AaronNewman commited on
Commit
22bbd44
·
verified ·
1 Parent(s): d69b8c9

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:d0fce10980d34775c11455ad68eefdf88d8321a08a0737e9608a60a79a17d843
3
+ size 27356
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ee0d411f910568322bdddbfa1b5635e403c93dd2f5db73ac0580d12e7b5f9f7d
3
+ size 26815
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22a1d0c0d6825d74a60fc9ac4cdd60c00cfa0d5f71bfcca26a076df2f92a50b0
3
+ size 24485
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp the screwdriver and put it in the bin."], "length": 446}
2
+ {"episode_index": 1, "tasks": ["Grasp the screwdriver and put it in the bin."], "length": 446}
3
+ {"episode_index": 2, "tasks": ["Grasp the screwdriver and put it in the bin."], "length": 447}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "so100",
4
+ "total_episodes": 3,
5
+ "total_frames": 1339,
6
+ "total_tasks": 1,
7
+ "total_videos": 6,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:3"
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/stats.json ADDED
@@ -0,0 +1,280 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 22.988683700561523,
5
+ 126.62407684326172,
6
+ 118.94647979736328,
7
+ 51.630374908447266,
8
+ -6.9056830406188965,
9
+ 6.549130916595459
10
+ ],
11
+ "std": [
12
+ 20.018779754638672,
13
+ 50.19449234008789,
14
+ 49.405494689941406,
15
+ 11.16655158996582,
16
+ 22.911701202392578,
17
+ 10.485237121582031
18
+ ],
19
+ "max": [
20
+ 57.392578125,
21
+ 192.216796875,
22
+ 182.98828125,
23
+ 90.17578125,
24
+ 28.828125,
25
+ 31.160715103149414
26
+ ],
27
+ "min": [
28
+ -9.140625,
29
+ 43.59375,
30
+ 33.22265625,
31
+ 19.248046875,
32
+ -71.982421875,
33
+ -0.0892857164144516
34
+ ]
35
+ },
36
+ "observation.state": {
37
+ "mean": [
38
+ 22.652484893798828,
39
+ 123.43254852294922,
40
+ 120.31364440917969,
41
+ 51.622135162353516,
42
+ -7.002171516418457,
43
+ 8.51643180847168
44
+ ],
45
+ "std": [
46
+ 19.718738555908203,
47
+ 51.21285629272461,
48
+ 47.82390594482422,
49
+ 10.852426528930664,
50
+ 22.4027156829834,
51
+ 9.310541152954102
52
+ ],
53
+ "max": [
54
+ 57.12890625,
55
+ 191.77734375,
56
+ 181.318359375,
57
+ 87.01171875,
58
+ 28.037109375,
59
+ 29.794519424438477
60
+ ],
61
+ "min": [
62
+ -9.140625,
63
+ 41.220703125,
64
+ 39.111328125,
65
+ 21.533203125,
66
+ -71.015625,
67
+ 0.4109588861465454
68
+ ]
69
+ },
70
+ "observation.images.laptop": {
71
+ "mean": [
72
+ [
73
+ [
74
+ 0.47318440675735474
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.49261897802352905
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.4631916880607605
85
+ ]
86
+ ]
87
+ ],
88
+ "std": [
89
+ [
90
+ [
91
+ 0.24709759652614594
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.2510066330432892
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.25007280707359314
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
+ "observation.images.phone": {
141
+ "mean": [
142
+ [
143
+ [
144
+ 0.2956492304801941
145
+ ]
146
+ ],
147
+ [
148
+ [
149
+ 0.32282131910324097
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.3278907239437103
155
+ ]
156
+ ]
157
+ ],
158
+ "std": [
159
+ [
160
+ [
161
+ 0.21699264645576477
162
+ ]
163
+ ],
164
+ [
165
+ [
166
+ 0.20180067420005798
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.20338119566440582
172
+ ]
173
+ ]
174
+ ],
175
+ "max": [
176
+ [
177
+ [
178
+ 1.0
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 1.0
184
+ ]
185
+ ],
186
+ [
187
+ [
188
+ 1.0
189
+ ]
190
+ ]
191
+ ],
192
+ "min": [
193
+ [
194
+ [
195
+ 0.0
196
+ ]
197
+ ],
198
+ [
199
+ [
200
+ 0.0
201
+ ]
202
+ ],
203
+ [
204
+ [
205
+ 0.0
206
+ ]
207
+ ]
208
+ ]
209
+ },
210
+ "timestamp": {
211
+ "mean": [
212
+ 7.4222307205200195
213
+ ],
214
+ "std": [
215
+ 4.2948479652404785
216
+ ],
217
+ "max": [
218
+ 14.866666793823242
219
+ ],
220
+ "min": [
221
+ 0.0
222
+ ]
223
+ },
224
+ "frame_index": {
225
+ "mean": [
226
+ 222.66690063476562
227
+ ],
228
+ "std": [
229
+ 128.845458984375
230
+ ],
231
+ "max": [
232
+ 446.0
233
+ ],
234
+ "min": [
235
+ 0.0
236
+ ]
237
+ },
238
+ "episode_index": {
239
+ "mean": [
240
+ 1.0007469654083252
241
+ ],
242
+ "std": [
243
+ 0.8166488409042358
244
+ ],
245
+ "max": [
246
+ 2.0
247
+ ],
248
+ "min": [
249
+ 0.0
250
+ ]
251
+ },
252
+ "index": {
253
+ "mean": [
254
+ 669.000244140625
255
+ ],
256
+ "std": [
257
+ 386.5359191894531
258
+ ],
259
+ "max": [
260
+ 1338.0
261
+ ],
262
+ "min": [
263
+ 0.0
264
+ ]
265
+ },
266
+ "task_index": {
267
+ "mean": [
268
+ 0.0
269
+ ],
270
+ "std": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 0.0
275
+ ],
276
+ "min": [
277
+ 0.0
278
+ ]
279
+ }
280
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp the screwdriver 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:b91fcdd97a5b823b1650d7627ffa6b6d945ed1b52c3fb79921430e2b24040c34
3
+ size 7683236
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:cb95e58780c6a69a0dd51d8999293b3b08456c17e7253389074c51bdec4e0f58
3
+ size 7702084
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:ca3456151738ebaba2b8b5ca62db0a00f482956ba394d5189a40b9fdf10579b0
3
+ size 7655865
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 sha256:6ebab2bd2f0f43d08a067faf6fe89fcb3ab88cbab011966490426f9bb9db6083
3
+ size 2917748
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:f8be1a80a6d26f341dff52c1478a9c01d1d252fb6dc0bbb54aa91361b04fce19
3
+ size 2963413
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:bda5701ddef36bd37344b360adb5838cec261d47d060e6b6836fd19a1ba13d8d
3
+ size 2899477