mchen02 commited on
Commit
d9dae89
·
verified ·
1 Parent(s): 800951e

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 sha256:0bc211a7d27b9a1c03fb2c3da60d733d397c3d5e41952828cb2022bbc044b181
3
+ size 8586
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:acb656e03de6379b27363eb8cdda4e2a363c984179f59211ce3589168b1f1780
3
+ size 9089
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Hands by your side"], "length": 50}
2
+ {"episode_index": 1, "tasks": ["Hands by your side"], "length": 50}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-0.0030677698086947203, 0.10000000149011612, -0.0014572817599400878, -0.001457282225601375, 0.0, 0.0, -4.5540055060300233e-10, -1.190368890762329, -0.10153397917747498, -0.006135923322290182, -1.2854758501052856, 0.0, -0.003067961661145091, -0.3067961633205414, 0.0020000000949949026, -0.0722000002861023, -0.004699999932199717, 0.2069000005722046, 0.0, 0.0], "max": [0.0030679518822580576, 0.10153378546237946, -0.0, 0.0, 0.0, 0.0, -0.0, 0.00920388475060463, 0.0856078490614891, 0.3421544134616852, 0.0, 0.0, 0.6780195236206055, 0.0, 0.007799999788403511, -0.06880000233650208, -0.0008999999845400453, 0.20730000734329224, 0.0, 0.0], "mean": [3.842218211502768e-05, 0.10015613585710526, -2.9295008062035777e-05, -2.914621109084692e-05, 0.0, 0.0, -9.108071068186785e-12, -0.5481984615325928, 0.020347772166132927, 0.15837347507476807, -0.6551611423492432, 0.0, 0.25042495131492615, -0.16933360695838928, 0.005377999972552061, -0.07046200335025787, -0.0030399998649954796, 0.20716409385204315, 0.0, 0.0], "std": [0.001478895079344511, 0.0004445804515853524, 0.00020399922505021095, 0.0002040194085566327, 0.0, 0.0, 6.375603517350115e-11, 0.3883928656578064, 0.07668590545654297, 0.1367408186197281, 0.46585363149642944, 0.0, 0.25545790791511536, 0.13885021209716797, 0.0022777433041483164, 0.001434696139767766, 0.001619752962142229, 0.0001894868037197739, 0.0, 0.0], "count": [50]}, "observation.state": {"min": [-0.002553191501647234, 0.09957446902990341, -0.0006382978754118085, -0.00021276595361996442, 0.0, 0.0, 0.0, -1.1834042072296143, -0.10106383264064789, -0.002765957498922944, -1.2836170196533203, -0.00021276595361996442, -0.001276595750823617, -0.3057446777820587, 0.0020000000949949026, -0.0722000002861023, -0.004699999932199717, 0.2069000005722046, 81.09445190429688, 80.83106231689453], "max": [0.002340425504371524, 0.10063830018043518, 0.0, 0.0, 0.0, 0.0, 0.0, 0.008510638028383255, 0.08468084782361984, 0.3385106325149536, 0.00042553190723992884, -0.00021276595361996442, 0.6774467825889587, 0.0, 0.007799999788403511, -0.06880000233650208, -0.0008999999845400453, 0.20730000734329224, 81.10833740234375, 80.83106231689453], "mean": [0.00028510636184364557, 0.09985531866550446, -2.1276595361996442e-05, -8.510638508596458e-06, 0.0, 0.0, 0.0, -0.5399404168128967, 0.015608507208526134, 0.15280000865459442, -0.6231616735458374, -0.00021276596817187965, 0.2357744574546814, -0.16232341527938843, 0.005386000499129295, -0.07044600695371628, -0.003053999738767743, 0.20720411837100983, 81.10643768310547, 80.83106231689453], "std": [0.0009102901676669717, 0.0002603757311590016, 0.00010638299136189744, 4.169345265836455e-05, 0.0, 0.0, 0.0, 0.3905126452445984, 0.07771175354719162, 0.1377994269132614, 0.46675682067871094, 1.4551915228366852e-11, 0.25044089555740356, 0.14049333333969116, 0.0022869198583066463, 0.0014464033301919699, 0.0016130978474393487, 0.00017083610873669386, 0.004818290006369352, 