YoelChornton commited on
Commit
d89f5cc
·
verified ·
1 Parent(s): 6d52fd4

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 sha256:51b7fc5facaa86ff2662622906b59abf14dd1f910e04e13e96ff8f610e348f4a
3
+ size 27033
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9a61e25e4df2a3d89541d7637bec286cdf270be133c489d1b94b7dd62b4591c5
3
+ size 27804
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["grasp_object"], "length": 426}
2
+ {"episode_index": 1, "tasks": ["grasp_object"], "length": 409}
meta/info.json ADDED
@@ -0,0 +1,141 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "moss",
4
+ "total_episodes": 2,
5
+ "total_frames": 835,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
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
+ "next.reward": {
18
+ "dtype": "int64",
19
+ "shape": [
20
+ 1
21
+ ],
22
+ "names": null
23
+ },
24
+ "intervention": {
25
+ "dtype": "int64",
26
+ "shape": [
27
+ 1
28
+ ],
29
+ "names": null
30
+ },
31
+ "action": {
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.state": {
46
+ "dtype": "float32",
47
+ "shape": [
48
+ 6
49
+ ],
50
+ "names": [
51
+ "main_shoulder_pan",
52
+ "main_shoulder_lift",
53
+ "main_elbow_flex",
54
+ "main_wrist_flex",
55
+ "main_wrist_roll",
56
+ "main_gripper"
57
+ ]
58
+ },
59
+ "observation.images.laptop": {
60
+ "dtype": "video",
61
+ "shape": [
62
+ 480,
63
+ 640,
64
+ 3
65
+ ],
66
+ "names": [
67
+ "height",
68
+ "width",
69
+ "channels"
70
+ ],
71
+ "info": {
72
+ "video.fps": 30.0,
73
+ "video.height": 480,
74
+ "video.width": 640,
75
+ "video.channels": 3,
76
+ "video.codec": "av1",
77
+ "video.pix_fmt": "yuv420p",
78
+ "video.is_depth_map": false,
79
+ "has_audio": false
80
+ }
81
+ },
82
+ "observation.images.phone": {
83
+ "dtype": "video",
84
+ "shape": [
85
+ 480,
86
+ 640,
87
+ 3
88
+ ],
89
+ "names": [
90
+ "height",
91
+ "width",
92
+ "channels"
93
+ ],
94
+ "info": {
95
+ "video.fps": 30.0,
96
+ "video.height": 480,
97
+ "video.width": 640,
98
+ "video.channels": 3,
99
+ "video.codec": "av1",
100
+ "video.pix_fmt": "yuv420p",
101
+ "video.is_depth_map": false,
102
+ "has_audio": false
103
+ }
104
+ },
105
+ "timestamp": {
106
+ "dtype": "float32",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "frame_index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "episode_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ },
126
+ "index": {
127
+ "dtype": "int64",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "task_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ }
140
+ }
141
+ }
meta/stats.json ADDED
@@ -0,0 +1,308 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "next.reward": {
3
+ "mean": [
4
+ 0.40479040145874023
5
+ ],
6
+ "std": [
7
+ 0.4908514618873596
8
+ ],
9
+ "max": [
10
+ 1.0
11
+ ],
12
+ "min": [
13
+ 0.0
14
+ ]
15
+ },
16
+ "intervention": {
17
+ "mean": [
18
+ 0.7724549770355225
19
+ ],
20
+ "std": [
21
+ 0.41924721002578735
22
+ ],
23
+ "max": [
24
+ 1.0
25
+ ],
26
+ "min": [
27
+ 0.0
28
+ ]
29
+ },
30
+ "action": {
31
+ "mean": [
32
+ 51.97494888305664,
33
+ 103.40955352783203,
34
+ 54.55852127075195,
35
+ 76.53863525390625,
36
+ -16.85987091064453,
37
+ 10.36213207244873
38
+ ],
39
+ "std": [
40
+ 11.045955657958984,
41
+ 24.937461853027344,
42
+ 45.3895263671875,
43
+ 23.670011520385742,
44
+ 10.179254531860352,
45
+ 12.205952644348145
46
+ ],
47
+ "max": [
48
+ 78.3984375,
49
+ 165.9375,
50
+ 123.57421875,
51
+ 104.677734375,
52
+ 22.5,
53
+ 53.1684684753418
54
+ ],
55
+ "min": [
56
+ 30.5859375,
57
+ 41.484375,
58
+ -19.205123901367188,
59
+ -0.263671875,
60
+ -28.35585594177246,
61
+ -0.7727975249290466
62
+ ]
63
+ },
64
+ "observation.state": {
65
+ "mean": [
66
+ 51.19255065917969,
67
+ 104.06647491455078,
68
+ 57.77949523925781,
69
+ 76.68555450439453,
70
