satvikahuja commited on
Commit
455d87f
·
verified ·
1 Parent(s): 3c62ed2

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:b829cfb7345cb0314d3ea971f6555bc67f9639d82e63b6c33ef396d4ebb61363
3
+ size 25624
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a2209fa06940750ab1035c276a06fbd691f8cb3081fd22d106729c5807f7aeb4
3
+ size 27457
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["test6dof"], "length": 576}
2
+ {"episode_index": 1, "tasks": ["test6dof"], "length": 555}
meta/info.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "so100",
4
+ "total_episodes": 2,
5
+ "total_frames": 1131,
6
+ "total_tasks": 1,
7
+ "total_videos": 8,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
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
+ 7
21
+ ],
22
+ "names": [
23
+ "main_shoulder_pan",
24
+ "main_shoulder_lift",
25
+ "main_elbow_flex",
26
+ "main_wrist_flex",
27
+ "main_wrist_roll",
28
+ "main_gripper",
29
+ "main_extra_wrist"
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "shape": [
35
+ 7
36
+ ],
37
+ "names": [
38
+ "main_shoulder_pan",
39
+ "main_shoulder_lift",
40
+ "main_elbow_flex",
41
+ "main_wrist_flex",
42
+ "main_wrist_roll",
43
+ "main_gripper",
44
+ "main_extra_wrist"
45
+ ]
46
+ },
47
+ "observation.images.laptop": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.fps": 30.0,
61
+ "video.height": 480,
62
+ "video.width": 640,
63
+ "video.channels": 3,
64
+ "video.codec": "av1",
65
+ "video.pix_fmt": "yuv420p",
66
+ "video.is_depth_map": false,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.phone": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.fps": 30.0,
84
+ "video.height": 480,
85
+ "video.width": 640,
86
+ "video.channels": 3,
87
+ "video.codec": "av1",
88
+ "video.pix_fmt": "yuv420p",
89
+ "video.is_depth_map": false,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "observation.images.Lwebcam": {
94
+ "dtype": "video",
95
+ "shape": [
96
+ 480,
97
+ 640,
98
+ 3
99
+ ],
100
+ "names": [
101
+ "height",
102
+ "width",
103
+ "channels"
104
+ ],
105
+ "info": {
106
+ "video.fps": 30.0,
107
+ "video.height": 480,
108
+ "video.width": 640,
109
+ "video.channels": 3,
110
+ "video.codec": "av1",
111
+ "video.pix_fmt": "yuv420p",
112
+ "video.is_depth_map": false,
113
+ "has_audio": false
114
+ }
115
+ },
116
+ "observation.images.macwebcam": {
117
+ "dtype": "video",
118
+ "shape": [
119
+ 480,
120
+ 640,
121
+ 3
122
+ ],
123
+ "names": [
124
+ "height",
125
+ "width",
126
+ "channels"
127
+ ],
128
+ "info": {
129
+ "video.fps": 30.0,
130
+ "video.height": 480,
131
+ "video.width": 640,
132
+ "video.channels": 3,
133
+ "video.codec": "av1",
134
+ "video.pix_fmt": "yuv420p",
135
+ "video.is_depth_map": false,
136
+ "has_audio": false
137
+ }
138
+ },
139
+ "timestamp": {
140
+ "dtype": "float32",
141
+ "shape": [
142
+ 1
143
+ ],
144
+ "names": null
145
+ },
146
+ "frame_index": {
147
+ "dtype": "int64",
148
+ "shape": [
149
+ 1
150
+ ],
151
+ "names": null
152
+ },
153
+ "episode_index": {
154
+ "dtype": "int64",
155
+ "shape": [
156
+ 1
157
+ ],
158
+ "names": null
159
+ },
160
+ "index": {
161
+ "dtype": "int64",
162
+ "shape": [
163
+ 1
164
+ ],
165
+ "names": null
166
+ },
167
+ "task_index": {
168
+ "dtype": "int64",
169
+ "shape": [
170
+ 1
171
+ ],
172
+ "names": null
173
+ }
174
+ }
175
+ }
meta/stats.json ADDED
@@ -0,0 +1,428 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ -1.0052635669708252,
5
+ 188.78775024414062,
6
+ 144.28109741210938,
7
+ 78.5191421508789,
8
+ 3.631335973739624,
