Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +131 -0
- meta/stats.json +315 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:7eab6b0d6e7f9c9b9d6a1d30577dcd66d922025e36bcc042174a704514e24b51
|
3 |
+
size 4231588
|
meta/episodes/chunk-000/file-000.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:70c100c4d87fa4bee5f3a28172c404ee4d5eda62557cc8bfe99ed564bcb639f9
|
3 |
+
size 126304
|
meta/info.json
ADDED
@@ -0,0 +1,131 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"codebase_version": "v3.0",
|
3 |
+
"robot_type": "aloha",
|
4 |
+
"total_episodes": 100,
|
5 |
+
"total_frames": 45000,
|
6 |
+
"total_tasks": 0,
|
7 |
+
"chunks_size": 1000,
|
8 |
+
"data_files_size_in_mb": 100,
|
9 |
+
"video_files_size_in_mb": 500,
|
10 |
+
"fps": 50.0,
|
11 |
+
"splits": {
|
12 |
+
"train": "0:100"
|
13 |
+
},
|
14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
16 |
+
"features": {
|
17 |
+
"observation.images.top": {
|
18 |
+
"dtype": "video",
|
19 |
+
"shape": [
|
20 |
+
480,
|
21 |
+
640,
|
22 |
+
3
|
23 |
+
],
|
24 |
+
"names": [
|
25 |
+
"height",
|
26 |
+
"width",
|
27 |
+
"channel"
|
28 |
+
],
|
29 |
+
"video_info": {
|
30 |
+
"video.fps": 50.0,
|
31 |
+
"video.codec": "av1",
|
32 |
+
"video.pix_fmt": "yuv420p",
|
33 |
+
"video.is_depth_map": false,
|
34 |
+
"has_audio": false
|
35 |
+
}
|
36 |
+
},
|
37 |
+
"observation.state": {
|
38 |
+
"dtype": "float32",
|
39 |
+
"shape": [
|
40 |
+
14
|
41 |
+
],
|
42 |
+
"names": {
|
43 |
+
"motors": [
|
44 |
+
"left_waist",
|
45 |
+
"left_shoulder",
|
46 |
+
"left_elbow",
|
47 |
+
"left_forearm_roll",
|
48 |
+
"left_wrist_angle",
|
49 |
+
"left_wrist_rotate",
|
50 |
+
"left_gripper",
|
51 |
+
"right_waist",
|
52 |
+
"right_shoulder",
|
53 |
+
"right_elbow",
|
54 |
+
"right_forearm_roll",
|
55 |
+
"right_wrist_angle",
|
56 |
+
"right_wrist_rotate",
|
57 |
+
"right_gripper"
|
58 |
+
]
|
59 |
+
},
|
60 |
+
"fps": 50.0
|
61 |
+
},
|
62 |
+
"action": {
|
63 |
+
"dtype": "float32",
|
64 |
+
"shape": [
|
65 |
+
14
|
66 |
+
],
|
67 |
+
"names": {
|
68 |
+
"motors": [
|
69 |
+
"left_waist",
|
70 |
+
"left_shoulder",
|
71 |
+
"left_elbow",
|
72 |
+
"left_forearm_roll",
|
73 |
+
"left_wrist_angle",
|
74 |
+
"left_wrist_rotate",
|
75 |
+
"left_gripper",
|
76 |
+
"right_waist",
|
77 |
+
"right_shoulder",
|
78 |
+
"right_elbow",
|
79 |
+
"right_forearm_roll",
|
80 |
+
"right_wrist_angle",
|
81 |
+
"right_wrist_rotate",
|
82 |
+
"right_gripper"
|
83 |
+
]
|
84 |
+
},
|
85 |
+
"fps": 50.0
|
86 |
+
},
|
87 |
+
"episode_index": {
|
88 |
+
"dtype": "int64",
|
89 |
+
"shape": [
|
90 |
+
1
|
91 |
+
],
|
92 |
+
