YoelChornton
commited on
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 sha256:6f49f405e1803fd5bc0cb43d02cb1a5bffd131a956cb9b39c04a6c828457fc4b
|
3 |
+
size 27428
|
meta/episodes.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"episode_index": 0, "tasks": ["Grab an object"], "length": 440}
|
meta/info.json
ADDED
@@ -0,0 +1,134 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"codebase_version": "v2.0",
|
3 |
+
"robot_type": "moss",
|
4 |
+
"total_episodes": 1,
|
5 |
+
"total_frames": 440,
|
6 |
+
"total_tasks": 1,
|
7 |
+
"total_videos": 2,
|
8 |
+
"total_chunks": 1,
|
9 |
+
"chunks_size": 1000,
|
10 |
+
"fps": 30,
|
11 |
+
"splits": {
|
12 |
+
"train": "0:1"
|
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 |
+
"next.reward": {
|
18 |
+
"dtype": "int64",
|
19 |
+
"shape": [
|
20 |
+
1
|
21 |
+
],
|
22 |
+
"names": null
|
23 |
+
},
|
24 |
+
"action": {
|
25 |
+
"dtype": "float32",
|
26 |
+
"shape": [
|
27 |
+
6
|
28 |
+
],
|
29 |
+
"names": [
|
30 |
+
"main_shoulder_pan",
|
31 |
+
"main_shoulder_lift",
|
32 |
+
"main_elbow_flex",
|
33 |
+
"main_wrist_flex",
|
34 |
+
"main_wrist_roll",
|
35 |
+
"main_gripper"
|
36 |
+
]
|
37 |
+
},
|
38 |
+
"observation.state": {
|
39 |
+
"dtype": "float32",
|
40 |
+
"shape": [
|
41 |
+
6
|
42 |
+
],
|
43 |
+
"names": [
|
44 |
+
"main_shoulder_pan",
|
45 |
+
"main_shoulder_lift",
|
46 |
+
"main_elbow_flex",
|
47 |
+
"main_wrist_flex",
|
48 |
+
"main_wrist_roll",
|
49 |
+
"main_gripper"
|
50 |
+
]
|
51 |
+
},
|
52 |
+
"observation.images.laptop": {
|
53 |
+
"dtype": "video",
|
54 |
+
"shape": [
|
55 |
+
480,
|
56 |
+
640,
|
57 |
+
3
|
58 |
+
],
|
59 |
+
"names": [
|
60 |
+
"height",
|
61 |
+
"width",
|
62 |
+
"channels"
|
63 |
+
],
|
64 |
+
"info": {
|
65 |
+
"video.fps": 30.0,
|
66 |
+
"video.height": 480,
|
67 |
+
"video.width": 640,
|
68 |
+
"video.channels": 3,
|
69 |
+
"video.codec": "av1",
|
70 |
+
"video.pix_fmt": "yuv420p",
|
71 |
+
"video.is_depth_map": false,
|
72 |
+
"has_audio": false
|
73 |
+
}
|
74 |
+
},
|
75 |
+
"observation.images.phone": {
|
76 |
+
"dtype": "video",
|
77 |
+
"shape": [
|
78 |
+
480,
|
79 |
+
640,
|
80 |
+
3
|
81 |
+
],
|
82 |
+
"names": [
|
83 |
+
"height",
|
84 |
+
"width",
|
85 |
+
"channels"
|
86 |
+
],
|
87 |
+
"info": {
|
88 |
+
"video.fps": 30.0,
|
89 |
+
"video.height": 480,
|
90 |
+
"video.width": 640,
|
91 |
+
"video.channels": 3,
|
92 |
+
"video.codec": "av1",
|
93 |
+
"video.pix_fmt": "yuv420p",
|
94 |
+
"video.is_depth_map": false,
|
95 |
+
"has_audio": false
|
96 |
+
}
|
97 |
+
},
|
98 |
+
"timestamp": {
|
99 |
+
"dtype": "float32",
|
100 |
+
"shape": [
|
101 |
+
1
|
102 |
+
],
|
103 |
+
"names": null
|
104 |
+
},
|
105 |
+
"frame_index": {
|
106 |
+
"dtype": "int64",
|
107 |
+
"shape": [
|
108 |
+
1
|
109 |
+
],
|
110 |
+
"names": null
|
111 |
+
},
|
112 |
+
"episode_index": {
|
113 |
+
"dtype": "int64",
|
114 |
+
"shape": [
|
115 |
+
1
|
116 |
+
],
|
117 |
+
"names": null
|
118 |
