cadene HF Staff commited on
Commit
2a16f74
·
verified ·
1 Parent(s): 6cbf2b3

Upload folder using huggingface_hub

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d47c4e3f839bb163d57188a9c071ca2e59277f8ed305b8c279c66d004817f6db
3
+ size 509914796
data/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c9b16ab93367cbe2767a863bfc0cb2a982b8dc908195a74e5f689f89a910ce83
3
+ size 218233052
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:355b5cbe8ccd1c419a8247a89725a8c6ce0ef404414d0715194aafd55a1845e4
3
+ size 76784
meta/info.json CHANGED
@@ -1,18 +1,16 @@
1
  {
2
- "codebase_version": "v2.1",
3
  "robot_type": "aloha",
4
  "total_episodes": 50,
5
  "total_frames": 25000,
6
  "total_tasks": 1,
7
- "total_videos": 0,
8
- "total_chunks": 1,
9
  "chunks_size": 1000,
10
- "fps": 50,
11
  "splits": {
12
  "train": "0:50"
13
  },
14
- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
- "video_path": null,
16
  "features": {
17
  "observation.images.top": {
18
  "dtype": "image",
@@ -25,7 +23,8 @@
25
  "height",
26
  "width",
27
  "channel"
28
- ]
 
29
  },
30
  "observation.state": {
31
  "dtype": "float32",
@@ -49,7 +48,8 @@
49
  "right_wrist_rotate",
50
  "right_gripper"
51
  ]
52
- }
 
53
  },
54
  "action": {
55
  "dtype": "float32",
@@ -73,49 +73,57 @@
73
  "right_wrist_rotate",
74
  "right_gripper"
75
  ]
76
- }
 
77
  },
78
  "episode_index": {
79
  "dtype": "int64",
80
  "shape": [
81
  1
82
  ],
83
- "names": null
 
84
  },
85
  "frame_index": {
86
  "dtype": "int64",
87
  "shape": [
88
  1
89
  ],
90
- "names": null
 
91
  },
92
  "timestamp": {
93
  "dtype": "float32",
94
  "shape": [
95
  1
96
  ],
97
- "names": null
 
98
  },
99
  "next.done": {
100
  "dtype": "bool",
101
  "shape": [
102
  1
103
  ],
104
- "names": null
 
105
  },
106
  "index": {
107
  "dtype": "int64",
108
  "shape": [
109
  1
110
  ],
111
- "names": null
 
112
  },
113
  "task_index": {
114
  "dtype": "int64",
115
  "shape": [
116
  1
117
  ],
118
- "names": null
 
119
  }
120
- }
 
121
  }
 
1
  {
2
+ "codebase_version": "v3.0",
3
  "robot_type": "aloha",
4
  "total_episodes": 50,
5
  "total_frames": 25000,
6
  "total_tasks": 1,
 
 
7
  "chunks_size": 1000,
8
+ "fps": 50.0,
9
  "splits": {
10
  "train": "0:50"
11
  },
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
  "features": {
15
  "observation.images.top": {
16
  "dtype": "image",
 
23
  "height",
24
  "width",
25
  "channel"
26
+ ],
27
+ "fps": 50.0
28
  },
29
  "observation.state": {
30
  "dtype": "float32",
 
48
  "right_wrist_rotate",
49
  "right_gripper"
50
  ]
51
+ },
52
+ "fps": 50.0
53
  },
54
  "action": {
55
  "dtype": "float32",
 
