.53614807128906, 32.632843017578125, 25.16575050354004, 2.5001063346862793, 10.82098388671875], "count": [2907]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.531856009555721]], [[0.5615884090344999]], [[0.5047900802515098]]], "std": [[[0.35475304311298433]], [[0.21934872407206615]], [[0.20517757955709715]]], "count": [395]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3836984740837263]], [[0.4257762844378258]], [[0.43174046806486305]]], "std": [[[0.2568208373865953]], [[0.2281799655273079]], [[0.22207026819765494]]], "count": [395]}, "timestamp": {"min": [0.0], "max": [96.86666666666666], "mean": [48.43333333333334], "std": [27.972618887179788], "count": [2907]}, "frame_index": {"min": [0], "max": [2906], "mean": [1453.0], "std": [839.1785666153936], "count": [2907]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2907]}, "index": {"min": [2894], "max": [5800], "mean": [4347.0], "std": [839.1785666153936], "count": [2907]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2907]}}}
3
+ {"episode_index": 2, "stats": {"action": {"min": [1.9085201025009155, 175.9364471435547, 157.66390991210938, 72.68380737304688, -9.653518676757812, 0.41515636444091797], "max": [11.4912109375, 188.5242462158203, 170.9556121826172, 88.95326232910156, 1.1960296630859375, 2.176602840423584], "mean": [4.830342769622803, 186.19288635253906, 169.01901245117188, 87.20875549316406, -2.529905080795288, 0.7836995720863342], "std": [1.4386351108551025, 1.8901017904281616, 2.006387710571289, 2.1730024814605713, 1.6602022647857666, 0.1868165284395218], "count": [2909]}, "observation.state": {"min": [1.318359375, 176.396484375, 160.048828125, 72.94921875, -5.625, 0.21849963068962097], "max": [19.599609375, 186.50390625, 169.98046875, 88.06640625, 13.53515625, 1.529497504234314], "mean": [4.312109470367432, 185.1934356689453, 169.10784912109375, 86.20560455322266, -1.9256174564361572, 0.394695520401001], "std": [1.519991159439087, 1.5768369436264038, 1.4286764860153198, 1.7809619903564453, 1.5405420064926147, 0.11791375279426575], "count": [2909]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5559799429136132]], [[0.5776150820913383]], [[0.5093432842518321]]], "std": [[[0.36074262484026703]], [[0.21670233036401546]], [[0.20766586435580728]]], "count": [396]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42765533500858255]], [[0.44661068456212455]], [[0.4406679370296098]]], "std": [[[0.23095913129489673]], [[0.1939683773882322]], [[0.19134217090786892]]], "count": [396]}, "timestamp": {"min": [0.0], "max": [96.93333333333334], "mean": [48.46666666666666], "std": [27.991863897290663], "count": [2909]}, "frame_index": {"min": [0], "max": [2908], "mean": [1454.0], "std": [839.7559169187199], "count": [2909]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2909]}, "index": {"min": [5801], "max": [8709], "mean": [7255.0], "std": [839.7559169187199], "count": [2909]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2909]}}}
4
+ {"episode_index": 3, "stats": {"action": {"min": [1.784920573234558, 169.6240997314453, 152.03880310058594, 69.47962951660156, -9.911086082458496, 0.3908224105834961], "max": [11.26789379119873, 188.2709503173828, 171.2741241455078, 88.7471694946289, 0.6086969375610352, 2.958649158477783], "mean": [4.818574905395508, 186.2869415283203, 169.30691528320312, 87.27932739257812, -2.4486172199249268, 0.7825571298599243], "std": [1.2363088130950928, 1.908433198928833, 1.962886095046997, 2.1300060749053955, 1.7723002433776855, 0.1918068379163742], "count": [2907]}, "observation.state": {"min": [1.23046875, 169.716796875, 154.775390625, 69.9609375, -5.712890625, 0.3641660511493683], "max": [19.599609375, 186.416015625, 170.595703125, 87.802734375, 13.7109375, 1.820830225944519], "mean": [4.3077592849731445, 185.25802612304688, 169.30126953125, 86.24632263183594, -1.7476235628128052, 0.39351698756217957], "std": [1.326972484588623, 1.6545222997665405, 1.4382696151733398, 1.810699224472046, 1.637384057044983, 