+ -16.429441452026367,
71
+ 17.342247009277344
72
+ ],
73
+ "std": [
74
+ 11.216976165771484,
75
+ 28.0643310546875,
76
+ 45.04909896850586,
77
+ 23.54114532470703,
78
+ 10.082328796386719,
79
+ 8.115240097045898
80
+ ],
81
+ "max": [
82
+ 78.22265625,
83
+ 216.38671875,
84
+ 126.9140625,
85
+ 103.88671875,
86
+ 21.533203125,
87
+ 52.281227111816406
88
+ ],
89
+ "min": [
90
+ 25.3125,
91
+ 40.341796875,
92
+ -15.1171875,
93
+ 0.87890625,
94
+ -27.158203125,
95
+ -2.7673897743225098
96
+ ]
97
+ },
98
+ "observation.images.laptop": {
99
+ "mean": [
100
+ [
101
+ [
102
+ 0.060528624802827835
103
+ ]
104
+ ],
105
+ [
106
+ [
107
+ 0.06278284639120102
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 0.048411328345537186
113
+ ]
114
+ ]
115
+ ],
116
+ "std": [
117
+ [
118
+ [
119
+ 0.10781656950712204
120
+ ]
121
+ ],
122
+ [
123
+ [
124
+ 0.09548679739236832
125
+ ]
126
+ ],
127
+ [
128
+ [
129
+ 0.07799193263053894
130
+ ]
131
+ ]
132
+ ],
133
+ "max": [
134
+ [
135
+ [
136
+ 0.8823529481887817
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 0.7960784435272217
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.6431372761726379
147
+ ]
148
+ ]
149
+ ],
150
+ "min": [
151
+ [
152
+ [
153
+ 0.0
154
+ ]
155
+ ],
156
+ [
157
+ [
158
+ 0.0
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.0
164
+ ]
165
+ ]
166
+ ]
167
+ },
168
+ "observation.images.phone": {
169
+ "mean": [
170
+ [
171
+ [
172
+ 0.48583748936653137
173
+ ]
174
+ ],
175
+ [
176
+ [
177
+ 0.38544222712516785
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.26018109917640686
183
+ ]
184
+ ]
185
+ ],
186
+ "std": [
187
+ [
188
+ [
189
+ 0.19403213262557983
190
+ ]
191
+ ],
192
+ [
193
+ [
194
+ 0.1877126693725586
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.22737857699394226
200
+ ]
201
+ ]
202
+ ],
203
+ "max": [
204
+ [
205
+ [
206
+ 1.0
207
+ ]
208
+ ],
209
+ [
210
+ [
211
+ 1.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 1.0
217
+ ]
218
+ ]
219
+ ],
220
+ "min": [
221
+ [
222
+ [
223
+ 0.0
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.0
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 0.0
234
+ ]
235
+ ]
236
+ ]
237
+ },
238
+ "timestamp": {
239
+ "mean": [
240
+ 6.944550514221191
241
+ ],
242
+ "std": [
243
+ 4.022375583648682
244
+ ],
245
+ "max": [
246
+ 14.166666984558105
247
+ ],
248
+ "min": [
249
+ 0.0
250
+ ]
251
+ },
252
+ "frame_index": {
253
+ "mean": [
254
+ 208.3365020751953
255
+ ],
256
+ "std": [
257
+ 120.67127227783203
258
+ ],
259
+ "max": [
260
+ 425.0
261
+ ],
262
+ "min": [
263
+ 0.0
264
+ ]
265
+ },
266
+ "episode_index": {
267
+ "mean": [
268
+ 0.48982036113739014
269
+ ],
270
+ "std": [
271
+ 0.49989640712738037
272
+ ],
273
+ "max": [
274
+ 1.0
275
+ ],
276
+ "min": [
277
+ 0.0
278
+ ]
279
+ },
280
+ "index": {
281
+ "mean": [
282
+ 417.00006103515625
283
+ ],
284
+ "std": [
285
+ 241.04356384277344
286
+ ],
287
+ "max": [
288
+ 834.0
289
+ ],
290
+ "min": [
291
+ 0.0
292
+ ]
293
+ },
294
+ "task_index": {
295
+ "mean": [
296
+ 0.0
297
+ ],
298
+ "std": [
299
+ 0.0
300
+ ],
301
+ "max": [
302
+ 0.0
303
+ ],
304
+ "min": [
305
+ 0.0
306
+ ]
307
+ }
308
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "grasp_object"}
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 sha256:2beaa5e28b799586b751dcb1a6acc9041b7714fa7cee2f43975fe9a096a1958f
3
+ size 1105155
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:b144fa0b60a348ccb37f3991430c98572a49d48b96227356ac5a007a8dfb5949
3
+ size 1042861
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 sha256:6d1b65018e162097f0daa59288ba179fc5f9b335e33767544d0e9e7c35bce45f
3
+ size 5421314
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:e23bb5b09bc0fd5a0ef2056b4cdc794e0e83fedc4b22c16c8155621705ff31c6
3
+ size 4923978