zijian2022 commited on
Commit
5e86f90
·
verified ·
1 Parent(s): c45ad2a

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:ff1dffb3cc99ff4921e17f897e59f5361a72fc99e7c8fe6fa2c2807bf5b858a2
3
+ size 51819
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["a1"], "length": 727}
meta/info.json ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "so100",
4
+ "total_episodes": 1,
5
+ "total_frames": 727,
6
+ "total_tasks": 1,
7
+ "total_videos": 3,
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
+ "observation.images.front": {
104
+ "dtype": "video",
105
+ "shape": [
106
+ 480,
107
+ 640,
108
+ 3
109
+ ],
110
+ "names": [
111
+ "height",
112
+ "width",
113
+ "channels"
114
+ ],
115
+ "info": {
116
+ "video.fps": 30.0,
117
+ "video.height": 480,
118
+ "video.width": 640,
119
+ "video.channels": 3,
120
+ "video.codec": "av1",
121
+ "video.pix_fmt": "yuv420p",
122
+ "video.is_depth_map": false,
123
+ "has_audio": false
124
+ }
125
+ },
126
+ "timestamp": {
127
+ "dtype": "float32",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "frame_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ },
140
+ "episode_index": {
141
+ "dtype": "int64",
142
+ "shape": [
143
+ 1
144
+ ],
145
+ "names": null
146
+ },
147
+ "index": {
148
+ "dtype": "int64",
149
+ "shape": [
150
+ 1
151
+ ],
152
+ "names": null
153
+ },
154
+ "task_index": {
155
+ "dtype": "int64",
156
+ "shape": [
157
+ 1
158
+ ],
159
+ "names": null
160
+ }
161
+ }
162
+ }
meta/stats.json ADDED
@@ -0,0 +1,398 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ -18.638492584228516,
5
+ 151.47216796875,
6
+ 137.6265869140625,
7
+ 72.43893432617188,
8
+ -15.147414207458496,
9
+ 16.46753692626953,
10
+ -4.08552360534668,
11
+ 153.7898712158203,
12
+ 138.26390075683594,
13
+ 68.52096557617188,
14
+ 2.8273699283599854,
15
+ 18.858272552490234
16
+ ],
17
+ "std": [
18
+ 24.631237030029297,
19
+ 44.55900192260742,
20
+ 40.13791275024414,
21
+ 10.531190872192383,
22
+ 20.08488655090332,
23
+ 16.641952514648438,
24
+ 17.696931838989258,
25
+ 35.5460319519043,
26
+ 40.40915298461914,
27
+ 9.87210464477539,
28
+ 25.236568450927734,
29
+ 25.006610870361328
30
+ ],
31
+ "max": [
32
+ 2.548828125,
33
+ 201.4453125,
34
+ 183.955078125,
35
+ 85.517578125,
36
+ 8.61328125,
37
+ 50.30991744995117,
38
+ 74.8828125,
39
+ 196.435546875,
40
+ 187.470703125,
41
+ 93.603515625,
42
+ 132.890625,
43
+ 58.6466178894043
44
+ ],
45
+ "min": [
46
+ -73.916015625,
47
+ 82.265625,
48
+ 94.74609375,
49
+ 43.41796875,
50
+ -59.853515625,
51
+ 0.10330578684806824,
52
+ -47.4609375,
53
+ 112.939453125,
54
+ 93.076171875,
55
+ 38.056640625,
56
+ -20.0390625,
57
+ -1.9736841917037964
58
+ ]
59
+ },
60
+ "observation.state": {
61
+ "mean": [
62
+ -18.408554077148438,
63
+ 149.67298889160156,
64
+ 137.88143920898438,
65
+ 71.35499572753906,
66
+ -15.155268669128418,
67
+ 17.881328582763672,
68
+ -3.688021421432495,
69
+ 151.43519592285156,
70
+ 138.37672424316406,
71
+ 68.02056884765625,
72
+ -0.4353427290916443,
73
+ 22.68039894104004
74
+ ],
75
+ "std": [
76
+ 24.28742027282715,
77
+ 44.63021469116211,
78
+ 38.481441497802734,
79
+ 9.831998825073242,
80
+ 19.54769515991211,
81
+ 16.474590301513672,
82
+ 17.43059539794922,
83
+ 36.126155853271484,
84
+ 39.539554595947266,
85
+ 9.631319999694824,
86
+ 13.1804838180542,
87
+ 22.483325958251953
88
+ ],
89
+ "max": [
90
+ 2.373046875,
91
+ 199.86328125,
92
+ 182.197265625,
93
+ 84.7265625,
94
+ 7.294921875,
95
+ 49.21514129638672,
96
+ 73.564453125,
97
+ 194.853515625,
98
+ 186.416015625,
