Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/info.json +133 -0
- meta/stats.json +304 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_high/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_high/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.cam_wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_wrist/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:c0d61175aed03e27a92ca494a766959ea8ae3f855f46a1aac001369fd28e4bfd
|
3 |
+
size 37357
|
data/chunk-000/episode_000001.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:db256616d5d872ea1aaa4ef8caeb8e953257f9ab0a6d842bd67f1c06f2193965
|
3 |
+
size 37281
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
1 |
+
{"episode_index": 0, "tasks": ["Put the sponge in the box."], "length": 570}
|
2 |
+
{"episode_index": 1, "tasks": ["Put the sponge in the box."], "length": 565}
|
meta/info.json
ADDED
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"codebase_version": "v2.0",
|
3 |
+
"robot_type": "x1",
|
4 |
+
"total_episodes": 2,
|
5 |
+
"total_frames": 1135,
|
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 |
+
9
|
21 |
+
],
|
22 |
+
"names": [
|
23 |
+
"main_waist",
|
24 |
+
"main_shoulder",
|
25 |
+
"main_shoulder_shadow",
|
26 |
+
"main_forearm_roll",
|
27 |
+
"main_elbow",
|
28 |
+
"main_elbow_shadow",
|
29 |
+
"main_wrist_angle",
|
30 |
+
"main_wrist_rotate",
|
31 |
+
"main_gripper"
|
32 |
+
]
|
33 |
+
},
|
34 |
+
"observation.state": {
|
35 |
+
"dtype": "float32",
|
36 |
+
"shape": [
|
37 |
+
9
|
38 |
+
],
|
39 |
+
"names": [
|
40 |
+
"main_waist",
|
41 |
+
"main_shoulder",
|
42 |
+
"main_shoulder_shadow",
|
43 |
+
"main_forearm_roll",
|
44 |
+
"main_elbow",
|
45 |
+
"main_elbow_shadow",
|
46 |
+
"main_wrist_angle",
|
47 |
+
"main_wrist_rotate",
|
48 |
+
"main_gripper"
|
49 |
+
]
|
50 |
+
},
|
51 |
+
"observation.images.cam_high": {
|
52 |
+
"dtype": "video",
|
53 |
+
"shape": [
|
54 |
+
480,
|
55 |
+
640,
|
56 |
+
3
|
57 |
+
],
|
58 |
+
"names": [
|
59 |
+
"height",
|
60 |
+
"width",
|
61 |
+
"channels"
|
62 |
+
],
|
63 |
+
"info": {
|
64 |
+
"video.fps": 30.0,
|
65 |
+
"video.height": 480,
|
66 |
+
"video.width": 640,
|
67 |
+
"video.channels": 3,
|
68 |
+
"video.codec": "av1",
|
69 |
+
"video.pix_fmt": "yuv420p",
|
70 |
+
"video.is_depth_map": false,
|
71 |
+
"has_audio": false
|
72 |
+
}
|
73 |
+
},
|
74 |
+
"observation.images.cam_wrist": {
|
75 |
+
"dtype": "video",
|
76 |
+
"shape": [
|
77 |
+
480,
|
78 |
+
640,
|
79 |
+
3
|
80 |
+
],
|
81 |
+
"names": [
|
82 |
+
