francescocrivelli
commited on
Commit
•
2c606d2
1
Parent(s):
b255a0d
Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/info.json +127 -0
- meta/stats.json +280 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.endeffector/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.endeffector/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.endeffector/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.workspace/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.workspace/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.workspace/episode_000002.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 sha256:5b0813d5559a93a27e764bbd6385c27d1ea083fa7c60f409b17ed64468e54aa6
|
3 |
+
size 29713
|
data/chunk-000/episode_000001.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:89284c8779e3292391331a67931dbcfb327d31bca728e7e495bdc2412ce8c020
|
3 |
+
size 26833
|
data/chunk-000/episode_000002.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:1cd3c653c72f415b709e9d812f98bbbc5e2f54e893f0951d668797c929258298
|
3 |
+
size 30994
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
{"episode_index": 0, "tasks": ["demo recording"], "length": 599}
|
2 |
+
{"episode_index": 1, "tasks": ["demo recording"], "length": 592}
|
3 |
+
{"episode_index": 2, "tasks": ["demo recording"], "length": 599}
|
meta/info.json
ADDED
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"codebase_version": "v2.0",
|
3 |
+
"robot_type": "so100",
|
4 |
+
"total_episodes": 3,
|
5 |
+
"total_frames": 1790,
|
6 |
+
"total_tasks": 1,
|
7 |
+
"total_videos": 6,
|
8 |
+
"total_chunks": 1,
|
9 |
+
"chunks_size": 1000,
|
10 |
+
"fps": 30,
|
11 |
+
"splits": {
|
12 |
+
"train": "0:3"
|
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.endeffector": {
|
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.workspace": {
|
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 |
+
28.98622703552246,
|
5 |
+
133.4864044189453,
|
6 |
+
102.20830535888672,
|
7 |
+
62.65997314453125,
|
8 |
+
-92.64195251464844,
|
9 |
+
6.531112194061279
|
10 |
+
],
|
11 |
+
"std": [
|
12 |
+
37.94929504394531,
|
13 |
+
45.706050872802734,
|
14 |
+
49.45541763305664,
|
15 |
+
17.53200340270996,
|
16 |
+
40.4219856262207,
|
17 |
+
12.919880867004395
|
18 |
+
],
|
19 |
+
"max": [
|
20 |
+
88.505859375,
|
21 |
+
192.568359375,
|
22 |
+
175.341796875,
|
23 |
+
97.294921875,
|
24 |
+
-58.623046875,
|
25 |
+
56.83168029785156
|
26 |
+
],
|
27 |
+
"min": [
|
28 |
+
-23.90625,
|
29 |
+
50.537109375,
|
30 |
+
16.875,
|
31 |
+
26.103515625,
|
32 |
+
-243.544921875,
|
33 |
+
-4.851485252380371
|
34 |
+
]
|
35 |
+
},
|
36 |
+
"observation.state": {
|
37 |
+
"mean": [
|
38 |
+
28.78099250793457,
|
39 |
+
131.45095825195312,
|
40 |
+
104.47743225097656,
|
41 |
+
62.65211486816406,
|
42 |
+
-90.08465576171875,
|
43 |
+
8.451537132263184
|
44 |
+
],
|
45 |
+
"std": [
|
46 |
+
37.36600875854492,
|
47 |
+
46.61602783203125,
|
48 |
+
49.59635543823242,
|
49 |
+
17.289051055908203,
|
50 |
+
33.94830322265625,
|
51 |
+
11.768071174621582
|
52 |
+
],
|
53 |
+
"max": [
|
54 |
+
86.66015625,
|
55 |
+
191.25,
|
56 |
+
175.78125,
|
57 |
+
96.50390625,
|
58 |
+
-58.18359375,
|
59 |
+
53.75110626220703
|
60 |
+
],
|
61 |
+
"min": [
|
62 |
+
-23.203125,
|
63 |
+
48.69140625,
|
64 |
+
20.21484375,
|
65 |
+
27.59765625,
|
66 |
+
-189.84375,
|
67 |
+
-1.500441312789917
|
68 |
