aliberts HF staff commited on
Commit
2e20d11
1 Parent(s): 8f558ea

Upload folder using huggingface_hub

Browse files
Files changed (1) hide show
  1. meta/info.json +162 -101
meta/info.json CHANGED
@@ -1,6 +1,5 @@
1
  {
2
  "codebase_version": "v2.0",
3
- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
4
  "robot_type": "aloha",
5
  "total_episodes": 50,
6
  "total_frames": 35000,
@@ -12,116 +11,178 @@
12
  "splits": {
13
  "train": "0:50"
14
  },
15
- "keys": [
16
- "observation.state",
17
- "action"
18
- ],
19
- "video_keys": [
20
- "observation.images.cam_high",
21
- "observation.images.cam_left_wrist",
22
- "observation.images.cam_low",
23
- "observation.images.cam_right_wrist"
24
- ],
25
- "image_keys": [],
26
- "shapes": {
27
- "observation.state": 14,
28
- "action": 14,
29
  "observation.images.cam_high": {
30
- "width": 640,
31
- "height": 480,
32
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
33
  },
34
  "observation.images.cam_left_wrist": {
35
- "width": 640,
36
- "height": 480,
37
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
38
  },
39
  "observation.images.cam_low": {
40
- "width": 640,
41
- "height": 480,
42
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
43
  },
44
  "observation.images.cam_right_wrist": {
45
- "width": 640,
46
- "height": 480,
47
- "channels": 3
48
- }
49
- },
50
- "names": {
51
- "observation.state": [
52
- "left_waist",
53
- "left_shoulder",
54
- "left_elbow",
55
- "left_forearm_roll",
56
- "left_wrist_angle",
57
- "left_wrist_rotate",
58
- "left_gripper",
59
- "right_waist",
60
- "right_shoulder",
61
- "right_elbow",
62
- "right_forearm_roll",
63
- "right_wrist_angle",
64
- "right_wrist_rotate",
65
- "right_gripper"
66
- ],
67
- "action": [
68
- "left_waist",
69
- "left_shoulder",
70
- "left_elbow",
71
- "left_forearm_roll",
72
- "left_wrist_angle",
73
- "left_wrist_rotate",
74
- "left_gripper",
75
- "right_waist",
76
- "right_shoulder",
77
- "right_elbow",
78
- "right_forearm_roll",
79
- "right_wrist_angle",
80
- "right_wrist_rotate",
81
- "right_gripper"
82
- ]
83
- },
84
- "videos": {
85
- "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
86
- "observation.images.cam_high": {
87
- "video.fps": 50.0,
88
- "video.width": 640,
89
- "video.height": 480,
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
- "observation.images.cam_left_wrist": {
97
- "video.fps": 50.0,
98
- "video.width": 640,
99
- "video.height": 480,
100
- "video.channels": 3,
101
- "video.codec": "av1",
102
- "video.pix_fmt": "yuv420p",
103
- "video.is_depth_map": false,
104
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
105
  },
106
- "observation.images.cam_low": {
107
- "video.fps": 50.0,
108
- "video.width": 640,
109
- "video.height": 480,
110
- "video.channels": 3,
111
- "video.codec": "av1",
112
- "video.pix_fmt": "yuv420p",
113
- "video.is_depth_map": false,
114
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
115
  },
116
- "observation.images.cam_right_wrist": {
117
- "video.fps": 50.0,
118
- "video.width": 640,
119
- "video.height": 480,
120
- "video.channels": 3,
121
- "video.codec": "av1",
122
- "video.pix_fmt": "yuv420p",
123
- "video.is_depth_map": false,
124
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
125
  }
126
  }
127
  }
 
