aliberts HF staff commited on
Commit
8ef7032
·
verified ·
1 Parent(s): 8365591

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. meta/episodes.jsonl +50 -0
  2. meta/info.json +127 -0
  3. meta/stats.json +484 -0
  4. meta/tasks.json +6 -0
meta/episodes.jsonl ADDED
@@ -0,0 +1,50 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
2
+ {"episode_index": 1, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
3
+ {"episode_index": 2, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
4
+ {"episode_index": 3, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
5
+ {"episode_index": 4, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
6
+ {"episode_index": 5, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
7
+ {"episode_index": 6, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
8
+ {"episode_index": 7, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
9
+ {"episode_index": 8, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
10
+ {"episode_index": 9, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
11
+ {"episode_index": 10, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
12
+ {"episode_index": 11, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
13
+ {"episode_index": 12, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
14
+ {"episode_index": 13, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
15
+ {"episode_index": 14, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
16
+ {"episode_index": 15, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
17
+ {"episode_index": 16, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
18
+ {"episode_index": 17, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
19
+ {"episode_index": 18, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
20
+ {"episode_index": 19, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
21
+ {"episode_index": 20, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
22
+ {"episode_index": 21, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
23
+ {"episode_index": 22, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
24
+ {"episode_index": 23, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
25
+ {"episode_index": 24, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
26
+ {"episode_index": 25, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
27
+ {"episode_index": 26, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
28
+ {"episode_index": 27, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
29
+ {"episode_index": 28, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
30
+ {"episode_index": 29, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
31
+ {"episode_index": 30, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
32
+ {"episode_index": 31, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
33
+ {"episode_index": 32, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
34
+ {"episode_index": 33, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
35
+ {"episode_index": 34, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
36
+ {"episode_index": 35, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
37
+ {"episode_index": 36, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
38
+ {"episode_index": 37, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
39
+ {"episode_index": 38, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
40
+ {"episode_index": 39, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
41
+ {"episode_index": 40, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
42
+ {"episode_index": 41, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
43
+ {"episode_index": 42, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
44
+ {"episode_index": 43, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
45
+ {"episode_index": 44, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
46
+ {"episode_index": 45, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
47
+ {"episode_index": 46, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
48
+ {"episode_index": 47, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