0.0], "count": [50]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5979413834422659]], [[0.5844707080610021]], [[0.5688362962962963]]], "std": [[[0.1947153674680224]], [[0.20563323792895208]], [[0.2129458484769041]]], "count": [50]}, "timestamp": {"min": [0.0], "max": [9.8], "mean": [4.9], "std": [2.8861739379323623], "count": [50]}, "frame_index": {"min": [0], "max": [49], "mean": [24.5], "std": [14.430869689661812], "count": [50]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [50]}, "index": {"min": [0], "max": [49], "mean": [24.5], "std": [14.430869689661812], "count": [50]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [50]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-9.108010345926232e-09, 0.09846601635217667, -0.0014572817599400878, -0.0015339716337621212, 0.0, -0.0015301458770409226, -0.0014572817599400878, -1.3051751852035522, -0.44522640109062195, -0.36677902936935425, -1.7134565114974976, 0.0, 0.3162524700164795, -0.139592245221138, 0.00430000014603138, -0.07150000333786011, -0.004699999932199717, 0.2069000005722046, 0.0, 0.0], "max": [0.006135923322290182, 0.10000000149011612, -0.0, -0.0, 0.0, -0.0, -0.0, -0.369600772857666, -0.03557262569665909, 0.1964264214038849, -0.5065308809280396, 0.0, 1.1075341701507568, -0.0920388475060463, 0.008200000040233135, -0.06840000301599503, -0.002400000113993883, 0.20730000734329224, 0.0, 0.0], "mean": [0.0030985604971647263, 0.09981726855039597, -5.990577847114764e-05, -0.00019005979993380606, 0.0, -5.997078915243037e-05, -3.0676346796099097e-05, -0.6721080541610718, -0.20934683084487915, -0.08927484601736069, -1.4137275218963623, 0.0, 0.9565891027450562, -0.11216295510530472, 0.007088002748787403, -0.06965602934360504, -0.004197999369353056, 0.20699596405029297, 0.0, 0.0], "std": [0.0016265843296423554, 0.0004943780950270593, 0.00028544015367515385, 0.00048338735359720886, 0.0, 0.000292753626126796, 0.00020405591931194067, 0.23271113634109497, 0.08596421033143997, 0.1274426430463791, 0.3074285387992859, 0.0, 0.2112685739994049, 0.008011880330741405, 0.0007350207888521254, 0.0004725079343188554, 0.00040323197026737034, 0.00017083610873669386, 0.0, 0.0], "count": [50]}, "observation.state": {"min": [0.00042553190723992884, 0.09851063787937164, -0.0008510638144798577, -0.0010638297535479069, 0.0, -0.0006382978754118085, -0.0006382978754118085, -1.269574522972107, -0.43106383085250854, -0.3700000047683716, -1.7104254961013794, -0.00021276595361996442, 0.009999999776482582, -0.12531915307044983, 0.00430000014603138, -0.07150000333786011, -0.004699999932199717, 0.2069000005722046, 81.10833740234375, 80.83106231689453], "max": [0.005319148767739534, 0.09957446902990341, 0.0, 0.0, 0.0, 0.0, 0.0, -0.386595755815506, -0.050851065665483475, 0.22404254972934723, -0.11404255032539368, -0.00021276595361996442, 1.0468084812164307, -0.09489361941814423, 0.008200000040233135, -0.06840000301599503, -0.002400000113993883, 0.20730000734329224, 81.10833740234375, 80.83106231689453], "mean": [0.002902127569541335, 0.0994468480348587, -5.531914939638227e-05, -9.361701086163521e-05, 0.0, -1.2765957762894686e-05, -2.1276595361996442e-05, -0.6463658809661865, -0.20822550356388092, -0.07395318150520325, -1.3713361024856567, -0.00021276596817187965, 0.8818214535713196, -0.11042553931474686, 0.0070960018783807755, -0.06965602934360504, -0.004197999369353056, 0.20701196789741516, 81.10838317871094, 80.83106231689453], "std": [0.0012094093253836036, 0.0003184393572155386, 0.00017958253738470376, 0.00023753676214255393, 0.0, 8.936171070672572e-05, 9.750165190780535e-05, 0.2088676393032074, 