"height",
|
83 |
+
"width",
|
84 |
+
"channels"
|
85 |
+
],
|
86 |
+
"info": {
|
87 |
+
"video.fps": 30.0,
|
88 |
+
"video.height": 480,
|
89 |
+
"video.width": 640,
|
90 |
+
"video.channels": 3,
|
91 |
+
"video.codec": "av1",
|
92 |
+
"video.pix_fmt": "yuv420p",
|
93 |
+
"video.is_depth_map": false,
|
94 |
+
"has_audio": false
|
95 |
+
}
|
96 |
+
},
|
97 |
+
"timestamp": {
|
98 |
+
"dtype": "float32",
|
99 |
+
"shape": [
|
100 |
+
1
|
101 |
+
],
|
102 |
+
"names": null
|
103 |
+
},
|
104 |
+
"frame_index": {
|
105 |
+
"dtype": "int64",
|
106 |
+
"shape": [
|
107 |
+
1
|
108 |
+
],
|
109 |
+
"names": null
|
110 |
+
},
|
111 |
+
"episode_index": {
|
112 |
+
"dtype": "int64",
|
113 |
+
"shape": [
|
114 |
+
1
|
115 |
+
],
|
116 |
+
"names": null
|
117 |
+
},
|
118 |
+
"index": {
|
119 |
+
"dtype": "int64",
|
120 |
+
"shape": [
|
121 |
+
1
|
122 |
+
],
|
123 |
+
"names": null
|
124 |
+
},
|
125 |
+
"task_index": {
|
126 |
+
"dtype": "int64",
|
127 |
+
"shape": [
|
128 |
+
1
|
129 |
+
],
|
130 |
+
"names": null
|
131 |
+
}
|
132 |
+
}
|
133 |
+
}
|
meta/stats.json
ADDED
@@ -0,0 +1,304 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"action": {
|
3 |
+
"mean": [
|
4 |
+
-6.464569568634033,
|
5 |
+
142.44517517089844,
|
6 |
+
142.7381134033203,
|
7 |
+
-0.18355070054531097,
|
8 |
+
152.1368865966797,
|
9 |
+
152.88739013671875,
|
10 |
+
19.926239013671875,
|
11 |
+
3.5129923820495605,
|
12 |
+
37.165733337402344
|
13 |
+
],
|
14 |
+
"std": [
|
15 |
+
13.714615821838379,
|
16 |
+
39.084903717041016,
|
17 |
+
38.94858169555664,
|
18 |
+
5.68295431137085,
|
19 |
+
25.184171676635742,
|
20 |
+
25.12421417236328,
|
21 |
+
15.644917488098145,
|
22 |
+
6.95240592956543,
|
23 |
+
42.07537841796875
|
24 |
+
],
|
25 |
+
"max": [
|
26 |
+
24.43359375,
|
27 |
+
191.07421875,
|
28 |
+
191.162109375,
|
29 |
+
16.93359375,
|
30 |
+
186.6796875,
|
31 |
+
187.294921875,
|
32 |
+
45.791015625,
|
33 |
+
21.357421875,
|
34 |
+
76.2890625
|
35 |
+
],
|
36 |
+
"min": [
|
37 |
+
-21.533203125,
|
38 |
+
90.087890625,
|
39 |
+
90.52734375,
|
40 |
+
-9.78515625,
|
41 |
+
124.8046875,
|
42 |
+
125.419921875,
|
43 |
+
-10.634765625,
|
44 |
+
-22.32421875,
|
45 |
+
-53.0859375
|
46 |
+
]
|
47 |
+
},
|
48 |
+
"observation.state": {
|
49 |
+
"mean": [
|
50 |
+
-6.095427989959717,
|
51 |
+
141.2841033935547,
|
52 |
+
142.4073944091797,
|
53 |
+
-0.23153561353683472,
|
54 |
+
153.28378295898438,
|
55 |
+
153.65354919433594,
|
56 |
+
20.29964256286621,
|
57 |
+
3.357111930847168,
|
58 |
+
37.390296936035156