0.12900204956531525], "count": [2907]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5590983877306197]], [[0.5781625920410358]], [[0.5094926181020931]]], "std": [[[0.36024117965037533]], [[0.21619280780192315]], [[0.2057892060843359]]], "count": [395]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41895734828741626]], [[0.44379456802763295]], [[0.44269143087614793]]], "std": [[[0.22862061357541777]], [[0.19130143652563453]], [[0.18956059694861352]]], "count": [395]}, "timestamp": {"min": [0.0], "max": [96.86666666666666], "mean": [48.43333333333334], "std": [27.972618887179788], "count": [2907]}, "frame_index": {"min": [0], "max": [2906], "mean": [1453.0], "std": [839.1785666153936], "count": [2907]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2907]}, "index": {"min": [8710], "max": [11616], "mean": [10163.0], "std": [839.1785666153936], "count": [2907]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2907]}}}
5
+ {"episode_index": 4, "stats": {"action": {"min": [-0.6747782230377197, 67.35518646240234, 86.0067138671875, -2.2709197998046875, -23.10795021057129, 0.0832986831665039], "max": [87.73667907714844, 188.08233642578125, 171.014892578125, 91.38831329345703, 10.560141563415527, 43.667381286621094], "mean": [10.988441467285156, 155.9359893798828, 143.7708740234375, 73.8231430053711, -4.069589138031006, 5.778947353363037], "std": [17.907129287719727, 38.42963409423828, 31.7556095123291, 23.3851261138916, 4.485389232635498, 9.572225570678711], "count": [2906]}, "observation.state": {"min": [0.17578125, 66.26953125, 87.626953125, -0.703125, -6.15234375, 0.291332870721817], "max": [86.66015625, 186.50390625, 169.98046875, 90.52734375, 13.7109375, 42.461761474609375], "mean": [10.445283889770508, 154.842041015625, 144.30967712402344, 73.18843841552734, -2.6016955375671387, 5.314029216766357], "std": [17.9024715423584, 38.73075866699219, 31.201126098632812, 23.02808380126953, 2.340603828430176, 9.410327911376953], "count": [2906]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5419444206585587]], [[0.5636279659965252]], [[0.4984290130925788]]], "std": [[[0.3558144051971043]], [[0.21827445911398016]], [[0.20593120843023072]]], "count": [395]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39304232543228257]], [[0.4288270616157856]], [[0.4355349724911062]]], "std": [[[0.2610844276697021]], [[0.22767739568971712]], [[0.22099924043491856]]], "count": [395]}, "timestamp": {"min": [0.0], "max": [96.83333333333333], "mean": [48.41666666666666], "std": [27.962996382123762], "count": [2906]}, "frame_index": {"min": [0], "max": [2905], "mean": [1452.5], "std": [838.8898914637128], "count": [2906]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [2906]}, "index": {"min": [11617], "max": [14522], "mean": [13069.5], "std": [838.8898914637128], "count": [2906]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2906]}}}
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": 14523,
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": "av1",
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": "av1",
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 sha256:10b3463f1e56e2b0aaa3b9c7b1e729a03dcc3af1bc1ed4f204c1d8833dab310e
3
+ size 17296055
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 sha256:0e8fb55393dab64e9d27fd8a5a3589a6ee1333f648fd825574ca071f830c78c9
3
+ size 16931282
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:ac1b00b963fc876940038b57b9de83a85a55b03162f85619a00ac644139fe3a9
3
+ size 17747069
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 sha256:464a90da506606ffba699b5c86e3421070bcdd4af627fdb34ca571eda5f6f893
3
+ size 17069125
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:d4782137e7261ba60ca96d54ac1179b10fc4398b43876be578fa4879d983eb17
3
+ size 14733083
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 sha256:873113f00de656045878213acf3559f4ff6fd5c8369c15152a4d83801b05714d
3
+ size 21931725
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 sha256:523310596f2eea3fa074c304a39a208ee11db3b8c4d07d9049f6dc4f00d433e5
3
+ size 21131187
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 sha256:75e95558b85c86e9ee81498bb77970640dff8850a4ae8368675450430aef9bc1
3
+ size 22041881
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 sha256:403dedf36ecbe52332e520d7bd6c6a71a3115716100009c5f8434847ee44c975
3
+ size 21964489
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:d1bbff4863bc70d0883dbd767e458f618df6d4ab74551df9253b0f05c102f6f6
3
+ size 21492018