Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- data/chunk-000/file-001.parquet +3 -0
- data/chunk-000/file-002.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +22 -15
- meta/stats.json +315 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:ca1ac794a57aedc45665c7406938790af55371f128dac91a5e2f117b082cc56e
|
3 |
+
size 1223433
|
data/chunk-000/file-001.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:0515a20b6eb63ab586be69db89e049b3650a987872baa654f59ef72545fa2d6c
|
3 |
+
size 1223295
|
data/chunk-000/file-002.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:351c78b99a4829ce3718aaf6ee91988f59c901071ed785ab0920cb597deb899f
|
3 |
+
size 954168
|
meta/episodes/chunk-000/file-000.parquet
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:b43781ebf9540c42b6734076964f294628a20b9394e7df6536e76aef38aa098e
|
3 |
+
size 79380
|
meta/info.json
CHANGED
@@ -1,18 +1,16 @@
|
|
1 |
{
|
2 |
-
"codebase_version": "
|
3 |
"robot_type": "aloha",
|
4 |
"total_episodes": 50,
|
5 |
"total_frames": 20000,
|
6 |
"total_tasks": 1,
|
7 |
-
"total_videos": 50,
|
8 |
-
"total_chunks": 1,
|
9 |
"chunks_size": 1000,
|
10 |
-
"fps": 50,
|
11 |
"splits": {
|
12 |
"train": "0:50"
|
13 |
},
|
14 |
-
"data_path": "data/chunk-{
|
15 |
-
"video_path": "videos/chunk-{
|
16 |
"features": {
|
17 |
"observation.images.top": {
|
18 |
"dtype": "video",
|
@@ -56,7 +54,8 @@
|
|
56 |
"right_wrist_rotate",
|
57 |
"right_gripper"
|
58 |
]
|
59 |
-
}
|
|
|
60 |
},
|
61 |
"action": {
|
62 |
"dtype": "float32",
|
@@ -80,49 +79,57 @@
|
|
80 |
"right_wrist_rotate",
|
81 |
"right_gripper"
|
82 |
]
|
83 |
-
}
|
|
|
84 |
},
|
85 |
"episode_index": {
|
86 |
"dtype": "int64",
|
87 |
"shape": [
|
88 |
1
|
89 |
],
|
90 |
-
"names": null
|
|
|
91 |
},
|
92 |
"frame_index": {
|
93 |
"dtype": "int64",
|
94 |
"shape": [
|
95 |
1
|
96 |
],
|
97 |
-
"names": null
|
|
|
98 |
},
|
99 |
"timestamp": {
|
100 |
"dtype": "float32",
|
101 |
"shape": [
|
102 |
1
|
103 |
],
|
104 |
-
"names": null
|
|
|
105 |
},
|
106 |
"next.done": {
|
107 |
"dtype": "bool",
|
108 |
"shape": [
|
109 |
1
|
110 |
],
|
111 |
-
"names": null
|
|
|
112 |
},
|
113 |
"index": {
|
114 |
"dtype": "int64",
|
115 |
"shape": [
|
116 |
1
|
117 |
],
|
118 |
-
"names": null
|
|
|
119 |
},
|
120 |
"task_index": {
|
121 |
"dtype": "int64",
|
122 |
"shape": [
|
123 |
1
|
124 |
],
|
125 |
-
"names": null
|
|
|
126 |
}
|
127 |
-
}
|
|
|
128 |
}
|
|
|
1 |
{
|
2 |
+
"codebase_version": "v3.0",
|
3 |
"robot_type": "aloha",
|
4 |
"total_episodes": 50,
|
5 |
"total_frames": 20000,
|
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": "video",
|
|
|