+
},
|
119 |
+
"index": {
|
120 |
+
"dtype": "int64",
|
121 |
+
"shape": [
|
122 |
+
1
|
123 |
+
],
|
124 |
+
"names": null
|
125 |
+
},
|
126 |
+
"task_index": {
|
127 |
+
"dtype": "int64",
|
128 |
+
"shape": [
|
129 |
+
1
|
130 |
+
],
|
131 |
+
"names": null
|
132 |
+
}
|
133 |
+
}
|
134 |
+
}
|
meta/stats.json
ADDED
@@ -0,0 +1,294 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"next.reward": {
|
3 |
+
"mean": [
|
4 |
+
0.42045456171035767
|
5 |
+
],
|
6 |
+
"std": [
|
7 |
+
0.4936319589614868
|
8 |
+
],
|
9 |
+
"max": [
|
10 |
+
1.0
|
11 |
+
],
|
12 |
+
"min": [
|
13 |
+
0.0
|
14 |
+
]
|
15 |
+
},
|
16 |
+
"action": {
|
17 |
+
"mean": [
|
18 |
+
58.3825569152832,
|
19 |
+
117.88748931884766,
|
20 |
+
101.39823150634766,
|
21 |
+
59.54469680786133,
|
22 |
+
-6.87224817276001,
|
23 |
+
9.534564971923828
|
24 |
+
],
|
25 |
+
"std": [
|
26 |
+
13.645392417907715,
|
27 |
+
25.988096237182617,
|
28 |
+
10.19253158569336,
|
29 |
+
21.64522933959961,
|
30 |
+
6.266279697418213,
|
31 |
+
10.919633865356445
|
32 |
+
],
|
33 |
+
"max": [
|
34 |
+
78.92578125,
|
35 |
+
158.5546875,
|
36 |
+
123.57421875,
|
37 |
+
108.28125,
|
38 |
+
10.986328125,
|
39 |
+
27.743431091308594
|
40 |
+
],
|
41 |
+
"min": [
|
42 |
+
17.2265625,
|
43 |
+
58.53515625,
|
44 |
+
83.408203125,
|
45 |
+
14.23828125,
|
46 |
+
-25.48828125,
|
47 |
+
-0.8500772714614868
|
48 |
+
]
|
49 |
+
},
|
50 |
+
"observation.state": {
|
51 |
+
"mean": [
|
52 |
+
57.82524108886719,
|
53 |
+
116.22276306152344,
|
54 |
+
102.7343521118164,
|
55 |
+
59.84632110595703,
|
56 |
+
-6.426202297210693,
|
57 |
+
14.232678413391113
|
58 |
+
],
|
59 |
+
"std": [
|
60 |
+
13.411233901977539,
|
61 |
+
27.070650100708008,
|
62 |
+
9.841650009155273,
|
63 |
+
21.421161651611328,
|
64 |
+
5.9596638679504395,
|
65 |
+
7.4973344802856445
|
66 |
+
],
|
67 |
+
"max": [
|
68 |
+
77.34375,
|
69 |
+
157.939453125,
|
70 |
+
123.75,
|
71 |
+
107.841796875,
|
72 |
+
9.404296875,
|
73 |
+
26.701570510864258
|
74 |
+
],
|
75 |
+
"min": [
|
76 |
+
17.490234375,
|
77 |
+
56.865234375,
|
78 |
+
85.869140625,
|
79 |
+
15.556640625,
|
80 |
+
-23.818359375,
|
81 |
+
0.14958862960338593
|
82 |
+
]
|
83 |
+
},
|
84 |
+
"observation.images.laptop": {
|
85 |
+
"mean": [
|
86 |
+
[
|
87 |
+
[
|
88 |
+
0.13212330639362335
|
89 |
+
]
|
90 |
+
],
|
91 |
+
[
|
92 |
+
[
|
93 |
+
0.12883487343788147
|
94 |
+
]
|
95 |
+
],
|
96 |
+
[
|
97 |
+
[
|
98 |
+
0.10874028503894806
|
99 |
+
]
|
100 |
+
]
|
101 |
+
],
|
102 |
+
"std": [
|
103 |
+
[
|
104 |
+
[
|
105 |
+
0.16383641958236694
|
106 |
+
]
|
107 |
+
],
|
108 |
+
[
|
109 |
+
[
|
110 |
+
0.16370093822479248
|
111 |
+
]
|
112 |
+
],
|
113 |
+
[
|
114 |
+
[
|
115 |
+
0.15366137027740479
|
116 |
+
]
|
117 |
+
]
|
118 |
+
],
|
119 |
+
"max": [
|
120 |
+
[
|
121 |
+
[
|
122 |
+
0.9686274528503418
|
123 |
+
]
|
124 |
+
],
|
125 |
+
[
|
126 |
+
[
|
127 |
+
0.9607843160629272
|
128 |
+
]
|
129 |
+
],
|
130 |
+
[
|
131 |
+
[
|