0.08260148763656616, 0.14054268598556519, 0.3619045317173004, 1.4551915228366852e-11, 0.25542035698890686, 0.006348560098558664, 0.0007448385586030781, 0.0004725079343188554, 0.00040323197026737034, 0.00017960264813154936, 4.57763671875e-05, 0.0], "count": [50]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5810976252723311]], [[0.5680581699346405]], [[0.5527283823529412]]], "std": [[[0.19628242402583998]], [[0.20745506733622002]], [[0.21456600237553813]]], "count": [50]}, "timestamp": {"min": [0.0], "max": [9.8], "mean": [4.9], "std": [2.8861739379323623], "count": [50]}, "frame_index": {"min": [0], "max": [49], "mean": [24.5], "std": [14.430869689661812], "count": [50]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [50]}, "index": {"min": [50], "max": [99], "mean": [74.5], "std": [14.430869689661812], "count": [50]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [50]}}}
meta/info.json ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "r1",
4
+ "total_episodes": 2,
5
+ "total_frames": 100,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 5,
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
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 20
21
+ ],
22
+ "names": [
23
+ "left_arm_j1",
24
+ "left_arm_j2",
25
+ "left_arm_j3",
26
+ "left_arm_j4",
27
+ "left_arm_j5",
28
+ "left_arm_j6",
29
+ "left_arm_j7",
30
+ "right_arm_j1",
31
+ "right_arm_j2",
32
+ "right_arm_j3",
33
+ "right_arm_j4",
34
+ "right_arm_j5",
35
+ "right_arm_j6",
36
+ "right_arm_j7",
37
+ "torso_j1",
38
+ "torso_j2",
39
+ "torso_j3",
40
+ "torso_j4",
41
+ "left_gripper",
42
+ "right_gripper"
43
+ ]
44
+ },
45
+ "observation.state": {
46
+ "dtype": "float32",
47
+ "shape": [
48
+ 20
49
+ ],
50
+ "names": [
51
+ "left_arm_j1",
52
+ "left_arm_j2",
53
+ "left_arm_j3",
54
+ "left_arm_j4",
55
+ "left_arm_j5",
56
+ "left_arm_j6",
57
+ "left_arm_j7",
58
+ "right_arm_j1",
59
+ "right_arm_j2",
60
+ "right_arm_j3",
61
+ "right_arm_j4",
62
+ "right_arm_j5",
63
+ "right_arm_j6",
64
+ "right_arm_j7",
65
+ "torso_j1",
66
+ "torso_j2",
67
+ "torso_j3",
68
+ "torso_j4",
69
+ "left_gripper",
70
+ "right_gripper"
71
+ ]
72
+ },
73
+ "observation.images.head": {
74
+ "dtype": "video",
75
+ "shape": [
76
+ 360,
77
+ 640,
78
+ 3
79
+ ],
80
+ "names": [
81
+ "height",
82
+ "width",
83
+ "channels"
84
+ ],
85
+ "info": {
86
+ "video.fps": 5.0,
87
+ "video.height": 360,
88
+ "video.width": 640,
89
+ "video.channels": 3,
90
+ "video.codec": "h264",
91
+ "video.pix_fmt": "yuv420p",
92
+ "video.is_depth_map": false,
93
+ "has_audio": false
94
+ }
95
+ },
96
+ "timestamp": {
97
+ "dtype": "float32",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ },
103
+ "frame_index": {
104
+ "dtype": "int64",
105
+ "shape": [
106
+ 1
107
+ ],
108
+ "names": null
109
+ },
110
+ "episode_index": {
111
+ "dtype": "int64",
112
+ "shape": [
113
+ 1
114
+ ],
115
+ "names": null
116
+ },
117
+ "index": {
118
+ "dtype": "int64",
119
+ "shape": [
120
+ 1
121
+ ],
122
+ "names": null
123
+ },
124
+ "task_index": {
125
+ "dtype": "int64",
126
+ "shape": [
127
+ 1
128
+ ],
129
+ "names": null
130
+ }
131
+ }
132
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Hands by your side"}
videos/chunk-000/observation.images.head/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b3560b700f1d415d1154769876492065f11ab489db27694860105eef3d45df34
3
+ size 940841
videos/chunk-000/observation.images.head/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e54e771dcd64993bb2e895dd4bf3a2605404f2b5c5e917c93ccd2a18c36f8327
3
+ size 942623