"names": null
|
93 |
+
},
|
94 |
+
"frame_index": {
|
95 |
+
"dtype": "int64",
|
96 |
+
"shape": [
|
97 |
+
1
|
98 |
+
],
|
99 |
+
"names": null
|
100 |
+
},
|
101 |
+
"timestamp": {
|
102 |
+
"dtype": "float32",
|
103 |
+
"shape": [
|
104 |
+
1
|
105 |
+
],
|
106 |
+
"names": null
|
107 |
+
},
|
108 |
+
"next.done": {
|
109 |
+
"dtype": "bool",
|
110 |
+
"shape": [
|
111 |
+
1
|
112 |
+
],
|
113 |
+
"names": null,
|
114 |
+
"fps": 50.0
|
115 |
+
},
|
116 |
+
"index": {
|
117 |
+
"dtype": "int64",
|
118 |
+
"shape": [
|
119 |
+
1
|
120 |
+
],
|
121 |
+
"names": null
|
122 |
+
},
|
123 |
+
"task_index": {
|
124 |
+
"dtype": "int64",
|
125 |
+
"shape": [
|
126 |
+
1
|
127 |
+
],
|
128 |
+
"names": null
|
129 |
+
}
|
130 |
+
}
|
131 |
+
}
|
meta/stats.json
ADDED
@@ -0,0 +1,315 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"next.done": {
|
3 |
+
"min": [
|
4 |
+
false
|
5 |
+
],
|
6 |
+
"max": [
|
7 |
+
true
|
8 |
+
],
|
9 |
+
"mean": [
|
10 |
+
0.0022222222222222222
|
11 |
+
],
|
12 |
+
"std": [
|
13 |
+
0.04708804466759354
|
14 |
+
],
|
15 |
+
"count": [
|
16 |
+
45000
|
17 |
+
]
|
18 |
+
},
|
19 |
+
"action": {
|
20 |
+
"min": [
|
21 |
+
-0.2883884012699127,
|
22 |
+
-0.9587380290031433,
|
23 |
+
0.3021942377090454,
|
24 |
+
-0.2653786838054657,
|
25 |
+
-0.8375535607337952,
|
26 |
+
-0.4141748249530792,
|
27 |
+
0.08270374685525894,
|
28 |
+
-0.4724660813808441,
|
29 |
+
-1.0400390625,
|
30 |
+
0.08897088468074799,
|
31 |
+
-1.4450099468231201,
|
32 |
+
-1.0154953002929688,
|
33 |
+
-1.3621749877929688,
|
34 |
+
-0.06495711207389832
|
35 |
+
],
|
36 |
+
"max": [
|
37 |
+
0.31753402948379517,
|
38 |
+
0.08436894416809082,
|
39 |
+
1.2471264600753784,
|
40 |
+
0.28071850538253784,
|
41 |
+
0.9986215233802795,
|
42 |
+
0.4417864680290222,
|
43 |
+
1.162463665008545,
|
44 |
+
0.33133986592292786,
|
45 |
+
0.2791845202445984,
|
46 |
+
1.2931458950042725,
|
47 |
+
0.7056311964988708,
|
48 |
+
1.1458836793899536,
|
49 |
+
1.2210487127304077,
|
50 |
+
1.2004203796386719
|
51 |
+
],
|
52 |
+
"mean": [
|
53 |
+
0.0008245901938708913,
|
54 |
+
-0.38015187203884127,
|
55 |
+
0.8651349732610915,
|
56 |
+
-0.024543446441465576,
|
57 |
+
0.03223768426312341,
|
58 |
+
-0.03484788327995274,
|
59 |
+
0.32127404693100187,
|
60 |
+
-0.07219433393259048,
|
61 |
+
-0.25951569168104066,
|
62 |
+
0.7573922594388326,
|
63 |
+
0.01705326700065699,
|
64 |
+
0.19793744140201142,
|
65 |
+
-0.18384909827676085,
|
66 |
+
0.3867368284198973
|
67 |
+
],
|
68 |
+
"std": [
|
69 |
+
0.08260953529038507,
|
70 |
+
0.33751176006539146,
|
71 |
+
0.2391534117380083,
|
72 |
+