54 |
"right_wrist_rotate",
|
55 |
"right_gripper"
|
56 |
]
|
57 |
+
},
|
58 |
+
"fps": 50.0
|
59 |
},
|
60 |
"action": {
|
61 |
"dtype": "float32",
|
|
|
79 |
"right_wrist_rotate",
|
80 |
"right_gripper"
|
81 |
]
|
82 |
+
},
|
83 |
+
"fps": 50.0
|
84 |
},
|
85 |
"episode_index": {
|
86 |
"dtype": "int64",
|
87 |
"shape": [
|
88 |
1
|
89 |
],
|
90 |
+
"names": null,
|
91 |
+
"fps": 50.0
|
92 |
},
|
93 |
"frame_index": {
|
94 |
"dtype": "int64",
|
95 |
"shape": [
|
96 |
1
|
97 |
],
|
98 |
+
"names": null,
|
99 |
+
"fps": 50.0
|
100 |
},
|
101 |
"timestamp": {
|
102 |
"dtype": "float32",
|
103 |
"shape": [
|
104 |
1
|
105 |
],
|
106 |
+
"names": null,
|
107 |
+
"fps": 50.0
|
108 |
},
|
109 |
"next.done": {
|
110 |
"dtype": "bool",
|
111 |
"shape": [
|
112 |
1
|
113 |
],
|
114 |
+
"names": null,
|
115 |
+
"fps": 50.0
|
116 |
},
|
117 |
"index": {
|
118 |
"dtype": "int64",
|
119 |
"shape": [
|
120 |
1
|
121 |
],
|
122 |
+
"names": null,
|
123 |
+
"fps": 50.0
|
124 |
},
|
125 |
"task_index": {
|
126 |
"dtype": "int64",
|
127 |
"shape": [
|
128 |
1
|
129 |
],
|
130 |
+
"names": null,
|
131 |
+
"fps": 50.0
|
132 |
}
|
133 |
+
},
|
134 |
+
"files_size_in_mb": 500.0
|
135 |
}
|
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 |
+
0.0025
|
11 |
+
],
|
12 |
+
"std": [
|
13 |
+
0.04993746088859546
|
14 |
+
],
|
15 |
+
"count": [
|
16 |
+
20000
|
17 |
+
]
|
18 |
+
},
|
19 |
+
"index": {
|
20 |
+
"min": [
|
21 |
+
0
|
22 |
+
],
|
23 |
+
"max": [
|
24 |
+
19999
|
25 |
+
],
|
26 |
+
"mean": [
|
27 |
+
9999.5
|
28 |
+
],
|
29 |
+
"std": [
|
30 |
+
5773.502684679379
|
31 |
+
],
|
32 |
+
"count": [
|
33 |
+
20000
|
34 |
+
]
|
35 |
+
},
|
36 |
+
"timestamp": {
|
37 |
+
"min": [
|
38 |
+
0.0
|
39 |
+
],
|
40 |
+
"max": [
|
41 |
+
7.980000019073486
|
42 |
+
],
|
43 |
+
"mean": [
|
44 |
+
3.990000009536743
|
45 |
+
],
|
46 |
+
"std": [
|
47 |
+
2.309393882751465
|
48 |
+
],
|
49 |
+
"count": [
|
50 |
+
20000
|
51 |
+
]
|
52 |
+
},
|
53 |
+
"frame_index": {
|
54 |
+
"min": [
|
55 |
+
0
|
56 |
+
],
|
57 |
+
"max": [
|
58 |
+
399
|
59 |
+
],
|
60 |
+
"mean": [
|
61 |
+
199.5
|
62 |
+
],
|
63 |
+
"std": [
|
64 |
+
115.46969299344309
|
65 |
+
],
|
66 |
+
"count": [
|
67 |
+
20000
|
68 |
+
]
|
69 |
+
},
|
70 |
+
"task_index": {
|
71 |
+
"min": [
|
72 |
+
0
|
73 |
+
],
|
74 |
+
"max": [
|
75 |
+
0
|
76 |
+
],
|
77 |
+
"mean": [
|
78 |
+
0.0
|
79 |
+
],
|
80 |
+
"std": [
|
81 |
+
0.0
|
82 |
+
],
|
83 |
+
"count": [
|
84 |
+
20000
|
85 |
+
]
|
86 |
+
},
|
87 |
+
"observation.images.top": {
|
88 |
+
"min": [
|
89 |
+
[
|
90 |
+
[
|
91 |
+
0.0
|
92 |
+
]
|
93 |
+
],
|
94 |
+
[
|
95 |
+
[
|
96 |
+