132 |
+
0.9843137264251709
|
133 |
+
]
|
134 |
+
]
|
135 |
+
],
|
136 |
+
"min": [
|
137 |
+
[
|
138 |
+
[
|
139 |
+
0.0
|
140 |
+
]
|
141 |
+
],
|
142 |
+
[
|
143 |
+
[
|
144 |
+
0.0
|
145 |
+
]
|
146 |
+
],
|
147 |
+
[
|
148 |
+
[
|
149 |
+
0.0
|
150 |
+
]
|
151 |
+
]
|
152 |
+
]
|
153 |
+
},
|
154 |
+
"observation.images.phone": {
|
155 |
+
"mean": [
|
156 |
+
[
|
157 |
+
[
|
158 |
+
0.47007396817207336
|
159 |
+
]
|
160 |
+
],
|
161 |
+
[
|
162 |
+
[
|
163 |
+
0.3976632356643677
|
164 |
+
]
|
165 |
+
],
|
166 |
+
[
|
167 |
+
[
|
168 |
+
0.2832098603248596
|
169 |
+
]
|
170 |
+
]
|
171 |
+
],
|
172 |
+
"std": [
|
173 |
+
[
|
174 |
+
[
|
175 |
+
0.18595248460769653
|
176 |
+
]
|
177 |
+
],
|
178 |
+
[
|
179 |
+
[
|
180 |
+
0.2115900069475174
|
181 |
+
]
|
182 |
+
],
|
183 |
+
[
|
184 |
+
[
|
185 |
+
0.23611079156398773
|
186 |
+
]
|
187 |
+
]
|
188 |
+
],
|
189 |
+
"max": [
|
190 |
+
[
|
191 |
+
[
|
192 |
+
1.0
|
193 |
+
]
|
194 |
+
],
|
195 |
+
[
|
196 |
+
[
|
197 |
+
1.0
|
198 |
+
]
|
199 |
+
],
|
200 |
+
[
|
201 |
+
[
|
202 |
+
1.0
|
203 |
+
]
|
204 |
+
]
|
205 |
+
],
|
206 |
+
"min": [
|
207 |
+
[
|
208 |
+
[
|
209 |
+
0.0
|
210 |
+
]
|
211 |
+
],
|
212 |
+
[
|
213 |
+
[
|
214 |
+
0.0
|
215 |
+
]
|
216 |
+
],
|
217 |
+
[
|
218 |
+
[
|
219 |
+
0.0
|
220 |
+
]
|
221 |
+
]
|
222 |
+
]
|
223 |
+
},
|
224 |
+
"timestamp": {
|
225 |
+
"mean": [
|
226 |
+
7.316667556762695
|
227 |
+
],
|
228 |
+
"std": [
|
229 |
+
4.233891487121582
|
230 |
+
],
|
231 |
+
"max": [
|
232 |
+
14.633333206176758
|
233 |
+
],
|
234 |
+
"min": [
|
235 |
+
0.0
|
236 |
+
]
|
237 |
+
},
|
238 |
+
"frame_index": {
|
239 |
+
"mean": [
|
240 |
+
219.5
|
241 |
+
],
|
242 |
+
"std": [
|
243 |
+
127.0167236328125
|
244 |
+
],
|
245 |
+
"max": [
|
246 |
+
439.0
|
247 |
+
],
|
248 |
+
"min": [
|
249 |
+
0.0
|
250 |
+
]
|
251 |
+
},
|
252 |
+
"episode_index": {
|
253 |
+
"mean": [
|
254 |
+
0.0
|
255 |
+
],
|
256 |
+
"std": [
|
257 |
+
0.0
|
258 |
+
],
|
259 |
+
"max": [
|
260 |
+
0.0
|
261 |
+
],
|
262 |
+
"min": [
|
263 |
+
0.0
|
264 |
+
]
|
265 |
+
},
|
266 |
+
"index": {
|
267 |
+
"mean": [
|
268 |
+
219.5
|
269 |
+
],
|
270 |
+
"std": [
|
271 |
+
127.0167236328125
|
272 |
+
],
|
273 |
+
"max": [
|
274 |
+
439.0
|
275 |
+
],
|
276 |
+
"min": [
|
277 |
+
0.0
|
278 |
+
]
|
279 |
+
},
|
280 |
+
"task_index": {
|
281 |
+
"mean": [
|
282 |
+
0.0
|
283 |
+
],
|
284 |
+
"std": [
|
285 |
+
0.0
|
286 |
+
],
|
287 |
+
"max": [
|
288 |
+
0.0
|
289 |
+
],
|
290 |
+
"min": [
|
291 |
+
0.0
|
292 |
+
]
|
293 |
+
}
|
294 |
+
}
|
meta/tasks.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"task_index": 0, "task": "Grab an object"}
|
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 sha256:151d5a801a5a6569056a7f9e59893e7ae709d34ee1f9bd1809aba2f8de1c9555
|
3 |
+
size 1256745
|
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 sha256:223556feff70a2fdc0c610396a87d048b64fb932cd16efb4a961cbcf19e0e1f5
|
3 |
+
size 9040611
|