9
+ 25.37880516052246,
10
+ 0.4343242049217224
11
+ ],
12
+ "std": [
13
+ 8.14786148071289,
14
+ 5.013136386871338,
15
+ 10.132269859313965,
16
+ 14.505373001098633,
17
+ 4.856230735778809,
18
+ 0.7114011645317078,
19
+ 8.340457916259766
20
+ ],
21
+ "max": [
22
+ 21.708984375,
23
+ 191.07421875,
24
+ 154.51171875,
25
+ 95.9765625,
26
+ 11.77734375,
27
+ 32.95218276977539,
28
+ 35.859375
29
+ ],
30
+ "min": [
31
+ -16.5234375,
32
+ 161.806640625,
33
+ 113.5546875,
34
+ 52.470703125,
35
+ -12.48046875,
36
+ 24.532224655151367,
37
+ -17.578125
38
+ ]
39
+ },
40
+ "observation.state": {
41
+ "mean": [
42
+ -1.3032835721969604,
43
+ 188.1844482421875,
44
+ 144.6559600830078,
45
+ 78.34210205078125,
46
+ 3.2793068885803223,
47
+ 25.225955963134766,
48
+ 0.5417203903198242
49
+ ],
50
+ "std": [
51
+ 7.498150825500488,
52
+ 3.6672699451446533,
53
+ 9.171377182006836,
54
+ 13.922868728637695,
55
+ 4.555071830749512,
56
+ 0.9590886831283569,
57
+ 8.037283897399902
58
+ ],
59
+ "max": [
60
+ 17.841796875,
61
+ 190.8984375,
62
+ 152.2265625,
63
+ 94.658203125,
64
+ 10.986328125,
65
+ 29.565929412841797,
66
+ 32.6953125
67
+ ],
68
+ "min": [
69
+ -14.94140625,
70
+ 173.759765625,
71
+ 117.509765625,
72
+ 55.107421875,
73
+ -10.986328125,
74
+ 24.078624725341797,
75
+ -17.2265625
76
+ ]
77
+ },
78
+ "observation.images.laptop": {
79
+ "mean": [
80
+ [
81
+ [
82
+ 0.5097817778587341
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.43016257882118225
88
+ ]
89
+ ],
90
+ [
91
+ [
92
+ 0.5207735896110535
93
+ ]
94
+ ]
95
+ ],
96
+ "std": [
97
+ [
98
+ [
99
+ 0.21486501395702362
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.1935536116361618
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.2214544266462326
110
+ ]
111
+ ]
112
+ ],
113
+ "max": [
114
+ [
115
+ [
116
+ 1.0
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 1.0
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 1.0
127
+ ]
128
+ ]
129
+ ],
130
+ "min": [
131
+ [
132
+ [
133
+ 0.0
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.0
139
+ ]
140
+ ],
141
+ [
142
+ [
143
+ 0.0
144
+ ]
145
+ ]
146
+ ]
147
+ },
148
+ "observation.images.phone": {
149
+ "mean": [
150
+ [
151
+ [
152
+ 0.4737951457500458
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.466048002243042
158
+ ]
159
+ ],
160
+ [
161
+ [
162
+ 0.42041128873825073
163
+ ]
164
+ ]
165
+ ],
166
+ "std": [
167
+ [
168
+ [
169
+ 0.26215094327926636
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 0.261677622795105
175
+ ]
176
+ ],
177
+ [
178
+ [
179
+ 0.2411017268896103
180
+ ]
181
+ ]
182
+ ],
183
+ "max": [
184
+ [
185
+ [
186
+ 1.0
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 1.0
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 1.0
197
+ ]
198
+ ]
199
+ ],
200
+ "min": [
201
+ [
202
+ [
203
+ 0.0
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.0
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.0
214
+ ]
215
+ ]
216
+ ]
217
+ },
218
+ "observation.images.Lwebcam": {
219
+ "mean": [
220
+ [
221
+ [
222
+ 0.5795448422431946
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.5298635363578796
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.4560864567756653
233
+ ]
234
+ ]
235
+ ],
236
+ "std": [
237
+ [
238
+ [
239
+ 0.22909021377563477
240
+ ]
241
+ ],
242
+ [
243
+ [
244
+ 0.22295953333377838
245
+ ]
246
+ ],
247
+ [
248
+ [
249
+ 0.22286097705364227
250
+ ]
251
+ ]
252
+ ],
253
+ "max": [
254
+ [
255
+ [
256
+ 1.0
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 1.0