0.0
|
97 |
+
]
|
98 |
+
],
|
99 |
+
[
|
100 |
+
[
|
101 |
+
0.0
|
102 |
+
]
|
103 |
+
]
|
104 |
+
],
|
105 |
+
"max": [
|
106 |
+
[
|
107 |
+
[
|
108 |
+
1.0
|
109 |
+
]
|
110 |
+
],
|
111 |
+
[
|
112 |
+
[
|
113 |
+
1.0
|
114 |
+
]
|
115 |
+
],
|
116 |
+
[
|
117 |
+
[
|
118 |
+
1.0
|
119 |
+
]
|
120 |
+
]
|
121 |
+
],
|
122 |
+
"mean": [
|
123 |
+
[
|
124 |
+
[
|
125 |
+
0.15828169345855714
|
126 |
+
]
|
127 |
+
],
|
128 |
+
[
|
129 |
+
[
|
130 |
+
0.15737977117300034
|
131 |
+
]
|
132 |
+
],
|
133 |
+
[
|
134 |
+
[
|
135 |
+
0.15950628280639648
|
136 |
+
]
|
137 |
+
]
|
138 |
+
],
|
139 |
+
"std": [
|
140 |
+
[
|
141 |
+
[
|
142 |
+
0.19948316123518406
|
143 |
+
]
|
144 |
+
],
|
145 |
+
[
|
146 |
+
[
|
147 |
+
0.19780982661848462
|
148 |
+
]
|
149 |
+
],
|
150 |
+
[
|
151 |
+
[
|
152 |
+
0.20201669327593266
|
153 |
+
]
|
154 |
+
]
|
155 |
+
],
|
156 |
+
"count": [
|
157 |
+
5000
|
158 |
+
]
|
159 |
+
},
|
160 |
+
"episode_index": {
|
161 |
+
"min": [
|
162 |
+
0
|
163 |
+
],
|
164 |
+
"max": [
|
165 |
+
49
|
166 |
+
],
|
167 |
+
"mean": [
|
168 |
+
24.5
|
169 |
+
],
|
170 |
+
"std": [
|
171 |
+
14.430869689661812
|
172 |
+
],
|
173 |
+
"count": [
|
174 |
+
20000
|
175 |
+
]
|
176 |
+
},
|
177 |
+
"action": {
|
178 |
+
"min": [
|
179 |
+
-0.44702818989753723,
|
180 |
+
-1.6033588647842407,
|
181 |
+
0.4284135103225708,
|
182 |
+
-0.8552320003509521,
|
183 |
+
-0.30000001192092896,
|
184 |
+
-1.2072782516479492,
|
185 |
+
0.0,
|
186 |
+
-0.490613728761673,
|
187 |
+
-1.604706048965454,
|
188 |
+
0.4120185971260071,
|
189 |
+
-0.8505439758300781,
|
190 |
+
-0.30000001192092896,
|
191 |
+
-1.270973563194275,
|
192 |
+
0.0
|
193 |
+
],
|
194 |
+
"max": [
|
195 |
+
0.4800909459590912,
|
196 |
+
0.07140053063631058,
|
197 |
+
1.208500862121582,
|
198 |
+
0.8359034657478333,
|
199 |
+
0.7818521857261658,
|
200 |
+
1.2544714212417603,
|
201 |
+
1.0,
|
202 |
+
0.47420743107795715,
|
203 |
+
0.07953466475009918,
|
204 |
+
1.2085033655166626,
|
205 |
+
0.8627495765686035,
|
206 |
+
0.7996304035186768,
|
207 |
+
1.244758129119873,
|
208 |
+
1.0
|
209 |
+
],
|
210 |
+
"mean": [
|
211 |
+
0.037432112637907265,
|
212 |
+
-0.48370862901210787,
|
213 |
+
0.835266900062561,
|
214 |
+
-0.05463223118335009,
|
215 |
+
0.5464541494846344,
|
216 |
+
0.08378001362085342,
|
217 |
+
0.3375000059604645,
|
218 |
+
-0.015478327355813235,
|
219 |
+
-0.4961310213804245,
|
220 |
+
0.8359660089015961,
|
221 |
+
0.0220525887561962,
|
222 |
+
0.5565571224689484,
|
223 |
+
-0.03388376716990024,
|
224 |
+
0.3375000059604645
|
225 |
+
],
|
226 |
+
"std": [
|
227 |
+
0.16147916034096735,
|
228 |
+