49
+ {"episode_index": 48, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
50
+ {"episode_index": 49, "tasks": [["Pick up the candy and unwrap it."]], "length": 700}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "data_path": "data/chunk-{episode_chunk:03d}/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
4
+ "robot_type": "aloha",
5
+ "total_episodes": 50,
6
+ "total_frames": 35000,
7
+ "total_tasks": 1,
8
+ "total_videos": 200,
9
+ "total_chunks": 1,
10
+ "chunks_size": 1000,
11
+ "fps": 50,
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
+ }
meta/stats.json ADDED
@@ -0,0 +1,484 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "max": [
4
+ 0.1089126393198967,
5
+ 0.04601942375302315,
6
+ 1.291611909866333,
7
+ 0.1533980816602707,
8
+ -0.17487381398677826,
9
+ 1.9696314334869385,
10
+ 0.7168043851852417,
11
+ 0.2991262674331665,
12
+ 0.41264083981513977,
13
+ 1.1842331886291504,
14
+ 0.4632622003555298,
15
+ 0.9572040438652039,
16
+ 1.1704273223876953,
17
+ 0.6922369599342346
18
+ ],
19
+ "mean": [
20
+ 0.005951889790594578,
21
+ -0.38604840636253357,
22
+ 1.040138840675354,
23
+ -0.04718022793531418,
24
+ -0.5985801815986633,
25
+ 0.08349991589784622,
26
+ 0.05169622600078583,
27
+ -0.05524277314543724,
28
+ -0.1390485018491745,
29
+ 0.6554858684539795,
30
+ -0.05913989245891571,
31
+ 0.010846160352230072,
32
+ 0.1318940669298172,
33
+ 0.03664080798625946
34
+ ],
35
+ "min": [
36
+ -0.0920388475060463,
37
+ -0.9618059992790222,
38
+ 0.8283496499061584,
39
+ -0.45712628960609436,
40
+ -1.245592474937439,
41
+ -1.3253594636917114,
42
+ -0.21943040192127228,
43
+ -0.26998063921928406,
44
+ -0.9679418802261353,
45
+ 0.22856314480304718,
46
+ -1.5385828018188477,
47
+ -1.2563302516937256,
48
+ -1.2072429656982422,
49
+ -0.23649512231349945
50
+ ],
51
+ "std": [
52
+ 0.027666902169585228,
53
+ 0.2855420708656311,
54
+ 0.11439692974090576,
55
+ 0.08124841004610062,
56
+ 0.1378875970840454,
57
+ 0.3843306601047516,
58
+ 0.2909855842590332,
59
+ 0.0532786101102829,
60
+ 0.20093677937984467,
61
+ 0.16615471243858337,
62
+ 0.19404937326908112,
63
+ 0.3742713928222656,
64
+ 0.24817539751529694,
65
+ 0.30396363139152527
66
+ ]
67
+ },
68
+ "episode_index": {
69
+ "max": [
70
+ 49.0
71
+ ],
72
+ "mean": [
73
+ 24.49998664855957
74
+ ],
75
+ "min": [
76
+ 0.0
77
+ ],
78
+ "std": [
79
+ 14.430869102478027
80
+ ]
81
+ },
82
+ "frame_index": {
83
+ "max": [
84
+ 699.0
85
+ ],
86
+ "mean": [
87
+ 349.5002136230469
88
+ ],
89
+ "min": [
90
+ 0.0
91
+ ],
92
+ "std": [
93
+ 202.07237243652344
94
+ ]
95
+ },
96
+ "index": {
97
+ "max": [
98
+ 34999.0
99
+ ],
100
+ "mean": [
101
+ 17499.501953125
102
+ ],
103
+ "min": [
104
+ 0.0
105
+ ],
106
+ "std": [
107
+ 10103.62890625
108
+ ]
109
+ },
110
+ "next.done": {
111
+ "max": [
112
+ 1.0
113
+ ],
114
+ "mean": [
115
+ 0.0014285705983638763
116
+ ],
117
+ "min": [
118
+ 0.0
119
+ ],
120
+ "std": [
121
+ 0.03776945173740387
122
+ ]
123
+ },
124
+ "observation.images.cam_high": {
125
+ "max": [
126
+ [
127
+ [
128
+ 1.0
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 1.0
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 1.0
139
+ ]
140
+ ]
141
+ ],
142
+ "mean": [
143
+ [
144
+ [
145
+ 0.42092418670654297
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.420673668384552
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.4319177567958832
156
+ ]
157
+ ]
158
+ ],
159
+ "min": [
160
+ [
161
+ [
162
+ 0.0
163
+ ]
164
+ ],
165
+ [
166
+ [
167
+ 0.0
168
+ ]
169
+ ],
170
+ [
171
+ [
172
+ 0.0
173
+ ]
174
+ ]
175
+ ],
176
+ "std": [
177
+ [
178
+ [
179
+ 0.21055711805820465
180
+ ]
181
+ ],
182
+ [
183
+ [
184
+ 0.20812053978443146
185
+ ]
186
+ ],
187
+ [
188
+ [
189
+ 0.20618917047977448
190
+ ]
191
+ ]
192
+ ]
193
+ },
194
+ "observation.images.cam_left_wrist": {
195
+ "max": [
196
+ [
197
+ [
198
+ 1.0
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 1.0
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 1.0
209
+ ]
210
+ ]
211
+ ],
212
+ "mean": [
213
+ [
214
+ [
215
+ 0.44224050641059875
216
+ ]
217
+ ],
218
+ [
219
+ [
220
+ 0.44876208901405334
