Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +129 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.fixed/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.fixed/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.fixed/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.handeye/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.handeye/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.handeye/episode_000002.mp4 +3 -0
data/chunk-000/episode_000000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ddfefd60ca588d82d37afa42576669092229ecef5149829e55941119c02919e4
|
| 3 |
+
size 88419
|
data/chunk-000/episode_000001.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8fd46808eb04e7086477072c672a6d26aded7528f698ee19184d1ab7354ad673
|
| 3 |
+
size 80807
|
data/chunk-000/episode_000002.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9f4bafa0002e84bfc0debc3c4959fbb6e60a5fced72e62f34362a065e686668c
|
| 3 |
+
size 72109
|
meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["抓取小方块"], "length": 1143}
|
| 2 |
+
{"episode_index": 1, "tasks": ["抓取小方块"], "length": 1040}
|
| 3 |
+
{"episode_index": 2, "tasks": ["抓取小方块"], "length": 927}
|
meta/episodes_stats.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "stats": {"action": {"min": [-6.429999828338623, -2.3529999256134033, -80.36699676513672, -18.07699966430664, 15.843999862670898, -0.6840000152587891, 0.0], "max": [32.17100143432617, 120.09300231933594, 2.371999979019165, 5.413000106811523, 74.65499877929688, 23.531999588012695, 69.86000061035156], "mean": [5.53725528717041, 44.64382553100586, -28.087188720703125, -6.738574981689453, 36.405792236328125, 6.016804218292236, 42.79628372192383], "std": [10.779277801513672, 51.93790817260742, 34.117027282714844, 5.151727199554443, 15.691914558410645, 7.587754249572754, 25.432878494262695], "count": [1143]}, "observation.state": {"min": [-6.413000106811523, -0.05400000140070915, -80.40399932861328, -18.128000259399414, 16.69499969482422, -0.6899999976158142, -0.07000000029802322], "max": [32.180999755859375, 120.13300323486328, 0.05700000002980232, 5.441999912261963, 70.15699768066406, 23.549999237060547, 69.58000183105469], "mean": [5.554154396057129, 45.67451477050781, -29.00398826599121, -6.728363513946533, 36.42295837402344, 5.993412017822266, 42.693206787109375], "std": [10.761817932128906, 51.064456939697266, 33.38371276855469, 5.136086940765381, 15.521796226501465, 7.589585781097412, 25.296850204467773], "count": [1143]}, "observation.images.handeye": {"min": [[[0.09803921568627451]], [[0.10588235294117647]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6546951884920635]], [[0.6708390210250766]], [[0.6779154547235561]]], "std": [[[0.2544506484019498]], [[0.24047706991881482]], [[0.2264987395068789]]], "count": [196]}, "observation.images.fixed": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5717168607026144]], [[0.5264350490196078]], [[0.438156202064159]]], "std": [[[0.2442242585651262]], [[0.20240991754173623]], [[0.1877935892031142]]], "count": [196]}, "timestamp": {"min": [0.0], "max": [38.06666666666667], "mean": [19.03333333333333], "std": [10.998518418742018], "count": [1143]}, "frame_index": {"min": [0], "max": [1142], "mean": [571.0], "std": [329.95555256226055], "count": [1143]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1143]}, "index": {"min": [0], "max": [1142], "mean": [571.0], "std": [329.95555256226055], "count": [1143]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1143]}}}
|
| 2 |
+
