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:a32ed5c445f00550563a16f8f69787256cc32538dac64117105c711aa05f055a
|
3 |
+
size 48768
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"episode_index": 0, "tasks": ["t1"], "length": 846}
|
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": 846,
|
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 |
+
-14.545275688171387,
|
5 |
+
162.71202087402344,
|
6 |
+
147.50503540039062,
|
7 |
+
74.23310089111328,
|
8 |
+
-5.799014568328857,
|
9 |
+
9.086836814880371,
|
10 |
+
0.8807763457298279,
|
11 |
+
159.48605346679688,
|
12 |
+
136.25363159179688,
|
13 |
+
91.62067413330078,
|
14 |
+
2.943089246749878,
|
15 |
+
4.334120750427246
|
16 |
+
],
|
17 |
+
"std": [
|
18 |
+
28.698274612426758,
|
19 |
+
39.07692337036133,
|
20 |
+
39.4341926574707,
|
21 |
+
7.245031833648682,
|
22 |
+
25.720481872558594,
|
23 |
+
11.93879222869873,
|
24 |
+
12.800848960876465,
|
25 |
+
43.9323616027832,
|
26 |
+
47.450355529785156,
|
27 |
+
6.542899131774902,
|
28 |
+
12.959994316101074,
|
29 |
+
11.492132186889648
|
30 |
+
],
|
31 |
+
"max": [
|
32 |
+
6.064453125,
|
33 |
+
196.5234375,
|
34 |
+
181.40625,
|
35 |
+
91.318359375,
|
36 |
+
14.501953125,
|
37 |
+
44.064579010009766,
|
38 |
+
36.474609375,
|
39 |
+
194.677734375,
|
40 |
+
174.7265625,
|
41 |
+
108.544921875,
|
42 |
+
48.1640625,
|
43 |
+
43.059776306152344
|
44 |
+
],
|
45 |
+
"min": [
|
46 |
+
-91.23046875,
|
47 |
+
91.494140625,
|
48 |
+
79.541015625,
|
49 |
+
60.8203125,
|
50 |
+
-71.103515625,
|
51 |
+
-0.5698005557060242,
|
52 |
+
-53.0859375,
|
53 |
+
67.763671875,
|
54 |
+
42.275390625,
|
55 |
+
85.166015625,
|
56 |
+
-24.169921875,
|
57 |
+
-0.20263424515724182
|
58 |
+
]
|
59 |
+
},
|
60 |
+
"observation.state": {
|
61 |
+
"mean": [
|
62 |
+
-14.62028694152832,
|
63 |
+
160.9143524169922,
|
64 |
+
147.33067321777344,
|
65 |
+
73.64205169677734,
|
66 |
+
-6.516060829162598,
|
67 |
+
10.047282218933105,
|
68 |
+
0.7070727944374084,
|
69 |
+
158.53245544433594,
|
70 |
+
136.0281982421875,
|
71 |
+
90.05059814453125,
|
72 |
+
2.6806640625,
|
73 |
+
6.776896953582764
|
74 |
+
],
|
75 |
+
"std": [
|
76 |
+
28.192190170288086,
|
77 |
+
39.41855239868164,
|
78 |
+
38.54317855834961,
|
79 |
+
7.252670764923096,
|
80 |
+
24.860607147216797,
|
81 |
+
11.790010452270508,
|
82 |
+
12.525113105773926,
|
83 |
+
44.47772216796875,
|
84 |
+
46.86429977416992,
|
85 |
+
5.699899196624756,
|
86 |
+
12.66391658782959,
|
87 |
+
11.282393455505371
|
88 |
+
],
|
89 |
+
"max": [
|
90 |
+
5.44921875,
|
91 |
+
195.205078125,
|
92 |
+
180.439453125,
|
93 |
+
90.703125,
|
94 |
+
12.744140625,
|
95 |
+
43.33042907714844,
|
96 |
+
35.5078125,
|
97 |
+
194.0625,
|
98 |
+
173.935546875,
|
99 |
+
102.65625,
|
100 |
+
47.548828125,
|
101 |
+
42.37421417236328
|
102 |
+
],
|
103 |
+
"min": [
|
104 |
+
-90.439453125,
|
105 |
+
91.142578125,
|
106 |
+
81.03515625,
|
107 |
+
60.732421875,
|
108 |
+
-70.576171875,
|
109 |
+
0.17436791956424713,
|
110 |
+
-52.91015625,
|
111 |
+
66.533203125,
|
112 |
+
43.76953125,
|
113 |
+
85.517578125,
|
114 |
+
-23.466796875,
|
115 |
+
0.7075471878051758
|
116 |
+
]
|
117 |
+
},
|
118 |
+
"observation.images.top": {
|
119 |
+
"mean": [
|
120 |
+
[
|
121 |
+
[
|
122 |
+
0.33887723088264465
|
123 |
+
]
|
124 |
+
],
|
125 |
+
[
|
126 |
+
[
|
127 |
+
0.5269949436187744
|
128 |
+
]
|
129 |
+
],
|
130 |
+
[
|
131 |
+
[
|
132 |
+
0.49906426668167114
|
133 |
+
]
|
134 |
+
]
|
135 |
+
],
|
136 |
+
"std": [
|
137 |
+
[
|
138 |
+
[
|
139 |
+
0.37381064891815186
|
140 |
+
]
|
141 |
+
],
|
142 |
+
[
|
143 |
+
[
|
144 |
+
0.2684197425842285
|
145 |
+
]
|
146 |
+
],
|
147 |
+
[
|
148 |
+
[
|
149 |
+
0.27671465277671814
|
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 |
+
0.5798592567443848
|
193 |
+
]
|
194 |
+
],
|
195 |
+
[
|
196 |
+
[
|
197 |
+
0.5058903694152832
|
198 |
+
]
|
199 |
+
],
|
200 |
+
[
|
201 |
+
[
|
202 |
+
0.2739851474761963
|
203 |
+
]
|
204 |
+
]
|
205 |
+
],
|
206 |
+
"std": [
|
207 |
+
[
|
208 |
+
[
|
209 |
+
0.3199506103992462
|
210 |
+
]
|
211 |
+
],
|
212 |
+
[
|
213 |
+
[
|
214 |
+
0.2328929305076599
|
215 |
+
]
|
216 |
+
],
|
217 |
+
[
|
218 |
+
[
|
219 |
+
0.19757099449634552
|
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 |
+
14.083332061767578
|
261 |
+
],
|
262 |
+
"std": [
|
263 |
+
8.140633583068848
|
264 |
+
],
|
265 |
+
"max": [
|
266 |
+
28.16666603088379
|
267 |
+
],
|
268 |
+
"min": [
|
269 |
+
0.0
|
270 |
+
]
|
271 |
+
},
|
272 |
+
"frame_index": {
|
273 |
+
"mean": [
|
274 |
+
422.49993896484375
|
275 |
+
],
|
276 |
+
"std": [
|
277 |
+
244.218994140625
|
278 |
+
],
|
279 |
+
"max": [
|
280 |
+
845.0
|
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 |
+
422.49993896484375
|
303 |
+
],
|
304 |
+
"std": [
|
305 |
+
244.218994140625
|
306 |
+
],
|
307 |
+
"max": [
|
308 |
+
845.0
|
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:f7e35fb5055f3874094237c7ccff8ba3a1592883524fa161ad29f83d168619cc
|
3 |
+
size 15528365
|
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:f1002b130ff8cfd6ed5dad2315cc2bd37fa9ac78c449f17605f90b7cdec07aad
|
3 |
+
size 12828782
|