0.08739764579583183,
|
73 |
+
0.4901690163523458,
|
74 |
+
0.12438976171233165,
|
75 |
+
0.2910538951166735,
|
76 |
+
0.13134635984517587,
|
77 |
+
0.3027581473021903,
|
78 |
+
0.2759770946521264,
|
79 |
+
0.30615879002749263,
|
80 |
+
0.5524196096565033,
|
81 |
+
0.41610126455357205,
|
82 |
+
0.39433341342979034
|
83 |
+
],
|
84 |
+
"count": [
|
85 |
+
45000
|
86 |
+
]
|
87 |
+
},
|
88 |
+
"frame_index": {
|
89 |
+
"min": [
|
90 |
+
0
|
91 |
+
],
|
92 |
+
"max": [
|
93 |
+
499
|
94 |
+
],
|
95 |
+
"mean": [
|
96 |
+
227.27777777777777
|
97 |
+
],
|
98 |
+
"std": [
|
99 |
+
134.60015088135654
|
100 |
+
],
|
101 |
+
"count": [
|
102 |
+
45000
|
103 |
+
]
|
104 |
+
},
|
105 |
+
"timestamp": {
|
106 |
+
"min": [
|
107 |
+
0.0
|
108 |
+
],
|
109 |
+
"max": [
|
110 |
+
9.979999542236328
|
111 |
+
],
|
112 |
+
"mean": [
|
113 |
+
4.545555432637532
|
114 |
+
],
|
115 |
+
"std": [
|
116 |
+
2.692003075293834
|
117 |
+
],
|
118 |
+
"count": [
|
119 |
+
45000
|
120 |
+
]
|
121 |
+
},
|
122 |
+
"episode_index": {
|
123 |
+
"min": [
|
124 |
+
0
|
125 |
+
],
|
126 |
+
"max": [
|
127 |
+
49
|
128 |
+
],
|
129 |
+
"mean": [
|
130 |
+
24.5
|
131 |
+
],
|
132 |
+
"std": [
|
133 |
+
14.430869689661812
|
134 |
+
],
|
135 |
+
"count": [
|
136 |
+
45000
|
137 |
+
]
|
138 |
+
},
|
139 |
+
"observation.state": {
|
140 |
+
"min": [
|
141 |
+
-0.2860569655895233,
|
142 |
+
-0.9599999785423279,
|
143 |
+
0.3066967725753784,
|
144 |
+
-0.2636253535747528,
|
145 |
+
-0.8236697316169739,
|
146 |
+
-0.42267003655433655,
|
147 |
+
0.0,
|
148 |
+
-0.4774622619152069,
|
149 |
+
-1.0634464025497437,
|
150 |
+
0.09440229088068008,
|
151 |
+
-1.4443697929382324,
|
152 |
+
-1.00570547580719,
|
153 |
+
-1.361513376235962,
|
154 |
+
-0.012096084654331207
|
155 |
+
],
|
156 |
+
"max": [
|
157 |
+
0.3167214095592499,
|
158 |
+
0.075322724878788,
|
159 |
+
1.250494360923767,
|
160 |
+
0.2756938934326172,
|
161 |
+
0.9997532367706299,
|
162 |
+
0.44105732440948486,
|
163 |
+
1.091105341911316,
|
164 |
+
0.32975292205810547,
|
165 |
+
0.26967695355415344,
|
166 |
+
1.2961957454681396,
|
167 |
+
0.8068909645080566,
|
168 |
+
1.1542441844940186,
|
169 |
+
1.2217248678207397,
|
170 |
+
1.163696050643921
|
171 |
+
],
|
172 |
+
"mean": [
|
173 |
+
0.0009327196662868826,
|
174 |
+
-0.38485617433985075,
|
175 |
+
0.8704176775614421,
|
176 |
+
-0.026466441637732915,
|
177 |
+
0.03947488443719016,
|
178 |
+
-0.035324662617511216,
|
179 |
+
0.555983243783315,
|
180 |
+
-0.07106435836732594,
|
181 |
+
-0.26700085123380024,
|
182 |
+
0.7622757773929172,
|
183 |
+
0.007161505255434248,
|
184 |
+
0.20378935202956203,
