pdd46465 commited on
Commit
bfc2bba
·
verified ·
1 Parent(s): 78f488b

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 sha256:2cdde8ecf7d329a2939fc60019518daa166b323f0572b5ff4ce7261cec295384
3
+ size 32614
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:90e361b958ff759f474c91ad7264175efa8df5f3cfa7d199b15c3750e2da5513
3
+ size 35487
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["panf"], "length": 364}
2
+ {"episode_index": 1, "tasks": ["panf"], "length": 380}
meta/info.json ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "so100",
4
+ "total_episodes": 2,
5
+ "total_frames": 744,
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
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 12
21
+ ],
22
+ "names": [
23
+ "left_shoulder_pan",
24
+ "left_shoulder_lift",
25
+ "left_elbow_flex",
26
+ "left_wrist_flex",
27
+ "left_wrist_roll",
28
+ "left_gripper",
29
+ "right_shoulder_pan",
30
+ "right_shoulder_lift",
31
+ "right_elbow_flex",
32
+ "right_wrist_flex",
33
+ "right_wrist_roll",
34
+ "right_gripper"
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "dtype": "float32",
39
+ "shape": [
40
+ 12
41
+ ],
42
+ "names": [
43
+ "left_shoulder_pan",
44
+ "left_shoulder_lift",
45
+ "left_elbow_flex",
46
+ "left_wrist_flex",
47
+ "left_wrist_roll",
48
+ "left_gripper",
49
+ "right_shoulder_pan",
50
+ "right_shoulder_lift",
51
+ "right_elbow_flex",
52
+ "right_wrist_flex",
53
+ "right_wrist_roll",
54
+ "right_gripper"
55
+ ]
56
+ },
57
+ "observation.images.laptop": {
58
+ "dtype": "video",
59
+ "shape": [
60
+ 480,
61
+ 640,
62
+ 3
63
+ ],
64
+ "names": [
65
+ "height",
66
+ "width",
67
+ "channels"
68
+ ],
69
+ "info": {
70
+ "video.fps": 30.0,
71
+ "video.height": 480,
72
+ "video.width": 640,
73
+ "video.channels": 3,
74
+ "video.codec": "av1",
75
+ "video.pix_fmt": "yuv420p",
76
+ "video.is_depth_map": false,
77
+ "has_audio": false
78
+ }
79
+ },
80
+ "observation.images.phone": {
81
+ "dtype": "video",
82
+ "shape": [
83
+ 480,
84
+ 640,
85
+ 3
86
+ ],
87
+ "names": [
88
+ "height",
89
+ "width",
90
+ "channels"
91
+ ],
92
+ "info": {
93
+ "video.fps": 30.0,
94
+ "video.height": 480,
95
+ "video.width": 640,
96
+ "video.channels": 3,
97
+ "video.codec": "av1",
98
+ "video.pix_fmt": "yuv420p",
99
+ "video.is_depth_map": false,
100
+ "has_audio": false
101
+ }
102
+ },
103
+ "timestamp": {
104
+ "dtype": "float32",
105
+ "shape": [
106
+ 1
107
+ ],
108
+ "names": null
109
+ },
110
+ "frame_index": {
111
+ "dtype": "int64",
112
+ "shape": [
113
+ 1
114
+ ],
115
+ "names": null
116
+ },
117
+ "episode_index": {
118
+ "dtype": "int64",
119
+ "shape": [
120
+ 1
121
+ ],
122
+ "names": null
123
+ },
124
+ "index": {
125
+ "dtype": "int64",
126
+ "shape": [
127
+ 1
128
+ ],
129
+ "names": null
130
+ },
131
+ "task_index": {
132
+ "dtype": "int64",
133
+ "shape": [
134
+ 1
135
+ ],
136
+ "names": null
137
+ }
138
+ }
139
+ }
meta/stats.json ADDED
@@ -0,0 +1,328 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 17.426563262939453,
5
+ 152.38107299804688,
6
+ 137.50523376464844,
7
+ 46.83897399902344,
8
+ -5.044733047485352,
9
+ 11.546514511108398,
10
+ -0.32451021671295166,
11
+ 136.8793487548828,
12
+ 121.84712219238281,
13
+ 64.41106414794922,
14
+ -12.99021053314209,
15
+ 13.36159896850586
16
+ ],
17
+ "std": [
18
+ 12.6002779006958,
19
+ 26.963584899902344,
20
+ 20.405893325805664,
21
+ 16.6245059967041,
22
+ 11.684986114501953,
23
+ 12.19179630279541,
24
+ 14.527033805847168,
25
+ 33.00890350341797,
26
+ 32.446327209472656,
27
+ 10.524202346801758,
28
+ 18.19080924987793,
29
+ 15.820280075073242
30
+ ],
31
+ "max": [
32
+ 45.3515625,
33
+ 190.72265625,
34
+ 169.716796875,
35
+ 74.1796875,
36
+ 17.578125,
37
+ 36.09576416015625,
38
+ 19.072265625,
39
+ 185.80078125,
40
+ 169.716796875,
41
+ 89.912109375,
42
+ 7.734375,
43
+ 44.08396911621094
44
+ ],
45
+ "min": [
46
+ -2.28515625,
47
+ 99.66796875,
48
+ 108.017578125,
49
+ 17.578125,
50
+ -24.873046875,
51
+ -0.09208103269338608,
52
+ -28.916015625,
53
+ 79.453125,
54
+ 62.314453125,
55
+ 43.9453125,
56
+ -74.1796875,
57
+ -0.19083969295024872
58
+ ]
59
+ },
60
+ "observation.state": {
61
+ "mean": [
62
+ 17.029630661010742,
63
+ 151.1605224609375,
64
+ 137.61770629882812,
65
+ 46.78038024902344,
66
+ -4.713489532470703,
67
+ 12.546463966369629,