{"episode_index": 1, "stats": {"action": {"min": [-5.070000171661377, -2.6570000648498535, -68.96299743652344, -20.197999954223633, 16.05500030517578, 3.4170000553131104, -0.07000000029802322], "max": [32.69300079345703, 112.9489974975586, 1.7039999961853027, 10.687999725341797, 61.402000427246094, 14.98900032043457, 54.599998474121094], "mean": [2.9196720123291016, 50.09577941894531, -29.548198699951172, -7.982946872711182, 33.94108963012695, 8.842080116271973, 33.77678298950195], "std": [11.788311958312988, 51.022247314453125, 31.7181339263916, 5.603742599487305, 10.992512702941895, 3.674443483352661, 19.050554275512695], "count": [1040]}, "observation.state": {"min": [-5.073999881744385, -0.10199999809265137, -68.9800033569336, -20.200000762939453, 16.18400001525879, 3.4189999103546143, -0.07000000029802322], "max": [32.70600128173828, 112.9530029296875, 0.019999999552965164, 10.656999588012695, 61.44499969482422, 15.008999824523926, 54.25], "mean": [2.8995590209960938, 50.65449142456055, -30.216411590576172, -7.9853196144104, 33.9298095703125, 8.8561429977417, 33.68584442138672], "std": [11.784143447875977, 50.052886962890625, 31.04629898071289, 5.625001430511475, 11.016424179077148, 3.679121971130371, 18.88627052307129], "count": [1040]}, "observation.images.handeye": {"min": [[[0.0784313725490196]], [[0.1411764705882353]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.666828280697525]], [[0.673035341663988]], [[0.6814952040697883]]], "std": [[[0.2534356649732582]], [[0.24114095934072777]], [[0.23136937327632434]]], "count": [183]}, "observation.images.fixed": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5856398632540448]], [[0.5441752897424909]], [[0.460461360227151]]], "std": [[[0.23114079590559072]], [[0.19432745051483222]], [[0.182682604696918]]], "count": [183]}, "timestamp": {"min": [0.0], "max": [34.63333333333333], "mean": [17.31666666666667], "std": [10.007400039748363], "count": [1040]}, "frame_index": {"min": [0], "max": [1039], "mean": [519.5], "std": [300.22200119245093], "count": [1040]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1040]}, "index": {"min": [1143], "max": [2182], "mean": [1662.5], "std": [300.22200119245093], "count": [1040]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1040]}}}
|
| 3 |
+
{"episode_index": 2, "stats": {"action": {"min": [-7.554999828338623, -2.4030001163482666, -71.16899871826172, -16.589000701904297, 18.38800048828125, -20.525999069213867, 0.0], "max": [45.30500030517578, 114.68800354003906, 2.253000020980835, 6.441999912261963, 74.69200134277344, 34.82600021362305, 44.72999954223633], "mean": [5.829362869262695, 57.61012268066406, -36.18555450439453, -4.266638278961182, 37.90129089355469, 4.68660306930542, 32.2329216003418], "std": [14.71680736541748, 51.716522216796875, 34.35102844238281, 3.643667221069336, 14.7770414352417, 14.587566375732422, 13.703283309936523], "count": [927]}, "observation.state": {"min": [-7.570000171661377, -0.164000004529953, -71.18599700927734, -16.5049991607666, 18.382999420166016, -20.52899932861328, 0.0], "max": [45.277000427246094, 114.71299743652344, 0.17599999904632568, 6.26800012588501, 70.09300231933594, 34.47600173950195, 44.45000076293945], "mean": [5.743218421936035, 57.60209655761719, -36.89222717285156, -4.292564392089844, 37.92123031616211, 4.777478218078613, 32.15188980102539], "std": [14.545124053955078, 50.82590103149414, 33.58643341064453, 3.6863908767700195, 14.650897026062012, 14.451090812683105, 13.546960830688477], "count": [927]}, "observation.images.handeye": {"min": [[[0.10588235294117647]], [[0.1411764705882353]], [[0.11372549019607843]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6650574472844694]], [[0.6708080357142857]], [[0.6786698276532835]]], "std": [[[0.2514248243036206]], [[0.23702346527398235]], [[0.22584311806934868]]], "count": [168]}, "observation.images.fixed": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5800283017720977]], [[0.5318387629357298]], [[0.44111507571778713]]], "std": [[[0.23702864277174754]], [[0.19928495929567056]], [[0.18686323517155692]]], "count": [168]}, "timestamp": {"min": [0.0], "max": [30.866666666666667], "mean": [15.433333333333334], "std": [8.920056468846338], "count": [927]}, "frame_index": {"min": [0], "max": [926], "mean": [463.0], "std": [267.6016940653902], "count": [927]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [927]}, "index": {"min": [2183], "max": [3109], "mean": [2646.0], "std": [267.6016940653902], "count": [927]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [927]}}}
