diff --git a/README.md b/README.md index dc67922baa3ecbdc00a40214760835592ead74e1..de767f5e74b978a361e49a272570f5f085a7e7ee 100644 --- a/README.md +++ b/README.md @@ -11,20 +11,20 @@ tags: - multimodal task_categories: - robotics -dataset_info: - features: - - name: instruction - dtype: string - - name: rgb_wrist - dtype: image - - name: rgb_gopro - dtype: image - - name: tcp_pose - dtype: string - - name: joint_states - dtype: string -data_files: - - path: sample_viewer/train.jsonl +# dataset_info: +# features: +# - name: instruction +# dtype: string +# - name: rgb_wrist +# dtype: image +# - name: rgb_gopro +# dtype: image +# - name: tcp_pose +# dtype: string +# - name: joint_states +# dtype: string +# data_files: +# - path: train/train.jsonl --- diff --git a/sample_viewer/gopro_rgb/1746226188.698676_gopro.png b/train/gopro_rgb/1746226188.698676_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226188.698676_gopro.png rename to 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rename from sample_viewer/gopro_rgb/1746226196.172809_gopro.png rename to train/gopro_rgb/1746226196.172809_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.206176_gopro.png b/train/gopro_rgb/1746226196.206176_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.206176_gopro.png rename to train/gopro_rgb/1746226196.206176_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.239543_gopro.png b/train/gopro_rgb/1746226196.239543_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.239543_gopro.png rename to train/gopro_rgb/1746226196.239543_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.272909_gopro.png b/train/gopro_rgb/1746226196.272909_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.272909_gopro.png rename to train/gopro_rgb/1746226196.272909_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.306276_gopro.png b/train/gopro_rgb/1746226196.306276_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.306276_gopro.png rename to train/gopro_rgb/1746226196.306276_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.339643_gopro.png b/train/gopro_rgb/1746226196.339643_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.339643_gopro.png rename to train/gopro_rgb/1746226196.339643_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.373009_gopro.png b/train/gopro_rgb/1746226196.373009_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.373009_gopro.png rename to train/gopro_rgb/1746226196.373009_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.406376_gopro.png b/train/gopro_rgb/1746226196.406376_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.406376_gopro.png rename to train/gopro_rgb/1746226196.406376_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.439743_gopro.png b/train/gopro_rgb/1746226196.439743_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.439743_gopro.png rename to train/gopro_rgb/1746226196.439743_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.473109_gopro.png b/train/gopro_rgb/1746226196.473109_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.473109_gopro.png rename to train/gopro_rgb/1746226196.473109_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.506476_gopro.png b/train/gopro_rgb/1746226196.506476_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.506476_gopro.png rename to train/gopro_rgb/1746226196.506476_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.539843_gopro.png b/train/gopro_rgb/1746226196.539843_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.539843_gopro.png rename to train/gopro_rgb/1746226196.539843_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.573209_gopro.png b/train/gopro_rgb/1746226196.573209_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.573209_gopro.png rename to train/gopro_rgb/1746226196.573209_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.606576_gopro.png b/train/gopro_rgb/1746226196.606576_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.606576_gopro.png rename to train/gopro_rgb/1746226196.606576_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.639943_gopro.png b/train/gopro_rgb/1746226196.639943_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.639943_gopro.png rename to train/gopro_rgb/1746226196.639943_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.673309_gopro.png b/train/gopro_rgb/1746226196.673309_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.673309_gopro.png rename to train/gopro_rgb/1746226196.673309_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.706676_gopro.png b/train/gopro_rgb/1746226196.706676_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.706676_gopro.png rename to train/gopro_rgb/1746226196.706676_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.740043_gopro.png b/train/gopro_rgb/1746226196.740043_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.740043_gopro.png rename to train/gopro_rgb/1746226196.740043_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.773409_gopro.png