1
  {
2
  "codebase_version": "v2.0",
 
3
  "robot_type": "aloha",
4
  "total_episodes": 50,
5
  "total_frames": 35000,
 
11
  "splits": {
12
  "train": "0:50"
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
  "observation.images.cam_high": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 480,
21
+ 640,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 50.0,
31
+ "video.codec": "av1",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ }
36
  },
37
  "observation.images.cam_left_wrist": {
38
+ "dtype": "video",
39
+ "shape": [
40
+ 480,
41
+ 640,
42
+ 3
43
+ ],
44
+ "names": [
45
+ "height",
46
+ "width",
47
+ "channel"
48
+ ],
49
+ "video_info": {
50
+ "video.fps": 50.0,
51
+ "video.codec": "av1",
52
+ "video.pix_fmt": "yuv420p",
53
+ "video.is_depth_map": false,
54
+ "has_audio": false
55
+ }
56
  },
57
  "observation.images.cam_low": {
58
+ "dtype": "video",
59
+ "shape": [
60
+ 480,
61
+ 640,
62
+ 3
63
+ ],
64
+ "names": [
65
+ "height",
66
+ "width",
67
+ "channel"
68
+ ],
69
+ "video_info": {
70
+ "video.fps": 50.0,
71
+ "video.codec": "av1",
72
+ "video.pix_fmt": "yuv420p",
73
+ "video.is_depth_map": false,
74
+ "has_audio": false
75
+ }
76
  },
77
  "observation.images.cam_right_wrist": {
78
+ "dtype": "video",
79
+ "shape": [
80
+ 480,
81
+ 640,
82
+ 3
83
+ ],
84
+ "names": [
85
+ "height",
86
+ "width",
87
+ "channel"
88
+ ],
89
+ "video_info": {
90
+ "video.fps": 50.0,
91
+ "video.codec": "av1",
92
+ "video.pix_fmt": "yuv420p",
93
+ "video.is_depth_map": false,
94
+ "has_audio": false
95
+ }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
96
  },
97
+ "observation.state": {
98
+ "dtype": "float32",
99
+ "shape": [
100
+ 14
101
+ ],
102
+ "names": {
103
+ "motors": [
104
+ "left_waist",
105
+ "left_shoulder",
106
+ "left_elbow",
107
+ "left_forearm_roll",
108
+ "left_wrist_angle",
109
+ "left_wrist_rotate",
110
+ "left_gripper",
111
+ "right_waist",
112
+ "right_shoulder",
113
+ "right_elbow",
114
+ "right_forearm_roll",
115
+ "right_wrist_angle",
116
+ "right_wrist_rotate",
117
+ "right_gripper"
118
+ ]
119
+ }
120
  },
121
+ "action": {
122
+ "dtype": "float32",
123
+ "shape": [
124
+ 14
125
+ ],
126
+ "names": {
127
+ "motors": [
128
+ "left_waist",
129
+ "left_shoulder",
130
+ "left_elbow",
131
+ "left_forearm_roll",
132
+ "left_wrist_angle",
133
+ "left_wrist_rotate",
134
+ "left_gripper",
135
+ "right_waist",
136
+ "right_shoulder",
137
+ "right_elbow",
138
+ "right_forearm_roll",
139
+ "right_wrist_angle",
140
+ "right_wrist_rotate",
141
+ "right_gripper"
142
+ ]
143
+ }
144
  },
145
+ "episode_index": {
146
+ "dtype": "int64",
147
+ "shape": [
148
+ 1
149
+ ],
150
+ "names": null
151
+ },
152
+ "frame_index": {
153
+ "dtype": "int64",
154
+ "shape": [
155
+ 1
156
+ ],
157
+ "names": null
158
+ },
159
+ "timestamp": {
160
+ "dtype": "float32",
161
+ "shape": [
162
+ 1
163
+ ],
164
+ "names": null
165
+ },
166
+ "next.done": {
167
+ "dtype": "bool",
168
+ "shape": [
169
+ 1
170
+ ],
171
+ "names": null
172
+ },
173
+ "index": {
174
+ "dtype": "int64",
175
+ "shape": [
176
+ 1
177
+ ],
178
+ "names": null
179
+ },
180
+ "task_index": {
181
+ "dtype": "int64",
182
+ "shape": [
183
+ 1
184
+ ],
185
+ "names": null
186
  }
187
  }
188
  }