zijian2022 commited on
Commit
5693880
·
verified ·
1 Parent(s): cad015a

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 sha256:866fb5f0050bcd324ca1aabbb4164986a1518bddf95e445700d0e3d9a80cd363
3
+ size 40748
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["t1"], "length": 653}
meta/info.json ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "so100",
4
+ "total_episodes": 1,
5
+ "total_frames": 653,
6
+ "total_tasks": 1,
7
+ "total_videos": 2,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
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.top": {
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.first": {
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
+ -3.0577330589294434,
5
+ 177.28746032714844,
6
+ 158.1038055419922,
7
+ 63.8979606628418,
8
+ 1.359545350074768,
9
+ 5.599778175354004,
10
+ 15.025527954101562,
11
+ 137.2061309814453,
12
+ 121.97106170654297,
13
+ 76.01205444335938,
14
+ 22.16082000732422,
15
+ 28.700061798095703
16
+ ],
17
+ "std": [
18
+ 10.944500923156738,
19
+ 30.03304672241211,
20
+ 30.394859313964844,
21
+ 13.220551490783691,
22
+ 4.659387588500977,
23
+ 20.377412796020508,
24
+ 19.061134338378906,
25
+ 56.11931610107422,
26
+ 56.80777359008789,
27
+ 9.737875938415527,
28
+ 18.191707611083984,
29
+ 23.517807006835938
30
+ ],
31
+ "max": [
32
+ 42.890625,
33
+ 193.623046875,
34
+ 174.90234375,
35
+ 71.279296875,
36
+ 10.1953125,
37
+ 81.81818389892578,
38
+ 58.18359375,
39
+ 198.193359375,
40
+ 180.52734375,
41
+ 86.30859375,
42
+ 70.3125,
43
+ 86.15071105957031
44
+ ],
45
+ "min": [
46
+ -39.638671875,
47
+ 89.208984375,
48
+ 84.990234375,
49
+ 15.99609375,
50
+ -18.896484375,
51
+ -2.9220778942108154,
52
+ -10.634765625,
53
+ 50.2734375,
54
+ 21.005859375,
55
+ 49.306640625,
56
+ 4.39453125,
57
+ -0.6109979748725891
58
+ ]
59
+ },
60
+ "observation.state": {
61
+ "mean": [
62
+ -2.420961856842041,
63
+ 175.49722290039062,
64
+ 157.68951416015625,
65
+ 63.45110321044922,
66
+ 1.4218631982803345,
67
+ 8.018060684204102,
68
+ 14.716094017028809,
69
+ 134.93968200683594,
70
+ 121.21839141845703,
71
+ 75.54191589355469,
72
+ 21.934162139892578,
73
+ 32.76081848144531
74
+ ],
75
+ "std": [
76
+ 10.636462211608887,
77
+ 30.326141357421875,
78
+ 29.638120651245117,
79
+ 13.084001541137695,
80
+ 4.41894006729126,
81
+ 20.396738052368164,
82
+ 18.917421340942383,
83
+ 55.58309555053711,
84
+ 54.8058967590332,
85
+ 9.589010238647461,
86
+ 18.01878547668457,
87
+ 23.900041580200195
88
+ ],
89
+ "max": [
90
+ 41.30859375,
91
+ 191.865234375,
92
+ 174.111328125,
93
+ 70.6640625,
94
+ 9.228515625,
95
+ 80.07379913330078,
96
+ 57.48046875,
97
+ 195.029296875,
98
+ 177.36328125,
99
+ 85.693359375,
100
+ 69.521484375,
101
+ 84.83033752441406
102
+ ],
103
+ "min": [
104
+ -38.408203125,
105
+ 88.06640625,
106
+ 86.220703125,
107
+ 15.556640625,
108
+ -17.40234375,
109
+ -0.7380073666572571,
110
+ -9.31640625,
111
+ 50.009765625,
112
+ 23.02734375,
113
+ 49.04296875,
114
+ 4.39453125,
115
+ 1.5968064069747925
116
+ ]
117
+ },
118
+ "observation.images.top": {
119
+ "mean": [
120
+ [
121
+ [
122
+ 0.43699899315834045
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.5204358100891113
128
+ ]
129
+ ],
130
+ [
131
+ [
132
+ 0.5124605894088745
133
+ ]
134
+ ]
135
+ ],
136
+ "std": [
137
+ [
138
+ [
139
+ 0.3233785331249237
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.24317434430122375
145
+ ]
146
+ ],
147
+ [
148
+ [
149
+ 0.23459838330745697
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.first": {
189
+ "mean": [
190
+ [
191
+ [
192
+ 0.6253531575202942
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.5058597922325134
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.24593564867973328
203
+ ]
204
+ ]
205
+ ],
206
+ "std": [
207
+ [
208
+ [
209
+ 0.28742361068725586
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.18830621242523193
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.14373143017292023
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
+ 10.866667747497559
261
+ ],
262
+ "std": [
263
+ 6.2834882736206055
264
+ ],
265
+ "max": [
266
+ 21.733333587646484
267
+ ],
268
+ "min": [
269
+ 0.0
270
+ ]
271
+ },
272
+ "frame_index": {
273
+ "mean": [
274
+ 326.0000305175781
275
+ ],
276
+ "std": [
277
+ 188.504638671875
278
+ ],
279
+ "max": [
280
+ 652.0
281
+ ],
282
+ "min": [
283
+ 0.0
284
+ ]
285
+ },
286
+ "episode_index": {
287
+ "mean": [
288
+ 0.0
289
+ ],
290
+ "std": [
291
+ 0.0
292
+ ],
293
+ "max": [
294
+ 0.0
295
+ ],
296
+ "min": [
297
+ 0.0
298
+ ]
299
+ },
300
+ "index": {
301
+ "mean": [
302
+ 326.0000305175781
303
+ ],
304
+ "std": [
305
+ 188.504638671875
306
+ ],
307
+ "max": [
308
+ 652.0
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": "t1"}
videos/chunk-000/observation.images.first/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:96ea6891a3491d52fb4c48d3358b3c7ac7935a742dc115b787119c987db3ae97
3
+ size 10477537
videos/chunk-000/observation.images.top/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b7422e6e15fc860c4368130ab91b624513696f5bca39d312ffc6d03eb7abffeb
3
+ size 6353293