b/train/gopro_rgb/1746226196.773409_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.773409_gopro.png rename to train/gopro_rgb/1746226196.773409_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.806776_gopro.png b/train/gopro_rgb/1746226196.806776_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.806776_gopro.png rename to train/gopro_rgb/1746226196.806776_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.840143_gopro.png b/train/gopro_rgb/1746226196.840143_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.840143_gopro.png rename to train/gopro_rgb/1746226196.840143_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.873509_gopro.png b/train/gopro_rgb/1746226196.873509_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.873509_gopro.png rename to train/gopro_rgb/1746226196.873509_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.906876_gopro.png b/train/gopro_rgb/1746226196.906876_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.906876_gopro.png rename to train/gopro_rgb/1746226196.906876_gopro.png diff --git a/sample_viewer/gopro_rgb/1746226196.940243_gopro.png b/train/gopro_rgb/1746226196.940243_gopro.png similarity index 100% rename from sample_viewer/gopro_rgb/1746226196.940243_gopro.png rename to train/gopro_rgb/1746226196.940243_gopro.png diff --git a/train/metadata.csv b/train/metadata.csv new file mode 100644 index 0000000000000000000000000000000000000000..3cb6d73cb568863fb7357a0439d69b39e25bfe02 --- /dev/null +++ b/train/metadata.csv @@ -0,0 +1,20 @@ +instruction,rgb_wrist,rgb_gopro,tcp_pose,joint_states +Scan the top surface of the white cube.,wrist_rgb/1746226188.685462_rgb.png,gopro_rgb/1746226188.698676_gopro.png,"[0.063694, 0.179662, 0.450726, 0.021055, -3.1183, -0.24339]","[1.881769, -1.14364, -1.24418, -2.17118, 1.530733, 3.43612]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.719243_rgb.png,gopro_rgb/1746226188.732457_gopro.png,"[0.063833, 0.179681, 0.450705, 0.021311, -3.1183, -0.24338]","[1.880654, -1.14386, -1.2443, -2.17073, 1.531105, 3.434864]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.753024_rgb.png,gopro_rgb/1746226188.766238_gopro.png,"[0.064485, 0.179919, 0.450558, 0.021227, -3.1184, -0.24371]","[1.875655, -1.14515, -1.24502, -2.16831, 1.531932, 3.429996]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.786805_rgb.png,gopro_rgb/1746226188.800019_gopro.png,"[0.065508, 0.180362, 0.450239, 0.021308, -3.1184, -0.2437]","[1.867828, -1.14738, -1.24627, -2.16453, 1.533101, 3.423344]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.820586_rgb.png,gopro_rgb/1746226188.833800_gopro.png,"[0.067066, 0.181077, 0.449696, 0.021415, -3.1182, -0.24347]","[1.8559, -1.15085, -1.24865, -2.15861, 1.534779, 3.410236]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.854367_rgb.png,gopro_rgb/1746226188.867581_gopro.png,"[0.068954, 0.181825, 0.449144, 0.021122, -3.1186, -0.2435]","[1.841791, -1.15489, -1.25088, -2.15119, 1.536979, 3.396374]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.888148_rgb.png,gopro_rgb/1746226188.901362_gopro.png,"[0.071428, 0.182873, 0.448324, 0.021383, -3.1183, -0.24357]","[1.823836, -1.16047, -1.254, -2.143, 1.539904, 3.372328]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.921929_rgb.png,gopro_rgb/1746226188.935143_gopro.png,"[0.074172, 0.184018, 0.44752, 0.021101, -3.1185, -0.24357]","[1.803623, -1.16661, -1.25701, -2.13307, 1.542972, 3.358615]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.955710_rgb.png,gopro_rgb/1746226188.968924_gopro.png,"[0.077611, 0.185388, 0.446327, 0.021208, -3.1185, -0.24354]","[1.789432, -1.17168, -1.26012, -2.12612, 1.546664, 3.344763]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.989491_rgb.png,gopro_rgb/1746226188.1002705_gopro.png,"[0.081181, 0.186894, 0.445366, 0.021248, -3.1187, -0.24343]","[1.754869, -1.18038, -1.26374, -2.10913, 1.550572, 3.310202]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.1023272_rgb.png,gopro_rgb/1746226188.1036486_gopro.png,"[0.085523, 0.188722, 0.444007, 0.021374, -3.1189, -0.24319]","[1.725967, -1.19379, -1.26723, -2.09474, 1.555019, 3.281476]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.1057053_rgb.png,gopro_rgb/1746226188.1070267_gopro.png,"[0.090102, 0.190516, 0.442683, 0.021187, -3.1189, -0.24341]","[1.70523, -1.2028, -1.27002, -2.08041, 1.558927, 3.263988]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.1090834_rgb.png,gopro_rgb/1746226188.1104048_gopro.png,"[0.095247, 0.192705, 0.441402, 0.021288, -3.1183, -0.24299]","[1.664661, -1.21869, -1.27296, -2.06397, 1.561654, 3.220787]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.1124615_rgb.png,gopro_rgb/1746226188.1137829_gopro.png,"[0.100522, 0.194894, 0.439501, 0.021176, -3.1189, -0.2438]","[1.6383, -1.2328, -1.27492, -2.04746, 1.566957, 3.189769]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.1158396_rgb.png,gopro_rgb/1746226188.1171610_gopro.png,"[0.106174, 