68
+ -0.2252787947654724,
69
+ 134.38674926757812,
70
+ 122.65502166748047,
71
+ 64.64521789550781,
72
+ -12.81218433380127,
73
+ 17.02918243408203
74
+ ],
75
+ "std": [
76
+ 12.383785247802734,
77
+ 26.98757553100586,
78
+ 20.011137008666992,
79
+ 16.637611389160156,
80
+ 11.290566444396973,
81
+ 11.05925178527832,
82
+ 13.78501033782959,
83
+ 33.3487548828125,
84
+ 31.63056755065918,
85
+ 10.00159740447998,
86
+ 17.62506103515625,
87
+ 12.956303596496582
88
+ ],
89
+ "max": [
90
+ 44.82421875,
91
+ 190.458984375,
92
+ 169.1015625,
93
+ 75.498046875,
94
+ 16.611328125,
95
+ 34.66172409057617,
96
+ 17.490234375,
97
+ 185.009765625,
98
+ 169.189453125,
99
+ 87.978515625,
100
+ 6.6796875,
101
+ 42.766727447509766
102
+ ],
103
+ "min": [
104
+ -1.93359375,
105
+ 98.876953125,
106
+ 110.21484375,
107
+ 16.875,
108
+ -23.818359375,
109
+ 0.09267840534448624,
110
+ -27.509765625,
111
+ 82.177734375,
112
+ 66.4453125,
113
+ 45.263671875,
114
+ -62.841796875,
115
+ 0.8137431740760803
116
+ ]
117
+ },
118
+ "observation.images.laptop": {
119
+ "mean": [
120
+ [
121
+ [
122
+ 0.5782248377799988
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.6210641860961914
128
+ ]
129
+ ],
130
+ [
131
+ [
132
+ 0.6722590327262878
133
+ ]
134
+ ]
135
+ ],
136
+ "std": [
137
+ [
138
+ [
139
+ 0.27366599440574646
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.260166198015213
145
+ ]
146
+ ],
147
+ [
148
+ [
149
+ 0.2405998855829239
150
+ ]
151
+ ]
152
+ ],
153
+ "max": [
154
+ [
155
+ [
156
+ 1.0
157
+ ]
158
+ ],
159
+ [
160
+ [
161
+ 1.0
162
+ ]
163
+ ],
164
+ [
165
+ [
166
+ 1.0
167
+ ]
168
+ ]
169
+ ],
170
+ "min": [
171
+ [
172
+ [
173
+ 0.0
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ 0.0
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 0.01568627543747425
184
+ ]
185
+ ]
186
+ ]
187
+ },
188
+ "observation.images.phone": {
189
+ "mean": [
190
+ [
191
+ [
192
+ 0.5258907675743103
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.5953139662742615
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.6497821807861328
203
+ ]
204
+ ]
205
+ ],
206
+ "std": [
207
+ [
208
+ [
209
+ 0.25860172510147095
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.2340584695339203
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.21150927245616913
220
+ ]
221
+ ]
222
+ ],
223
+ "max": [
224
+ [
225
+ [
226
+ 1.0
227
+ ]
228
+ ],
229
+ [
230
+ [
231
+ 1.0
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 1.0
237
+ ]
238
+ ]
239
+ ],
240
+ "min": [
241
+ [
242
+ [
243
+ 0.0
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.10588235408067703
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.10196078568696976
254
+ ]
255
+ ]
256
+ ]
257
+ },
258
+ "timestamp": {
259
+ "mean": [
260
+ 6.186200141906738
261
+ ],
262
+ "std": [
263
+ 3.5845203399658203
264
+ ],
265
+ "max": [
266
+ 12.633333206176758
267
+ ],
268
+ "min": [
269
+ 0.0
270
+ ]
271
+ },
272
+ "frame_index": {
273
+ "mean": [
274
+ 185.5860137939453
275
+ ],
276
+ "std": [
277
+ 107.53560638427734
278
+ ],
279
+ "max": [
280
+ 379.0
281
+ ],
282
+ "min": [
283
+ 0.0
284
+ ]
285
+ },
286
+ "episode_index": {
287
+ "mean": [
288
+ 0.5107525587081909
289
+ ],
290
+ "std": [
291
+ 0.49988436698913574
292
+ ],
293
+ "max": [
294
+ 1.0
295
+ ],
296
+ "min": [
297
+ 0.0
298
+ ]
299
+ },
300
+ "index": {
301
+ "mean": [
302
+ 371.5000305175781
303
+ ],
304
+ "std": [
305
+ 214.77407836914062
306
+ ],
307
+ "max": [
308
+ 743.0
309
+ ],
310
+ "min": [
311
+ 0.0
312
+ ]
313
+ },
314
+ "task_index": {
315
+ "mean": [
316
+ 0.0
317
+ ],
318
+ "std": [
319
+ 0.0
320
+ ],
321
+ "max": [
322
+ 0.0
323
+ ],
324
+ "min": [
325
+ 0.0
326
+ ]
327
+ }
328
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "panf"}
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:accc2e20642a8a844d0eb89c92d0926ddec4e789999514ffe7fbd14e53a6ebe5
3
+ size 8200305
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:c8843a6043b02dd454ad307765b4c4b758f03c3ae37dfce01322745be2f10dc3
3
+ size 8544433
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:cce9601ae4d044c3b9292e5b68884bd209e54758a26a32aa8fb98c0f09644090
3
+ size 6764025
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 sha256:634b670f510dbbc0b6ae09bb7f3ba661a9aef82886c896b97b7c488e061c5e73
3
+ size 7202143