99
+ 92.548828125,
100
+ 32.607421875,
101
+ 57.61396789550781
102
+ ],
103
+ "min": [
104
+ -72.333984375,
105
+ 81.298828125,
106
+ 97.55859375,
107
+ 43.681640625,
108
+ -58.623046875,
109
+ 0.554016649723053,
110
+ -46.494140625,
111
+ 111.26953125,
112
+ 94.833984375,
113
+ 38.232421875,
114
+ -19.16015625,
115
+ -0.3879728317260742
116
+ ]
117
+ },
118
+ "observation.images.top": {
119
+ "mean": [
120
+ [
121
+ [
122
+ 0.5107460021972656
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.48890382051467896
128
+ ]
129
+ ],
130
+ [
131
+ [
132
+ 0.3079783022403717
133
+ ]
134
+ ]
135
+ ],
136
+ "std": [
137
+ [
138
+ [
139
+ 0.28778210282325745
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.22234073281288147
145
+ ]
146
+ ],
147
+ [
148
+ [
149
+ 0.16904033720493317
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
+ 0.4161932170391083
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.4450243413448334
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.4392812252044678
203
+ ]
204
+ ]
205
+ ],
206
+ "std": [
207
+ [
208
+ [
209
+ 0.21514810621738434
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.1702519953250885
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.16794772446155548
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
+ "observation.images.front": {
259
+ "mean": [
260
+ [
261
+ [
262
+ 0.4847381114959717
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 0.5412374138832092
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.5392796397209167
273
+ ]
274
+ ]
275
+ ],
276
+ "std": [
277
+ [
278
+ [
279
+ 0.3121967911720276
280
+ ]
281
+ ],
282
+ [
283
+ [
284
+ 0.2332771122455597
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.2385053187608719
290
+ ]
291
+ ]
292
+ ],
293
+ "max": [
294
+ [
295
+ [
296
+ 1.0
297
+ ]
298
+ ],
299
+ [
300
+ [
301
+ 1.0
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 1.0
307
+ ]
308
+ ]
309
+ ],
310
+ "min": [
311
+ [
312
+ [
313
+ 0.0
314
+ ]
315
+ ],
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ]
326
+ ]
327
+ },
328
+ "timestamp": {
329
+ "mean": [
330
+ 12.100001335144043
331
+ ],
332
+ "std": [
333
+ 6.995553970336914
334
+ ],
335
+ "max": [
336
+ 24.200000762939453
337
+ ],
338
+ "min": [
339
+ 0.0
340
+ ]
341
+ },
342
+ "frame_index": {
343
+ "mean": [
344
+ 363.0000305175781
345
+ ],
346
+ "std": [
347
+ 209.8666229248047
348
+ ],
349
+ "max": [
350
+ 726.0
351
+ ],
352
+ "min": [
353
+ 0.0
354
+ ]
355
+ },
356
+ "episode_index": {
357
+ "mean": [
358
+ 0.0
359
+ ],
360
+ "std": [
361
+ 0.0
362
+ ],
363
+ "max": [
364
+ 0.0
365
+ ],
366
+ "min": [
367
+ 0.0
368
+ ]
369
+ },
370
+ "index": {
371
+ "mean": [
372
+ 363.0000305175781
373
+ ],
374
+ "std": [
375
+ 209.8666229248047
376
+ ],
377
+ "max": [
378
+ 726.0
379
+ ],
380
+ "min": [
381
+ 0.0
382
+ ]
383
+ },
384
+ "task_index": {
385
+ "mean": [
386
+ 0.0
387
+ ],
388
+ "std": [
389
+ 0.0
390
+ ],
391
+ "max": [
392
+ 0.0
393
+ ],
394
+ "min": [
395
+ 0.0
396
+ ]
397
+ }
398
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "a1"}
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:cc22ff98308a86a0249a9ae76057359c90575fba006d6d32eb9be8ca0ed3dad2
3
+ size 2335506
videos/chunk-000/observation.images.front/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5e8385d8716f3797b15d4dc1b389605f6dfafe157ff37b1a1d7b9e0e0a14456d
3
+ size 9829958
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 sha256:73958ecd26b36de69232c177fa2e2397ca58eb7405ddac177444921d2a9b244f
3
+ size 14012782