0.197543, 0.437561, 0.021163, -3.1188, -0.24364]","[1.593821, -1.25094, -1.27602, -2.02922, 1.571509, 3.154841]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.1192177_rgb.png,gopro_rgb/1746226188.1205391_gopro.png,"[0.112864, 0.199961, 0.435756, 0.02108, -3.1182, -0.24402]","[1.564607, -1.26733, -1.27685, -2.01157, 1.580282, 3.121828]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.1225958_rgb.png,gopro_rgb/1746226188.1239172_gopro.png,"[0.11996, 0.202393, 0.433643, 0.021066, -3.1183, -0.244]","[1.527887, -1.28228, -1.27648, -1.99225, 1.585597, 3.085872]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.1259739_rgb.png,gopro_rgb/1746226188.1272953_gopro.png,"[0.126956, 0.205763, 0.431329, 0.021073, -3.1186, -0.24361]","[1.493852, -1.30924, -1.27464, -1.9739, 1.591208, 3.018534]" +Scan the top surface of the white cube.,wrist_rgb/1746226188.1293520_rgb.png,gopro_rgb/1746226188.1306734_gopro.png,"[0.134192, 0.208767, 0.429126, 0.020725, -3.1187, -0.24318]","[1.460272, -1.33185, -1.27117, -1.95575, 1.596422, 3.018537]" diff --git a/sample_viewer/train.jsonl b/train/train.jsonl similarity index 100% rename from sample_viewer/train.jsonl rename to train/train.jsonl diff --git a/sample_viewer/wrist_rgb/1746226188.685462_rgb.png b/train/wrist_rgb/1746226188.685462_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226188.685462_rgb.png rename to train/wrist_rgb/1746226188.685462_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226188.719443_rgb.png b/train/wrist_rgb/1746226188.719443_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226188.719443_rgb.png rename to train/wrist_rgb/1746226188.719443_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226188.753579_rgb.png b/train/wrist_rgb/1746226188.753579_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226188.753579_rgb.png rename to train/wrist_rgb/1746226188.753579_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226188.787809_rgb.png b/train/wrist_rgb/1746226188.787809_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226188.787809_rgb.png rename to train/wrist_rgb/1746226188.787809_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226188.821899_rgb.png b/train/wrist_rgb/1746226188.821899_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226188.821899_rgb.png rename to train/wrist_rgb/1746226188.821899_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226188.855905_rgb.png b/train/wrist_rgb/1746226188.855905_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226188.855905_rgb.png rename to train/wrist_rgb/1746226188.855905_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226188.889951_rgb.png b/train/wrist_rgb/1746226188.889951_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226188.889951_rgb.png rename to train/wrist_rgb/1746226188.889951_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226188.923916_rgb.png b/train/wrist_rgb/1746226188.923916_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226188.923916_rgb.png rename to train/wrist_rgb/1746226188.923916_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226188.957864_rgb.png b/train/wrist_rgb/1746226188.957864_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226188.957864_rgb.png rename to train/wrist_rgb/1746226188.957864_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226188.991866_rgb.png b/train/wrist_rgb/1746226188.991866_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226188.991866_rgb.png rename to train/wrist_rgb/1746226188.991866_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226189.027050_rgb.png b/train/wrist_rgb/1746226189.027050_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226189.027050_rgb.png rename to train/wrist_rgb/1746226189.027050_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226189.061126_rgb.png b/train/wrist_rgb/1746226189.061126_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226189.061126_rgb.png rename to train/wrist_rgb/1746226189.061126_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226189.095092_rgb.png b/train/wrist_rgb/1746226189.095092_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226189.095092_rgb.png rename to train/wrist_rgb/1746226189.095092_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226189.129037_rgb.png b/train/wrist_rgb/1746226189.129037_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226189.129037_rgb.png rename to train/wrist_rgb/1746226189.129037_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226189.163185_rgb.png b/train/wrist_rgb/1746226189.163185_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226189.163185_rgb.png rename to train/wrist_rgb/1746226189.163185_rgb.png diff --git a/sample_viewer/wrist_rgb/1746226189.209354_rgb.png b/train/wrist_rgb/1746226189.209354_rgb.png similarity index 100% rename from sample_viewer/wrist_rgb/1746226189.209354_rgb.png rename to 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