0.5280144223329064,
|
229 |
+
0.2624446383517455,
|
230 |
+
0.2580746813174979,
|
231 |
+
0.1807752817935957,
|
232 |
+
0.38069498866526913,
|
233 |
+
0.3908612132072447,
|
234 |
+
0.15702175971760876,
|
235 |
+
0.5258341002215792,
|
236 |
+
0.2718121064383497,
|
237 |
+
0.24810115525161117,
|
238 |
+
0.18929276772268597,
|
239 |
+
0.3675449292173647,
|
240 |
+
0.3908612132072447
|
241 |
+
],
|
242 |
+
"count": [
|
243 |
+
20000
|
244 |
+
]
|
245 |
+
},
|
246 |
+
"observation.state": {
|
247 |
+
"min": [
|
248 |
+
-0.446787565946579,
|
249 |
+
-1.602425217628479,
|
250 |
+
0.43230846524238586,
|
251 |
+
-0.8557801246643066,
|
252 |
+
-0.30000001192092896,
|
253 |
+
-1.2070643901824951,
|
254 |
+
0.09984833002090454,
|
255 |
+
-0.4902200400829315,
|
256 |
+
-1.6038596630096436,
|
257 |
+
0.41604289412498474,
|
258 |
+
-0.8465331196784973,
|
259 |
+
-0.30000001192092896,
|
260 |
+
-1.2708256244659424,
|
261 |
+
0.09984833002090454
|
262 |
+
],
|
263 |
+
"max": [
|
264 |
+
0.47994011640548706,
|
265 |
+
0.07237590849399567,
|
266 |
+
1.1975769996643066,
|
267 |
+
0.8360188007354736,
|
268 |
+
0.7890616655349731,
|
269 |
+
1.2529979944229126,
|
270 |
+
1.052477240562439,
|
271 |
+
0.47360894083976746,
|
272 |
+
0.08035030215978622,
|
273 |
+
1.1976878643035889,
|
274 |
+
0.8578473329544067,
|
275 |
+
0.8067953586578369,
|
276 |
+
1.244990348815918,
|
277 |
+
0.974803626537323
|
278 |
+
],
|
279 |
+
"mean": [
|
280 |
+
0.03752166485413909,
|
281 |
+
-0.4959209722280502,
|
282 |
+
0.8424215292930604,
|
283 |
+
-0.05626730170100927,
|
284 |
+
0.5462454795837403,
|
285 |
+
0.08376500219106674,
|
286 |
+
0.6434722530841828,
|
287 |
+
-0.015496653474401682,
|
288 |
+
-0.5084132725000381,
|
289 |
+
0.8432646858692169,
|
290 |
+
0.019578499910421668,
|
291 |
+
0.5563945293426513,
|
292 |
+
-0.03386751555372029,
|
293 |
+
0.49478091835975646
|
294 |
+
],
|
295 |
+
"std": [
|
296 |
+
0.16070213626968607,
|
297 |
+
0.5347209528522524,
|
298 |
+
0.261451094776865,
|
299 |
+
0.25571967313896554,
|
300 |
+
0.19228488414910824,
|
301 |
+
0.3807438716575655,
|
302 |
+
0.2253114578919265,
|
303 |
+
0.15629269264385684,
|
304 |
+
0.5324553644495883,
|
305 |
+
0.2707136124491348,
|
306 |
+
0.24567590194310077,
|
307 |
+
0.20023010543786698,
|
308 |
+
0.3675725487563219,
|
309 |
+
0.26333097920526405
|
310 |
+
],
|
311 |
+
"count": [
|
312 |
+
20000
|
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
|
videos/observation.images.top/chunk-000/file-000.mp4
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:c212a89aa259a37d2f1db854a86c6f988ca69d70f1e8d0a3ac87c16dc89c48c2
|
3 |
+
size 67487459
|