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.45413169264793396
226
+ ]
227
+ ]
228
+ ],
229
+ "min": [
230
+ [
231
+ [
232
+ 0.0
233
+ ]
234
+ ],
235
+ [
236
+ [
237
+ 0.0
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.0
243
+ ]
244
+ ]
245
+ ],
246
+ "std": [
247
+ [
248
+ [
249
+ 0.2748132050037384
250
+ ]
251
+ ],
252
+ [
253
+ [
254
+ 0.2724820673465729
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.26923635601997375
260
+ ]
261
+ ]
262
+ ]
263
+ },
264
+ "observation.images.cam_low": {
265
+ "max": [
266
+ [
267
+ [
268
+ 1.0
269
+ ]
270
+ ],
271
+ [
272
+ [
273
+ 1.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 1.0
279
+ ]
280
+ ]
281
+ ],
282
+ "mean": [
283
+ [
284
+ [
285
+ 0.48463675379753113
286
+ ]
287
+ ],
288
+ [
289
+ [
290
+ 0.4990467131137848
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.5160317420959473
296
+ ]
297
+ ]
298
+ ],
299
+ "min": [
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.0
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.0
313
+ ]
314
+ ]
315
+ ],
316
+ "std": [
317
+ [
318
+ [
319
+ 0.20577730238437653
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.20611520111560822
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.20741918683052063
330
+ ]
331
+ ]
332
+ ]
333
+ },
334
+ "observation.images.cam_right_wrist": {
335
+ "max": [
336
+ [
337
+ [
338
+ 1.0
339
+ ]
340
+ ],
341
+ [
342
+ [
343
+ 1.0
344
+ ]
345
+ ],
346
+ [
347
+ [
348
+ 1.0
349
+ ]
350
+ ]
351
+ ],
352
+ "mean": [
353
+ [
354
+ [
355
+ 0.40075403451919556
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.40945670008659363
361
+ ]
362
+ ],
363
+ [
364
+ [
365
+ 0.4140867292881012
366
+ ]
367
+ ]
368
+ ],
369
+ "min": [
370
+ [
371
+ [
372
+ 0.0
373
+ ]
374
+ ],
375
+ [
376
+ [
377
+ 0.0
378
+ ]
379
+ ],
380
+ [
381
+ [
382
+ 0.0
383
+ ]
384
+ ]
385
+ ],
386
+ "std": [
387
+ [
388
+ [
389
+ 0.24601562321186066
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.2442198246717453
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ 0.24333147704601288
400
+ ]
401
+ ]
402
+ ]
403
+ },
404
+ "observation.state": {
405
+ "max": [
406
+ 0.10737866163253784,
407
+ 0.058291271328926086,
408
+ 1.3023496866226196,
409
+ 0.1533980816602707,
410
+ -0.18561168015003204,
411
+ 1.968097448348999,
412
+ 0.7276827096939087,
413
+ 0.3021942377090454,
414
+ 0.42337870597839355,
415
+ 1.196505069732666,
416
+ 0.46172821521759033,
417
+ 0.9480001330375671,
418
+ 1.1688933372497559,
419
+ 0.7047955393791199
420
+ ],
421
+ "mean": [
422
+ 0.004956287331879139,
423
+ -0.38082221150398254,
424
+ 1.0562516450881958,
425
+ -0.04673587903380394,
426
+ -0.5883298516273499,
427
+ 0.08305074274539948,
428
+ 0.07561984658241272,
429
+ -0.053837426006793976,
430
+ -0.1253504604101181,
431
+ 0.6752912998199463,
432
+ -0.05847984179854393,
433
+ 0.01737877167761326,
434
+ 0.13056570291519165,
435
+ 0.06675948947668076
436
+ ],
437
+ "min": [
438
+ -0.09050486981868744,
439
+ -0.9633399844169617,
440
+ 0.8544273376464844,
441
+ -0.4586602747440338,
442
+ -1.225650668144226,
443
+ -1.3268934488296509,
444
+ -0.1532171219587326,
445
+ -0.25310683250427246,
446
+ -0.9694758653640747,
447
+ 0.25617480278015137,
448
+ -1.5324468612670898,
449
+ -1.2486604452133179,
450
+ -1.2103108167648315,
451
+ -0.1665312945842743
452
+ ],
453
+ "std": [
454
+ 0.026709649711847305,
455
+ 0.29694807529449463,
456
+ 0.11410386115312576,
457
+ 0.08102273941040039,
458
+ 0.13962480425834656,
459
+ 0.38338667154312134,
460
+ 0.2726701498031616,
461
+ 0.051298998296260834,
462
+ 0.21518085896968842,
463
+ 0.17009879648685455,
464
+ 0.19209495186805725,
465
+ 0.3711523711681366,
466
+ 0.24692310392856598,
467
+ 0.28150302171707153
468
+ ]
469
+ },
470
+ "timestamp": {
471
+ "max": [
472
+ 13.979999542236328
473
+ ],
474
+ "mean": [
475
+ 6.9900031089782715
476
+ ],
477
+ "min": [
478
+ 0.0
479
+ ],
480
+ "std": [
481
+ 4.041449546813965
482
+ ]
483
+ }
484
+ }
meta/tasks.json ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "task_index": 0,
4
+ "task": "Pick up the candy and unwrap it."
5
+ }
6
+ ]