0x00raghu commited on
Commit
e15ef2d
·
verified ·
1 Parent(s): b00e994

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 sha256:008e6a2bff6b797a24f84cc8b876d1208ae092156ec44faa89d59cc28beaad34
3
+ size 43119
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9aa1c16079cc5e36470488eae557bea00a5ced1409280d5a3939692ac8c46aa2
3
+ size 53700
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["toffee_sorting"], "length": 1193}
2
+ {"episode_index": 1, "tasks": ["toffee_sorting"], "length": 1193}
meta/info.json ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "so100_bimanual",
4
+ "total_episodes": 2,
5
+ "total_frames": 2386,
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
+ -3.990000009536743,
5
+ 158.85714721679688,
6
+ 146.7212677001953,
7
+ 74.77725982666016,
8
+ -57.09320068359375,
9
+ 6.775522708892822,
10
+ 18.050514221191406,
11
+ 185.49305725097656,
12
+ 172.265625,
13
+ 79.70287322998047,
14
+ 51.950523376464844,
15
+ 2.0306308269500732
16
+ ],
17
+ "std": [
18
+ 11.701562881469727,
19
+ 50.81001663208008,
20
+ 47.941524505615234,
21
+ 21.28951644897461,
22
+ 26.152257919311523,
23
+ 10.76174259185791,
24
+ 3.825481653213501,
25
+ 0.09790161997079849,
26
+ 0.0,
27
+ 3.328726291656494,
28
+ 6.4177937507629395,
29
+ 1.841861367225647
30
+ ],
31
+ "max": [
32
+ 47.4609375,
33
+ 189.4921875,
34
+ 175.166015625,
35
+ 109.951171875,
36
+ -9.66796875,
37
+ 42.57246398925781,
38
+ 26.54296875,
39
+ 185.712890625,
40
+ 172.265625,
41
+ 80.859375,
42
+ 65.478515625,
43
+ 6.422018527984619
44
+ ],
45
+ "min": [
46
+ -43.681640625,
47
+ 28.212890625,
48
+ 12.3046875,
49
+ 7.03125,
50
+ -89.560546875,
51
+ 0.0,
52
+ 5.44921875,
53
+ 185.44921875,
54
+ 172.265625,
55
+ 41.484375,
56
+ 15.1171875,
57
+ 1.0484927892684937
58
+ ]
59
+ },
60
+ "observation.state": {
61
+ "mean": [
62
+ -3.8346986770629883,
63
+ 157.37820434570312,
64
+ 147.67137145996094,
65
+ 71.12632751464844,
66
+ -56.85691452026367,
67
+ 7.034409523010254,
68
+ 17.470306396484375,
69
+ 185.26690673828125,
70
+ 172.0458526611328,
71
+ 77.09477233886719,
72
+ 51.899620056152344,
73
+ 2.5017788410186768
74
+ ],
75
+ "std": [
76
+ 11.395442962646484,
77
+ 53.065460205078125,
78
+ 47.43923568725586,
79
+ 19.399511337280273,
80
+ 26.43848991394043,
81
+ 10.747050285339355,
82
+ 3.870065927505493,
83
+ 0.06420595943927765,
84
+ 0.6591797471046448,
85
+ 2.964864730834961,
86
+ 6.216301918029785,
87
+ 1.477121114730835
88
+ ],
89
+ "max": [
90
+ 46.669921875,
91
+ 189.755859375,
92
+ 176.044921875,
93
+ 103.53515625,
94
+ -9.228515625,
95
+ 41.23711395263672,
96
+ 26.015625,
97
+ 185.2734375,
98
+ 172.705078125,
99
+ 77.958984375,
100
+ 64.3359375,
101
+ 5.802708148956299
102
+ ],
103
+ "min": [
104
+ -42.802734375,
105
+ 26.19140625,
106
+ 17.40234375,
107
+ 8.173828125,
108
+ -87.275390625,
109
+ 0.7731958627700806,
110
+ 5.361328125,
111
+ 184.482421875,
112
+ 171.38671875,
113
+ 43.681640625,
114
+ 15.46875,
115
+ 1.837524175643921
116
+ ]
117
+ },
118
+ "observation.images.laptop": {
119
+ "mean": [
120
+ [
121
+ [
122
+ 0.5468785166740417
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.5348509550094604
128
+ ]
129
+ ],
130
+ [
131
+ [
132
+ 0.5239336490631104
133
+ ]
134
+ ]
135
+ ],
136
+ "std": [
137
+ [
138
+ [
139
+ 0.25582724809646606
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.2506195604801178
145
+ ]
146
+ ],
147
+ [
148
+ [
149
+ 0.24702061712741852
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
+ 0.0
184
+ ]
185
+ ]
186
+ ]
187
+ },
188
+ "observation.images.phone": {
189
+ "mean": [
190
+ [
191
+ [
192
+ 0.6368979215621948
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.6199808120727539
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.5921128988265991
203
+ ]
204
+ ]
205
+ ],
206
+ "std": [
207
+ [
208
+ [
209
+ 0.1875009536743164
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.1964188516139984
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.21748775243759155
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
+ 0.0
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.0
254
+ ]
255
+ ]
256
+ ]
257
+ },
258
+ "timestamp": {
259
+ "mean": [
260
+ 19.86667251586914
261
+ ],
262
+ "std": [
263
+ 11.479643821716309
264
+ ],
265
+ "max": [
266
+ 39.733333587646484
267
+ ],
268
+ "min": [
269
+ 0.0
270
+ ]
271
+ },
272
+ "frame_index": {
273
+ "mean": [
274
+ 595.9998168945312
275
+ ],
276
+ "std": [
277
+ 344.3893127441406
278
+ ],
279
+ "max": [
280
+ 1192.0
281
+ ],
282
+ "min": [
283
+ 0.0
284
+ ]
285
+ },
286
+ "episode_index": {
287
+ "mean": [
288
+ 0.5000001788139343
289
+ ],
290
+ "std": [
291
+ 0.4999999701976776
292
+ ],
293
+ "max": [
294
+ 1.0
295
+ ],
296
+ "min": [
297
+ 0.0
298
+ ]
299
+ },
300
+ "index": {
301
+ "mean": [
302
+ 1192.5003662109375
303
+ ],
304
+ "std": [
305
+ 688.7787475585938
306
+ ],
307
+ "max": [
308
+ 2385.0
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": "toffee_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 sha256:6ffd24340048b73c431f85abbe5b7331d86a0e1ea0f356c64cb97307ef90d203
3
+ size 10329286
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 sha256:194252985c2aa17b1cb0723b8e27f124d66b3c84c100b3e45da8d23963257811
3
+ size 12389435
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 sha256:562aa4b2dbd70e90fb256b4209f05e08e090164383a6111674a52346605b5676
3
+ size 37499415
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 sha256:72db04d03dd00db373d254fdab940337475c1142d76aaf0233398557ffc989cc
3
+ size 38596396