Loki0929 commited on
Commit
6d38769
·
verified ·
1 Parent(s): bfdab8b

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:c50961cf6accc585c073dbfe4be02f5c2f6eb7be622cee610bce80a76f86cd3a
3
+ size 265268307
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["Pick up the bottle and put it in the box."], "length": 154}
meta/info.json ADDED
@@ -0,0 +1,97 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "ur5",
4
+ "total_episodes": 1,
5
+ "total_frames": 154,
6
+ "total_tasks": 1,
7
+ "total_videos": 0,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
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
+ "image": {
18
+ "dtype": "image",
19
+ "shape": [
20
+ 1080,
21
+ 1920,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ]
29
+ },
30
+ "wrist_image": {
31
+ "dtype": "image",
32
+ "shape": [
33
+ 480,
34
+ 640,
35
+ 3
36
+ ],
37
+ "names": [
38
+ "height",
39
+ "width",
40
+ "channel"
41
+ ]
42
+ },
43
+ "state": {
44
+ "dtype": "float32",
45
+ "shape": [
46
+ 7
47
+ ],
48
+ "names": [
49
+ "state"
50
+ ]
51
+ },
52
+ "actions": {
53
+ "dtype": "float32",
54
+ "shape": [
55
+ 7
56
+ ],
57
+ "names": [
58
+ "actions"
59
+ ]
60
+ },
61
+ "timestamp": {
62
+ "dtype": "float32",
63
+ "shape": [
64
+ 1
65
+ ],
66
+ "names": null
67
+ },
68
+ "frame_index": {
69
+ "dtype": "int64",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "episode_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "task_index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ }
96
+ }
97
+ }
meta/stats.json ADDED
@@ -0,0 +1,288 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "image": {
3
+ "mean": [
4
+ [
5
+ [
6
+ 0.4808821380138397
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.49491769075393677
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.4940415918827057
17
+ ]
18
+ ]
19
+ ],
20
+ "std": [
21
+ [
22
+ [
23
+ 0.18711131811141968
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 0.2088308334350586
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 0.2426462322473526
34
+ ]
35
+ ]
36
+ ],
37
+ "max": [
38
+ [
39
+ [
40
+ 1.0
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 1.0
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 1.0
51
+ ]
52
+ ]
53
+ ],
54
+ "min": [
55
+ [
56
+ [
57
+ 0.0
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.0
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0
68
+ ]
69
+ ]
70
+ ]
71
+ },
72
+ "wrist_image": {
73
+ "mean": [
74
+ [
75
+ [
76
+ 0.4475679397583008
77
+ ]
78
+ ],
79
+ [
80
+ [
81
+ 0.4275262951850891
82
+ ]
83
+ ],
84
+ [
85
+ [
86
+ 0.40285685658454895
87
+ ]
88
+ ]
89
+ ],
90
+ "std": [
91
+ [
92
+ [
93
+ 0.1646464616060257
94
+ ]
95
+ ],
96
+ [
97
+ [
98
+ 0.1717795729637146
99
+ ]
100
+ ],
101
+ [
102
+ [
103
+ 0.18880417943000793
104
+ ]
105
+ ]
106
+ ],
107
+ "max": [
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ],
113
+ [
114
+ [
115
+ 1.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 1.0
121
+ ]
122
+ ]
123
+ ],
124
+ "min": [
125
+ [
126
+ [
127
+ 0.0
128
+ ]
129
+ ],
130
+ [
131
+ [
132
+ 0.01568627543747425
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 0.0
138
+ ]
139
+ ]
140
+ ]
141
+ },
142
+ "state": {
143
+ "mean": [
144
+ 1.13263738155365,
145
+ -1.141655445098877,
146
+ 1.472639560699463,
147
+ 0.08520878851413727,
148
+ 1.544326901435852,
149
+ 0.11537179350852966,
150
+ 0.5324674844741821
151
+ ],
152
+ "std": [
153
+ 0.2804827392101288,
154
+ 0.27166929841041565,
155
+ 0.11283561587333679,
156
+ 0.11012265086174011,
157
+ 0.20862342417240143,
158
+ 0.1333874762058258,
159
+ 0.4989447593688965
160
+ ],
161
+ "max": [
162
+ 1.5700113773345947,
163
+ -0.7525647282600403,
164
+ 1.6214232444763184,
165
+ 0.2629256248474121,
166
+ 1.9192695617675781,
167
+ 0.3736119568347931,
168
+ 1.0
169
+ ],
170
+ "min": [
171
+ 0.820462167263031,
172
+ -1.573771357536316,
173
+ 1.2392101287841797,
174
+ -0.06793005019426346,
175
+ 1.3145673274993896,
176
+ -0.001304928446188569,
177
+ 0.0
178
+ ]
179
+ },
180
+ "actions": {
181
+ "mean": [
182
+ 0.007074375636875629,
183
+ 0.002474752953276038,
184
+ 0.0035714285913854837,
185
+ 0.009390219114720821,
186
+ -0.009390219114720821,
187
+ -0.011038959957659245,
188
+ 0.5324674844741821
189
+ ],
190
+ "std": [
191
+ 0.02090395614504814,
192
+ 0.010055583901703358,
193
+ 0.017195535823702812,
194
+ 0.029765525832772255,
195
+ 0.029765523970127106,
196
+ 0.03133747726678848,
197
+ 0.4989447593688965
198
+ ],
199
+ "max": [
200
+ 0.05000000074505806,
201
+ 0.04999847337603569,
202
+ 0.05000000074505806,
203
+ 0.10000000149011612,
204
+ 0.0003906250058207661,
205
+ 0.0,
206
+ 1.0
207
+ ],
208
+ "min": [
209
+ -0.04999847337603569,
210
+ -0.01902008056640625,
211
+ -0.05000000074505806,
212
+ -0.0003906250058207661,
213
+ -0.10000000149011612,
214
+ -0.10000000149011612,
215
+ 0.0
216
+ ]
217
+ },
218
+ "timestamp": {
219
+ "mean": [
220
+ 7.650000095367432
221
+ ],
222
+ "std": [
223
+ 4.4455037117004395
224
+ ],
225
+ "max": [
226
+ 15.300000190734863
227
+ ],
228
+ "min": [
229
+ 0.0
230
+ ]
231
+ },
232
+ "frame_index": {
233
+ "mean": [
234
+ 76.50000762939453
235
+ ],
236
+ "std": [
237
+ 44.45503234863281
238
+ ],
239
+ "max": [
240
+ 153.0
241
+ ],
242
+ "min": [
243
+ 0.0
244
+ ]
245
+ },
246
+ "episode_index": {
247
+ "mean": [
248
+ 0.0
249
+ ],
250
+ "std": [
251
+ 0.0
252
+ ],
253
+ "max": [
254
+ 0.0
255
+ ],
256
+ "min": [
257
+ 0.0
258
+ ]
259
+ },
260
+ "index": {
261
+ "mean": [
262
+ 76.50000762939453
263
+ ],
264
+ "std": [
265
+ 44.45503234863281
266
+ ],
267
+ "max": [
268
+ 153.0
269
+ ],
270
+ "min": [
271
+ 0.0
272
+ ]
273
+ },
274
+ "task_index": {
275
+ "mean": [
276
+ 0.0
277
+ ],
278
+ "std": [
279
+ 0.0
280
+ ],
281
+ "max": [
282
+ 0.0
283
+ ],
284
+ "min": [
285
+ 0.0
286
+ ]
287
+ }
288
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Pick up the bottle and put it in the box."}