73
  "right_wrist_rotate",
74
  "right_gripper"
75
  ]
76
+ },
77
+ "fps": 50.0
78
  },
79
  "episode_index": {
80
  "dtype": "int64",
81
  "shape": [
82
  1
83
  ],
84
+ "names": null,
85
+ "fps": 50.0
86
  },
87
  "frame_index": {
88
  "dtype": "int64",
89
  "shape": [
90
  1
91
  ],
92
+ "names": null,
93
+ "fps": 50.0
94
  },
95
  "timestamp": {
96
  "dtype": "float32",
97
  "shape": [
98
  1
99
  ],
100
+ "names": null,
101
+ "fps": 50.0
102
  },
103
  "next.done": {
104
  "dtype": "bool",
105
  "shape": [
106
  1
107
  ],
108
+ "names": null,
109
+ "fps": 50.0
110
  },
111
  "index": {
112
  "dtype": "int64",
113
  "shape": [
114
  1
115
  ],
116
+ "names": null,
117
+ "fps": 50.0
118
  },
119
  "task_index": {
120
  "dtype": "int64",
121
  "shape": [
122
  1
123
  ],
124
+ "names": null,
125
+ "fps": 50.0
126
  }
127
+ },
128
+ "files_size_in_mb": 500.0
129
  }
meta/stats.json ADDED
@@ -0,0 +1,315 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "next.done": {
3
+ "min": [
4
+ false
5
+ ],
6
+ "max": [
7
+ true
8
+ ],
9
+ "mean": [
10
+ 0.002
11
+ ],
12
+ "std": [
13
+ 0.044676615807377355
14
+ ],
15
+ "count": [
16
+ 25000
17
+ ]
18
+ },
19
+ "observation.images.top": {
20
+ "min": [
21
+ [
22
+ [
23
+ 0.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 0.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 0.0
34
+ ]
35
+ ]
36
+ ],
37
+ "max": [
38
+ [
39
+ [
40
+ 1.0
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.9333333373069763
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 1.0
51
+ ]
52
+ ]
53
+ ],
54
+ "mean": [
55
+ [
56
+ [
57
+ 0.1624869054555893
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.16169453501701356
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.16359319239854814
68
+ ]
69
+ ]
70
+ ],
71
+ "std": [
72
+ [
73
+ [
74
+ 0.20457662920788053
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.2030865441927189
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.20660719348744297
85
+ ]
86
+ ]
87
+ ],
88
+ "count": [
89
+ 25000
90
+ ]
91
+ },
92
+ "frame_index": {
93
+ "min": [
94
+ 0
95
+ ],
96
+ "max": [
97
+ 499
98
+ ],
99
+ "mean": [
100
+ 249.5
101
+ ],
102
+ "std": [
103
+ 144.33727862198316
104
+ ],
105
+ "count": [
106
+ 25000
107
+ ]
108
+ },
109
+ "episode_index": {
110
+ "min": [
111
+ 0
112
+ ],
113
+ "max": [
114
+ 49
115
+ ],
116
+ "mean": [
117
+ 24.5
118
+ ],
119
+ "std": [
120
+ 14.430869689661812
121
+ ],
122
+ "count": [
123
+ 25000
124
+ ]
125
+ },
126
+ "index": {
127
+ "min": [
128
+ 0
129
+ ],
130
+ "max": [
131
+ 24999
132
+ ],
133
+ "mean": [
134
+ 12499.5
135
+ ],
136
+ "std": [
137
+ 7216.87835909682
138
+ ],
139
+ "count": [
140
+ 25000
141
+ ]
142
+ },
143
+ "task_index": {
144
+ "min": [
145
+ 0
146
+ ],
147
+ "max": [
148
+ 0
149
+ ],
150
+ "mean": [
151
+ 0.0
152
+ ],
153
+ "std": [
154
+ 0.0
155
+ ],
156
+ "count": [
157
+ 25000
158
+ ]
159
+ },
160
+ "action": {
161
+ "min": [
162
+ -0.2883884012699127,
163
+ -0.9556700587272644,
164
+ 0.3021942377090454,
165
+ -0.2653786838054657,
166
+ -0.5445631742477417,
167
+ -0.4141748249530792,
168
+ 0.08270374685525894,
169
+ -0.4724660813808441,
170
+ -0.9940195679664612,
171
+ 0.08897088468074799,
172
+ -0.2208932340145111,
173
+ -0.4448544383049011,
174
+ -0.8452234268188477,
175