|
59 |
+
],
|
60 |
+
"std": [
|
61 |
+
13.156978607177734,
|
62 |
+
40.420040130615234,
|
63 |
+
40.468406677246094,
|
64 |
+
4.998706340789795,
|
65 |
+
24.232284545898438,
|
66 |
+
24.230785369873047,
|
67 |
+
15.289896965026855,
|
68 |
+
6.559156894683838,
|
69 |
+
41.2608528137207
|
70 |
+
],
|
71 |
+
"max": [
|
72 |
+
23.90625,
|
73 |
+
191.42578125,
|
74 |
+
192.568359375,
|
75 |
+
14.94140625,
|
76 |
+
186.064453125,
|
77 |
+
186.416015625,
|
78 |
+
45.263671875,
|
79 |
+
20.830078125,
|
80 |
+
75.9375
|
81 |
+
],
|
82 |
+
"min": [
|
83 |
+
-20.830078125,
|
84 |
+
87.802734375,
|
85 |
+
88.76953125,
|
86 |
+
-7.91015625,
|
87 |
+
126.5625,
|
88 |
+
126.9140625,
|
89 |
+
-8.61328125,
|
90 |
+
-21.796875,
|
91 |
+
-51.6796875
|
92 |
+
]
|
93 |
+
},
|
94 |
+
"observation.images.cam_high": {
|
95 |
+
"mean": [
|
96 |
+
[
|
97 |
+
[
|
98 |
+
0.4219011962413788
|
99 |
+
]
|
100 |
+
],
|
101 |
+
[
|
102 |
+
[
|
103 |
+
0.43273600935935974
|
104 |
+
]
|
105 |
+
],
|
106 |
+
[
|
107 |
+
[
|
108 |
+
0.42159757018089294
|
109 |
+
]
|
110 |
+
]
|
111 |
+
],
|
112 |
+
"std": [
|
113 |
+
[
|
114 |
+
[
|
115 |
+
0.23854103684425354
|
116 |
+
]
|
117 |
+
],
|
118 |
+
[
|
119 |
+
[
|
120 |
+
0.23539701104164124
|
121 |
+
]
|
122 |
+
],
|
123 |
+
[
|
124 |
+
[
|
125 |
+
0.24374760687351227
|
126 |
+
]
|
127 |
+
]
|
128 |
+
],
|
129 |
+
"max": [
|
130 |
+
[
|
131 |
+
[
|
132 |
+
1.0
|
133 |
+
]
|
134 |
+
],
|
135 |
+
[
|
136 |
+
[
|
137 |
+
1.0
|
138 |
+
]
|
139 |
+
],
|
140 |
+
[
|
141 |
+
[
|
142 |
+
1.0
|
143 |
+
]
|
144 |
+
]
|
145 |
+
],
|
146 |
+
"min": [
|
147 |
+
[
|
148 |
+
[
|
149 |
+
0.0
|
150 |
+
]
|
151 |
+
],
|
152 |
+
[
|
153 |
+
[
|
154 |
+
0.0
|
155 |
+
]
|
156 |
+
],
|
157 |
+
[
|
158 |
+
[
|
159 |
+
0.0
|
160 |
+
]
|
161 |
+
]
|
162 |
+
]
|
163 |
+
},
|
164 |
+
"observation.images.cam_wrist": {
|
165 |
+
"mean": [
|
166 |
+
[
|
167 |
+
[
|
168 |
+
0.36025792360305786
|
169 |
+
]
|
170 |
+
],
|
171 |
+
[
|
172 |
+
[
|
173 |
+
0.3689239025115967
|
174 |
+
]
|
175 |
+
],
|
176 |
+
[
|
177 |
+
[
|
178 |
+
0.35944652557373047
|
179 |
+
]
|
180 |
+
]
|
181 |
+
],
|
182 |
+
"std": [
|
183 |
+
[
|
184 |
+
[
|
185 |
+
0.2805328369140625
|
186 |
+
]
|
187 |
+
],
|
188 |
+
[
|
189 |
+
[
|
190 |
+
0.28191056847572327
|
191 |
+
]
|
192 |
+
],
|
193 |
+
[
|
194 |
+
[
|
195 |
+
0.2816411852836609
|
196 |
+
]
|
197 |
+
]
|
198 |
+
],
|
199 |
+
"max": [
|
200 |
+
[
|
201 |
+
[
|
202 |
+
1.0
|
203 |
+
]
|
204 |
+
],
|
205 |
+
[
|
206 |
+
[
|
207 |
+
1.0
|
208 |
+
]
|
