Datasets:
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 sha256:12c8b86819b15f17c76b56ab5d15b0f693277470f27940335127177e3560eda0
|
3 |
+
size 116036
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"episode_index": 0, "tasks": ["sorting"], "length": 1777}
|
meta/info.json
ADDED
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"codebase_version": "v2.0",
|
3 |
+
"robot_type": "so100",
|
4 |
+
"total_episodes": 1,
|
5 |
+
"total_frames": 1777,
|
6 |
+
"total_tasks": 1,
|
7 |
+
"total_videos": 2,
|
8 |
+
"total_chunks": 1,
|
9 |
+
"chunks_size": 1000,
|
10 |
+
"fps": 30,
|
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.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 |
+
27.304651260375977,
|
5 |
+
136.44810485839844,
|
6 |
+
123.20972442626953,
|
7 |
+
55.86051940917969,
|
8 |
+
-33.08728790283203,
|
9 |
+
8.459681510925293
|
10 |
+
],
|
11 |
+
"std": [
|
12 |
+
37.28670883178711,
|
13 |
+
52.73645782470703,
|
14 |
+
55.15882873535156,
|
15 |
+
18.53590965270996,
|
16 |
+
40.526405334472656,
|
17 |
+
18.485586166381836
|
18 |
+
],
|
19 |
+
"max": [
|
20 |
+
89.34623718261719,
|
21 |
+
190.65170288085938,
|
22 |
+
180.26898193359375,
|
23 |
+
93.33718872070312,
|
24 |
+
4.90655517578125,
|
25 |
+
73.58354187011719
|
26 |
+
],
|
27 |
+
"min": [
|
28 |
+
-9.788494110107422,
|
29 |
+
59.41205596923828,
|
30 |
+
28.52911376953125,
|
31 |
+
8.791614532470703,
|
32 |
+
-132.92478942871094,
|
33 |
+
-0.6969804763793945
|
34 |
+
]
|
35 |
+
},
|
36 |
+
"observation.state": {
|
37 |
+
"mean": [
|
38 |
+
27.288976669311523,
|
39 |
+
134.9034881591797,
|
40 |
+
122.99491882324219,
|
41 |
+
55.50023651123047,
|
42 |
+
-32.91295623779297,
|
43 |
+
23.319124221801758
|
44 |
+
],
|
45 |
+
"std": [
|
46 |
+
36.74627685546875,
|
47 |
+
53.13432312011719,
|
48 |
+
54.47023010253906,
|
49 |
+
18.282682418823242,
|
50 |
+
40.10272979736328,
|
51 |
+
24.495820999145508
|
52 |
+
],
|
53 |
+
"max": [
|
54 |
+
87.978515625,
|
55 |
+
188.876953125,
|
56 |
+
179.6484375,
|
57 |
+
91.845703125,
|
58 |
+
2.98828125,
|
59 |
+
72.36394500732422
|
60 |
+
],
|
61 |
+
"min": [
|
62 |
+
-9.052734375,
|
63 |
+
59.853515625,
|
64 |
+
30.849609375,
|
65 |
+
10.01953125,
|
66 |
+
-130.95703125,
|
67 |
+
0.08503401279449463
|
68 |
+
]
|
69 |
+
},
|
70 |
+
"observation.images.laptop": {
|
71 |
+
"mean": [
|
72 |
+
[
|
73 |
+
[
|
74 |
+
0.5480383634567261
|
75 |
+
]
|
76 |
+
],
|
77 |
+
[
|
78 |
+
[
|
79 |
+
0.5151901841163635
|
80 |
+
]
|
81 |
+
],
|
82 |
+
[
|
83 |
+
[
|
84 |
+
0.47260886430740356
|
85 |
+
]
|
86 |
+
]
|
87 |
+
],
|
88 |
+
"std": [
|
89 |
+
[
|
90 |
+
[
|
91 |
+
0.27163225412368774
|
92 |
+
]
|
93 |
+
],
|
94 |
+
[
|
95 |
+
[
|
96 |
+
0.2687018811702728
|
97 |
+
]
|
98 |
+
],
|
99 |
+
[
|
100 |
+
[
|
101 |
+
0.2675859034061432
|
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 |
+
0.5023403763771057
|
145 |
+
]
|
146 |
+
],
|
147 |
+
[
|
148 |
+
[
|
149 |
+
0.47068363428115845
|
150 |
+
]
|
151 |
+
],
|
152 |
+
[
|
153 |
+
[
|
154 |
+
0.44477933645248413
|
155 |
+
]
|
156 |
+
]
|
157 |
+
],
|
158 |
+
"std": [
|
159 |
+
[
|
160 |
+
[
|
161 |
+
0.3030202090740204
|
162 |
+
]
|
163 |
+
],
|
164 |
+
[
|
165 |
+
[
|
166 |
+
0.29636767506599426
|
167 |
+
]
|
168 |
+
],
|
169 |
+
[
|
170 |
+
[
|
171 |
+
0.2894299328327179
|
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 |
+
29.600000381469727
|
213 |
+
],
|
214 |
+
"std": [
|
215 |
+
17.09918785095215
|
216 |
+
],
|
217 |
+
"max": [
|
218 |
+
59.20000076293945
|
219 |
+
],
|
220 |
+
"min": [
|
221 |
+
0.0
|
222 |
+
]
|
223 |
+
},
|
224 |
+
"frame_index": {
|
225 |
+
"mean": [
|
226 |
+
888.0
|
227 |
+
],
|
228 |
+
"std": [
|
229 |
+
512.9755859375
|
230 |
+
],
|
231 |
+
"max": [
|
232 |
+
1776.0
|
233 |
+
],
|
234 |
+
"min": [
|
235 |
+
0.0
|
236 |
+
]
|
237 |
+
},
|
238 |
+
"episode_index": {
|
239 |
+
"mean": [
|
240 |
+
0.0
|
241 |
+
],
|
242 |
+
"std": [
|
243 |
+
0.0
|
244 |
+
],
|
245 |
+
"max": [
|
246 |
+
0.0
|
247 |
+
],
|
248 |
+
"min": [
|
249 |
+
0.0
|
250 |
+
]
|
251 |
+
},
|
252 |
+
"index": {
|
253 |
+
"mean": [
|
254 |
+
888.0
|
255 |
+
],
|
256 |
+
"std": [
|
257 |
+
512.9755859375
|
258 |
+
],
|
259 |
+
"max": [
|
260 |
+
1776.0
|
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": "sorting"}
|
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 sha256:8bb2d5d2c1f2af208d69c4455bc0dc259226d7c8597dd106465f76c808365c3f
|
3 |
+
size 45351629
|
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:c77f73d4b43e2a78c128448b0a568139b01205c9a413b636ee403495b8f59db8
|
3 |
+
size 46890055
|