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 1.0
267
+ ]
268
+ ]
269
+ ],
270
+ "min": [
271
+ [
272
+ [
273
+ 0.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.0
284
+ ]
285
+ ]
286
+ ]
287
+ },
288
+ "observation.images.macwebcam": {
289
+ "mean": [
290
+ [
291
+ [
292
+ 0.6505088806152344
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.6031485795974731
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.5357242226600647
303
+ ]
304
+ ]
305
+ ],
306
+ "std": [
307
+ [
308
+ [
309
+ 0.2173563838005066
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 0.2128313183784485
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.20414964854717255
320
+ ]
321
+ ]
322
+ ],
323
+ "max": [
324
+ [
325
+ [
326
+ 1.0
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 1.0
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 1.0
337
+ ]
338
+ ]
339
+ ],
340
+ "min": [
341
+ [
342
+ [
343
+ 0.0
344
+ ]
345
+ ],
346
+ [
347
+ [
348
+ 0.0
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.0
354
+ ]
355
+ ]
356
+ ]
357
+ },
358
+ "timestamp": {
359
+ "mean": [
360
+ 9.411581993103027
361
+ ],
362
+ "std": [
363
+ 5.447141170501709
364
+ ],
365
+ "max": [
366
+ 19.16666603088379
367
+ ],
368
+ "min": [
369
+ 0.0
370
+ ]
371
+ },
372
+ "frame_index": {
373
+ "mean": [
374
+ 282.34747314453125
375
+ ],
376
+ "std": [
377
+ 163.4142608642578
378
+ ],
379
+ "max": [
380
+ 575.0
381
+ ],
382
+ "min": [
383
+ 0.0
384
+ ]
385
+ },
386
+ "episode_index": {
387
+ "mean": [
388
+ 0.4907161295413971
389
+ ],
390
+ "std": [
391
+ 0.4999138414859772
392
+ ],
393
+ "max": [
394
+ 1.0
395
+ ],
396
+ "min": [
397
+ 0.0
398
+ ]
399
+ },
400
+ "index": {
401
+ "mean": [
402
+ 564.9999389648438
403
+ ],
404
+ "std": [
405
+ 326.4914245605469
406
+ ],
407
+ "max": [
408
+ 1130.0
409
+ ],
410
+ "min": [
411
+ 0.0
412
+ ]
413
+ },
414
+ "task_index": {
415
+ "mean": [
416
+ 0.0
417
+ ],
418
+ "std": [
419
+ 0.0
420
+ ],
421
+ "max": [
422
+ 0.0
423
+ ],
424
+ "min": [
425
+ 0.0
426
+ ]
427
+ }
428
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "test6dof"}
videos/chunk-000/observation.images.Lwebcam/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b657642693a297deb83c6ceafbba96a53106fdbfc1a18bb9a11e40e24ed48dc2
3
+ size 8234670
videos/chunk-000/observation.images.Lwebcam/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b89d8ee60d216ed64032f73cc9987d7276c283baa0a8ab9decf24d312fdb7367
3
+ size 7873472
videos/chunk-000/observation.images.laptop/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9046b7a9fda324191abcacf0e8443fd9599b0dcccb0ff6a21ba6f3768845103a
3
+ size 3625231
videos/chunk-000/observation.images.laptop/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f2145d8791317132ff49e76fd1eff062538a3b8f6683aa01d27fd7bb4916d25
3
+ size 3801568
videos/chunk-000/observation.images.macwebcam/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:792c4c5c23563f209f99a9b097e5d2dd7ae289efd4d851406a090f680effd915
3
+ size 6399871
videos/chunk-000/observation.images.macwebcam/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8301852fd740b907d1d9f289737bb1dcf1a4bb25325e2abdc35d145077682433
3
+ size 6122912
videos/chunk-000/observation.images.phone/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f857e0e6080cd665b7308c8ef27c20cd0c9cbfbd0e1a9d520ca2b95c478d7c1f
3
+ size 4779620
videos/chunk-000/observation.images.phone/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:13b169479a3340ef09d450320cabdc7e0e44e974b70e49b5494ddd950491e73e
3
+ size 4584618