209 |
+
],
|
210 |
+
[
|
211 |
+
[
|
212 |
+
1.0
|
213 |
+
]
|
214 |
+
]
|
215 |
+
],
|
216 |
+
"min": [
|
217 |
+
[
|
218 |
+
[
|
219 |
+
0.0
|
220 |
+
]
|
221 |
+
],
|
222 |
+
[
|
223 |
+
[
|
224 |
+
0.0
|
225 |
+
]
|
226 |
+
],
|
227 |
+
[
|
228 |
+
[
|
229 |
+
0.0
|
230 |
+
]
|
231 |
+
]
|
232 |
+
]
|
233 |
+
},
|
234 |
+
"timestamp": {
|
235 |
+
"mean": [
|
236 |
+
9.441849708557129
|
237 |
+
],
|
238 |
+
"std": [
|
239 |
+
5.461080551147461
|
240 |
+
],
|
241 |
+
"max": [
|
242 |
+
18.96666717529297
|
243 |
+
],
|
244 |
+
"min": [
|
245 |
+
0.0
|
246 |
+
]
|
247 |
+
},
|
248 |
+
"frame_index": {
|
249 |
+
"mean": [
|
250 |
+
283.25555419921875
|
251 |
+
],
|
252 |
+
"std": [
|
253 |
+
163.83241271972656
|
254 |
+
],
|
255 |
+
"max": [
|
256 |
+
569.0
|
257 |
+
],
|
258 |
+
"min": [
|
259 |
+
0.0
|
260 |
+
]
|
261 |
+
},
|
262 |
+
"episode_index": {
|
263 |
+
"mean": [
|
264 |
+
0.49779731035232544
|
265 |
+
],
|
266 |
+
"std": [
|
267 |
+
0.4999951720237732
|
268 |
+
],
|
269 |
+
"max": [
|
270 |
+
1.0
|
271 |
+
],
|
272 |
+
"min": [
|
273 |
+
0.0
|
274 |
+
]
|
275 |
+
},
|
276 |
+
"index": {
|
277 |
+
"mean": [
|
278 |
+
567.0001831054688
|
279 |
+
],
|
280 |
+
"std": [
|
281 |
+
327.64617919921875
|
282 |
+
],
|
283 |
+
"max": [
|
284 |
+
1134.0
|
285 |
+
],
|
286 |
+
"min": [
|
287 |
+
0.0
|
288 |
+
]
|
289 |
+
},
|
290 |
+
"task_index": {
|
291 |
+
"mean": [
|
292 |
+
0.0
|
293 |
+
],
|
294 |
+
"std": [
|
295 |
+
0.0
|
296 |
+
],
|
297 |
+
"max": [
|
298 |
+
0.0
|
299 |
+
],
|
300 |
+
"min": [
|
301 |
+
0.0
|
302 |
+
]
|
303 |
+
}
|
304 |
+
}
|
meta/tasks.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"task_index": 0, "task": "Put the sponge in the box."}
|
videos/chunk-000/observation.images.cam_high/episode_000000.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:1dc0e38ef60eeca2e9bd992fac7c04b3ea763010764e346c290113bde8bda1d1
|
3 |
+
size 4543387
|
videos/chunk-000/observation.images.cam_high/episode_000001.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:66b000313cc599ad8957541c45842a93018a18db79d123223ec4e43564b38669
|
3 |
+
size 4519078
|
videos/chunk-000/observation.images.cam_wrist/episode_000000.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:dfedf4882f43a169c807074a49831a6e286ef85884880ddc72b3a55d4d850cc3
|
3 |
+
size 1746500
|
videos/chunk-000/observation.images.cam_wrist/episode_000001.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:0c0c2b106c3359d893d0985f4f98b2cccd82aaf6300fdcb6c0b917a5eb2a67a9
|
3 |
+
size 1534286
|