|
meta/info.json
ADDED
|
@@ -0,0 +1,129 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "piper_follower",
|
| 4 |
+
"total_episodes": 3,
|
| 5 |
+
"total_frames": 3110,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 6,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:3"
|
| 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 |
+
"joint_1.pos",
|
| 24 |
+
"joint_2.pos",
|
| 25 |
+
"joint_3.pos",
|
| 26 |
+
"joint_4.pos",
|
| 27 |
+
"joint_5.pos",
|
| 28 |
+
"joint_6.pos",
|
| 29 |
+
"gripper.pos"
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"observation.state": {
|
| 33 |
+
"dtype": "float32",
|
| 34 |
+
"shape": [
|
| 35 |
+
7
|
| 36 |
+
],
|
| 37 |
+
"names": [
|
| 38 |
+
"joint_1.pos",
|
| 39 |
+
"joint_2.pos",
|
| 40 |
+
"joint_3.pos",
|
| 41 |
+
"joint_4.pos",
|
| 42 |
+
"joint_5.pos",
|
| 43 |
+
"joint_6.pos",
|
| 44 |
+
"gripper.pos"
|
| 45 |
+
]
|
| 46 |
+
},
|
| 47 |
+
"observation.images.handeye": {
|
| 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.height": 480,
|
| 61 |
+
"video.width": 640,
|
| 62 |
+
"video.codec": "av1",
|
| 63 |
+
"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"video.fps": 30,
|
| 66 |
+
"video.channels": 3,
|
| 67 |
+
"has_audio": false
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"observation.images.fixed": {
|
| 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.height": 480,
|
| 84 |
+
"video.width": 640,
|
| 85 |
+
"video.codec": "av1",
|
| 86 |
+
"video.pix_fmt": "yuv420p",
|
| 87 |
+
"video.is_depth_map": false,
|
| 88 |
+
"video.fps": 30,
|
| 89 |
+
"video.channels": 3,
|
| 90 |
+
"has_audio": false
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"timestamp": {
|
| 94 |
+
"dtype": "float32",
|
| 95 |
+
"shape": [
|
| 96 |
+
1
|
| 97 |
+
],
|
| 98 |
+
"names": null
|
| 99 |
+
},
|
| 100 |
+
"frame_index": {
|
| 101 |
+
"dtype": "int64",
|
| 102 |
+
"shape": [
|
| 103 |
+
1
|
| 104 |
+
],
|
| 105 |
+
"names": null
|
| 106 |
+
},
|
| 107 |
+
"episode_index": {
|
| 108 |
+
"dtype": "int64",
|
| 109 |
+
"shape": [
|
| 110 |
+
1
|
| 111 |
+
],
|
| 112 |
+
"names": null
|
| 113 |
+
},
|
| 114 |
+
"index": {
|
| 115 |
+
"dtype": "int64",
|
| 116 |
+
"shape": [
|
| 117 |
+
1
|
| 118 |
+
],
|
| 119 |
+
"names": null
|
| 120 |
+
},
|
| 121 |
+
"task_index": {
|
| 122 |
+
"dtype": "int64",
|
| 123 |
+
"shape": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"names": null
|
| 127 |
+
}
|
| 128 |
+
}
|
| 129 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "抓取小方块"}
|
videos/chunk-000/observation.images.fixed/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:020e9ccace494f237b48987f95a0c054f92f4f637d78c67beea9e32886bf6e39
|
| 3 |
+
size 5364711
|
videos/chunk-000/observation.images.fixed/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2e5948af5cc81610c08085759cd4d3d604d0e743d3cf93c99a30c50dab0f321d
|
| 3 |
+
size 4463998
|
videos/chunk-000/observation.images.fixed/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:410219b1831ae41a64b4283c7a75f29cf6aa6e83ec65fdc50dc8f2bf9ae494e4
|
| 3 |
+
size 4068797
|
videos/chunk-000/observation.images.handeye/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f92baca94ba3faf3e4541fd468e1776523f26c38660f6905a24c9815bcc1f87a
|
| 3 |
+
size 9093693
|
videos/chunk-000/observation.images.handeye/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:96cd549de26cbe31f471f5cdfab7bc08417770bcae8235859953f47fb034f22b
|
| 3 |
+
size 8336285
|
videos/chunk-000/observation.images.handeye/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a5e5ff17224cf6ffe1b2c8786ed40cc94ac284ec8b75ee940dada898e7f6c339
|
| 3 |
+
size 7381339
|