+ -0.06495711207389832
176
+ ],
177
+ "max": [
178
+ 0.31753402948379517,
179
+ 0.08436894416809082,
180
+ 1.2225826978683472,
181
+ 0.28071850538253784,
182
+ 0.9986215233802795,
183
+ 0.4417864680290222,
184
+ 1.162463665008545,
185
+ 0.3206019997596741,
186
+ 0.20555342733860016,
187
+ 1.211844801902771,
188
+ 0.7056311964988708,
189
+ 1.1458836793899536,
190
+ 0.4801360070705414,
191
+ 0.9540639519691467
192
+ ],
193
+ "mean": [
194
+ 0.007535828239633701,
195
+ -0.18172586143016814,
196
+ 0.7322161793708801,
197
+ -0.006863677342189476,
198
+ 0.4357187467813492,
199
+ -0.0031045764312148095,
200
+ 0.2791749158501625,
201
+ -0.10019978007920144,
202
+ -0.2062368370592594,
203
+ 0.643529589176178,
204
+ 0.2016645197663456,
205
+ 0.6110105681419372,
206
+ -0.14404069803655148,
207
+ 0.2545683926343918
208
+ ],
209
+ "std": [
210
+ 0.10980393348805374,
211
+ 0.21561158749436957,
212
+ 0.20219530343679318,
213
+ 0.1066039457881629,
214
+ 0.2204142999634949,
215
+ 0.13943076585574887,
216
+ 0.27067755177064384,
217
+ 0.1424787174041294,
218
+ 0.3127114242339757,
219
+ 0.28606978415028883,
220
+ 0.19153233491646934,
221
+ 0.2999130645941926,
222
+ 0.2879566751723491,
223
+ 0.35035893104760696
224
+ ],
225
+ "count": [
226
+ 25000
227
+ ]
228
+ },
229
+ "observation.state": {
230
+ "min": [
231
+ -0.2860569655895233,
232
+ -0.9599999785423279,
233
+ 0.3066967725753784,
234
+ -0.2636253535747528,
235
+ -0.493009477853775,
236
+ -0.42267003655433655,
237
+ 0.0,
238
+ -0.4774622619152069,
239
+ -0.9905557632446289,
240
+ 0.09440229088068008,
241
+ -0.22565385699272156,
242
+ -0.43221959471702576,
243
+ -0.8460990786552429,
244
+ -0.012096084654331207
245
+ ],
246
+ "max": [
247
+ 0.3167214095592499,
248
+ 0.075322724878788,
249
+ 1.2031160593032837,
250
+ 0.2756938934326172,
251
+ 0.9997532367706299,
252
+ 0.44105732440948486,
253
+ 1.091105341911316,
254
+ 0.3204266130924225,
255
+ 0.20700688660144806,
256
+ 1.2157615423202515,
257
+ 0.8068909645080566,
258
+ 1.1542441844940186,
259
+ 0.5063774585723877,
260
+ 1.0758001804351807
261
+ ],
262
+ "mean": [
263
+ 0.007601042815185793,
264
+ -0.18723902240395546,
265
+ 0.738219347000122,
266
+ -0.007421847051009536,
267
+ 0.44064857631921767,
268
+ -0.0038443716615438463,
269
+ 0.6210289788246155,
270
+ -0.09899227744201199,
271
+ -0.21497444868087767,
272
+ 0.6489820814132691,
273
+ 0.18937693163752556,
274
+ 0.6149135357141495,
275
+ -0.1431253582984209,
276
+ 0.4160814267396927
277
+ ],
278
+ "std": [
279
+ 0.10907029295733112,
280
+ 0.2241928070071198,
281
+ 0.20276571896505158,
282
+ 0.10341581070682483,
283
+ 0.22568835085903205,
284
+ 0.13937632204792363,
285
+ 0.192317836641117,
286
+ 0.14224260929318702,
287
+ 0.31742911115660327,
288
+ 0.28545147644860586,
289
+ 0.18508381131515458,
290
+ 0.30433022046957925,
291
+ 0.2879387080325215,
292
+ 0.257409232598319
293
+ ],
294
+ "count": [
295
+ 25000
296
+ ]
297
+ },
298
+ "timestamp": {
299
+ "min": [
300
+ 0.0
301
+ ],
302
+ "max": [
303
+ 9.979999542236328
304
+ ],
305
+ "mean": [
306
+ 4.989999771118164
307
+ ],
308
+ "std": [
309
+ 2.8867456912994385
310
+ ],
311
+ "count": [
312
+ 25000
313
+ ]
314
+ }
315
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f84fe7ff7679883b900554f83ca6a8caa7ff1f734ff38baab6a65952ec9dcaa8
3
+ size 2185