|
185 |
+
-0.18388945371740395,
|
186 |
+
0.5352637455860774
|
187 |
+
],
|
188 |
+
"std": [
|
189 |
+
0.08204082324663087,
|
190 |
+
0.3407102295792516,
|
191 |
+
0.23900357373191664,
|
192 |
+
0.08597001828009514,
|
193 |
+
0.4891696692780596,
|
194 |
+
0.12435218346323167,
|
195 |
+
0.2657887902522426,
|
196 |
+
0.13082226754915963,
|
197 |
+
0.3066586984620299,
|
198 |
+
0.27543153852701496,
|
199 |
+
0.3033008541508157,
|
200 |
+
0.5513477322435908,
|
201 |
+
0.41582909051805517,
|
202 |
+
0.28892347562739656
|
203 |
+
],
|
204 |
+
"count": [
|
205 |
+
45000
|
206 |
+
]
|
207 |
+
},
|
208 |
+
"index": {
|
209 |
+
"min": [
|
210 |
+
0
|
211 |
+
],
|
212 |
+
"max": [
|
213 |
+
24999
|
214 |
+
],
|
215 |
+
"mean": [
|
216 |
+
11388.388888888889
|
217 |
+
],
|
218 |
+
"std": [
|
219 |
+
6730.023015800903
|
220 |
+
],
|
221 |
+
"count": [
|
222 |
+
45000
|
223 |
+
]
|
224 |
+
},
|
225 |
+
"task_index": {
|
226 |
+
"min": [
|
227 |
+
0
|
228 |
+
],
|
229 |
+
"max": [
|
230 |
+
0
|
231 |
+
],
|
232 |
+
"mean": [
|
233 |
+
0.0
|
234 |
+
],
|
235 |
+
"std": [
|
236 |
+
0.0
|
237 |
+
],
|
238 |
+
"count": [
|
239 |
+
45000
|
240 |
+
]
|
241 |
+
},
|
242 |
+
"observation.images.top": {
|
243 |
+
"min": [
|
244 |
+
[
|
245 |
+
[
|
246 |
+
0.0
|
247 |
+
]
|
248 |
+
],
|
249 |
+
[
|
250 |
+
[
|
251 |
+
0.0
|
252 |
+
]
|
253 |
+
],
|
254 |
+
[
|
255 |
+
[
|
256 |
+
0.0
|
257 |
+
]
|
258 |
+
]
|
259 |
+
],
|
260 |
+
"max": [
|
261 |
+
[
|
262 |
+
[
|
263 |
+
1.0
|
264 |
+
]
|
265 |
+
],
|
266 |
+
[
|
267 |
+
[
|
268 |
+
1.0
|
269 |
+
]
|
270 |
+
],
|
271 |
+
[
|
272 |
+
[
|
273 |
+
1.0
|
274 |
+
]
|
275 |
+
]
|
276 |
+
],
|
277 |
+
"mean": [
|
278 |
+
[
|
279 |
+
[
|
280 |
+
0.16010904193651385
|
281 |
+
]
|
282 |
+
],
|
283 |
+
[
|
284 |
+
[
|
285 |
+
0.15911323368549346
|
286 |
+
]
|
287 |
+
],
|
288 |
+
[
|
289 |
+
[
|
290 |
+
0.16012011302680504
|
291 |
+
]
|
292 |
+
]
|
293 |
+
],
|
294 |
+
"std": [
|
295 |
+
[
|
296 |
+
[
|
297 |
+
0.20249178109917465
|
298 |
+
]
|
299 |
+
],
|
300 |
+
[
|
301 |
+
[
|
302 |
+
0.20068820973116994
|
303 |
+
]
|
304 |
+
],
|
305 |
+
[
|
306 |
+
[
|
307 |
+
0.20251861920610853
|
308 |
+
]
|
309 |
+
]
|
310 |
+
],
|
311 |
+
"count": [
|
312 |
+
10250
|
313 |
+
]
|
314 |
+
}
|
315 |
+
}
|
meta/tasks.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:eed9511e83d13400e3ae0c18723b6622c27b489ee94d048ce6782e08ef4f5660
|
3 |
+
size 2335
|
videos/observation.images.top/chunk-000/file-000.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:c26224e651ab1e1f77940314e465f5c8bd5e2fbb0d2223675e82f8d4d05827f1
|
3 |
+
size 155904562
|