+
]
|
69 |
+
},
|
70 |
+
"observation.images.endeffector": {
|
71 |
+
"mean": [
|
72 |
+
[
|
73 |
+
[
|
74 |
+
0.5073249936103821
|
75 |
+
]
|
76 |
+
],
|
77 |
+
[
|
78 |
+
[
|
79 |
+
0.5132932066917419
|
80 |
+
]
|
81 |
+
],
|
82 |
+
[
|
83 |
+
[
|
84 |
+
0.5101277232170105
|
85 |
+
]
|
86 |
+
]
|
87 |
+
],
|
88 |
+
"std": [
|
89 |
+
[
|
90 |
+
[
|
91 |
+
0.31309136748313904
|
92 |
+
]
|
93 |
+
],
|
94 |
+
[
|
95 |
+
[
|
96 |
+
0.3134039640426636
|
97 |
+
]
|
98 |
+
],
|
99 |
+
[
|
100 |
+
[
|
101 |
+
0.31368812918663025
|
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.workspace": {
|
141 |
+
"mean": [
|
142 |
+
[
|
143 |
+
[
|
144 |
+
0.4649060070514679
|
145 |
+
]
|
146 |
+
],
|
147 |
+
[
|
148 |
+
[
|
149 |
+
0.48099851608276367
|
150 |
+
]
|
151 |
+
],
|
152 |
+
[
|
153 |
+
[
|
154 |
+
0.48154136538505554
|
155 |
+
]
|
156 |
+
]
|
157 |
+
],
|
158 |
+
"std": [
|
159 |
+
[
|
160 |
+
[
|
161 |
+
0.34635013341903687
|
162 |
+
]
|
163 |
+
],
|
164 |
+
[
|
165 |
+
[
|
166 |
+
0.34887412190437317
|
167 |
+
]
|
168 |
+
],
|
169 |
+
[
|
170 |
+
[
|
171 |
+
0.34557846188545227
|
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 |
+
9.928081512451172
|
213 |
+
],
|
214 |
+
"std": [
|
215 |
+
5.741944789886475
|
216 |
+
],
|
217 |
+
"max": [
|
218 |
+
19.933332443237305
|
219 |
+
],
|
220 |
+
"min": [
|
221 |
+
0.0
|
222 |
+
]
|
223 |
+
},
|
224 |
+
"frame_index": {
|
225 |
+
"mean": [
|
226 |
+
297.8424377441406
|
227 |
+
],
|
228 |
+
"std": [
|
229 |
+
172.25833129882812
|
230 |
+
],
|
231 |
+
"max": [
|
232 |
+
598.0
|
233 |
+
],
|
234 |
+
"min": [
|
235 |
+
0.0
|
236 |
+
]
|
237 |
+
},
|
238 |
+
"episode_index": {
|
239 |
+
"mean": [
|
240 |
+
1.0000001192092896
|
241 |
+
],
|
242 |
+
"std": [
|
243 |
+
0.8180916905403137
|
244 |
+
],
|
245 |
+
"max": [
|
246 |
+
2.0
|
247 |
+
],
|
248 |
+
"min": [
|
249 |
+
0.0
|
250 |
+
]
|
251 |
+
},
|
252 |
+
"index": {
|
253 |
+
"mean": [
|
254 |
+
894.5000610351562
|
255 |
+
],
|
256 |
+
"std": [
|
257 |
+
516.728515625
|
258 |
+
],
|
259 |
+
"max": [
|
260 |
+
1789.0
|
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": "demo recording"}
|
videos/chunk-000/observation.images.endeffector/episode_000000.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:d39c4c9cff4416bc35ed4935c771df32ca7fdd6adea8911e4aba90f006923468
|
3 |
+
size 4511197
|
videos/chunk-000/observation.images.endeffector/episode_000001.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:a56eea448d8042cd636876e991e6d4771ebdca2fc11dd2214461150c468b2626
|
3 |
+
size 3845338
|
videos/chunk-000/observation.images.endeffector/episode_000002.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:f0f73d21944d800fa0dc3376b31097b489d0913cb5489e840faad1abf583614e
|
3 |
+
size 3203850
|
videos/chunk-000/observation.images.workspace/episode_000000.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:85c4dabbbad66051f8b269fc46fb19be00e8a98d48b315a1450c5f26597f36b8
|
3 |
+
size 15698593
|
videos/chunk-000/observation.images.workspace/episode_000001.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:15c1dd491ab4159fb3d0cb6ed13fe6e599598ab8cf4cf32729314c82311aa0a3
|
3 |
+
size 15195376
|
videos/chunk-000/observation.images.workspace/episode_000002.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:16c43013c90ab21f7d06a6ae83248f05256a42feecbe5b3782942d2a8975f76a
|
3 |
+
size 15028443
|