Upload v2.1 robot dataset with videos and image stats
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +134 -0
- meta/stats.json +114 -0
- meta/tasks.jsonl +1 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.wrist/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:9993a6a3147bf8326cee34a6befd6908463840b49077d4de1e882a54032198c2
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size 215679
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meta/episodes.jsonl
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{"episode_index": 0, "from": 0, "to": 2417, "length": 2417, "task_index": 0}
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{"episode_index": 1, "from": 2417, "to": 4844, "length": 2427, "task_index": 0}
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{"episode_index": 2, "from": 4844, "to": 7622, "length": 2778, "task_index": 0}
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"mean": [-1.0786147117614746, 96.07064819335938, 77.54409790039062, 77.49736022949219, 7.377248764038086, 8.999448776245117], "std": [14.980661392211914, 23.917518615722656, 26.112123489379883, 11.778940200805664, 13.74746322631836, 14.320443153381348], "min": [-32.783203125, 52.91015625, 36.38671875, 52.294921875, -20.0390625, -1.632652997970581], "max": [33.134765625, 190.1953125, 178.06640625, 100.458984375, 34.189453125, 39.836734771728516], "count": [2417]}, "observation.state": {"mean": [-0.9900331497192383, 93.15615844726562, 80.659912109375, 78.06282806396484, 7.316267490386963, 11.846220016479492], "std": [14.925199508666992, 23.613109588623047, 24.228851318359375, 11.29997444152832, 13.439495086669922, 12.120002746582031], "min": [-31.728515625, 51.85546875, 42.099609375, 54.404296875, -18.80859375, 0.9040334224700928], "max": [32.080078125, 188.96484375, 177.71484375, 99.580078125, 33.310546875, 38.80389404296875], "count": [2417]}, "observation.images.top": {"mean": [[[0.6383952498435974]], [[0.6590042114257812]], [[0.6592841148376465]]], "std": [[[0.2018638700246811]], [[0.20236192643642426]], [[0.20945487916469574]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "count": [2417]}, "observation.images.wrist": {"mean": [[[0.5418316125869751]], [[0.5676078200340271]], [[0.552125096321106]]], "std": [[[0.2562125325202942]], [[0.25130465626716614]], [[0.2619413733482361]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "count": [2417]}}}
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{"episode_index": 1, "stats": {"action": {"mean": [-1.826763391494751, 99.94416809082031, 79.62276458740234, 80.62940979003906, 6.8187479972839355, 6.418376922607422], "std": [9.698447227478027, 27.360153198242188, 34.19597244262695, 14.841992378234863, 8.718408584594727, 12.140058517456055], "min": [-20.654296875, 56.689453125, 37.79296875, 45.439453125, -12.12890625, -1.9591835737228394], "max": [23.73046875, 190.634765625, 180.087890625, 100.72265625, 25.576171875, 35.26530456542969], "count": [2427]}, "observation.state": {"mean": [-1.5541105270385742, 96.86448669433594, 82.53437042236328, 81.26922607421875, 6.860466003417969, 9.368843078613281], "std": [9.519468307495117, 27.84322166442871, 32.63370132446289, 14.246726036071777, 8.448017120361328, 10.2562894821167], "min": [-19.16015625, 55.283203125, 43.505859375, 47.4609375, -10.634765625, 0.9040334224700928], "max": [22.5, 188.96484375, 178.76953125, 99.931640625, 24.169921875, 33.86648178100586], "count": [2427]}, "observation.images.top": {"mean": [[[0.6462755799293518]], [[0.6655960083007812]], [[0.6647158861160278]]], "std": [[[0.1977069079875946]], [[0.1963590830564499]], [[0.20329998433589935]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "count": [2427]}, "observation.images.wrist": {"mean": [[[0.5481202602386475]], [[0.5788928866386414]], [[0.5636488795280457]]], "std": [[[0.2526644170284271]], [[0.24642397463321686]], [[0.257744699716568]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9843137264251709]], [[1.0]], [[1.0]]], "count": [2427]}}}
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{"episode_index": 2, "stats": {"action": {"mean": [3.3154191970825195, 97.7444076538086, 77.92166137695312, 77.5719223022461, 3.777556896209717, 8.67336654663086], "std": [11.765985488891602, 28.301122665405273, 30.20480728149414, 14.427144050598145, 20.426321029663086, 13.930150032043457], "min": [-20.302734375, 50.537109375, 43.2421875, 37.6171875, -64.16015625, -2.367347002029419], "max": [30.498046875, 190.458984375, 180.087890625, 100.37109375, 29.1796875, 41.632652282714844], "count": [2778]}, "observation.state": {"mean": [3.2236053943634033, 94.65283203125, 81.8192138671875, 78.08311462402344, 3.5584945678710938, 11.457306861877441], "std": [11.738556861877441, 28.458707809448242, 28.92435646057129, 13.897955894470215, 20.133235931396484, 11.827754974365234], "min": [-19.3359375, 49.39453125, 49.482421875, 39.814453125, -62.75390625, 0.9040334224700928], "max": [29.1796875, 188.96484375, 178.59375, 99.580078125, 27.685546875, 40.751041412353516], "count": [2778]}, "observation.images.top": {"mean": [[[0.6434841156005859]], [[0.65912926197052]], [[0.6582819223403931]]], "std": [[[0.2028072029352188]], [[0.20133721828460693]], [[0.20817799866199493]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "count": [2778]}, "observation.images.wrist": {"mean": [[[0.5436228513717651]], [[0.5699175000190735]], [[0.555941104888916]]], "std": [[[0.2616440951824188]], [[0.26020655035972595]], [[0.26976314187049866]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "count": [2778]}}}
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meta/info.json
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{
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| 2 |
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"codebase_version": "v2.1",
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| 3 |
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"robot_type": "so100",
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| 4 |
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"total_episodes": 3,
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| 5 |
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"total_frames": 7622,
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| 6 |
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},
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"data_path": "data/chunk-{episode_chunk:03d}/file-000.parquet",
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"video_path": "videos/{video_key}/chunk-{episode_chunk:03d}/file-000.mp4",
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"features": {
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"shape": [
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6
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],
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"names": [
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| 21 |
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"main_shoulder_pan",
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| 22 |
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"main_shoulder_lift",
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| 23 |
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"main_elbow_flex",
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| 24 |
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"main_wrist_flex",
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| 25 |
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"main_wrist_roll",
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"main_gripper"
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],
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"main_elbow_flex",
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3
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"names": [
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"channels"
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"observation.images.wrist": {
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meta/stats.json
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meta/tasks.jsonl
ADDED
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@@ -0,0 +1 @@
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|
| 1 |
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{"task_index": 0, "task": "Place the block inside the circle."}
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meta/tasks.parquet
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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videos/observation.images.wrist/chunk-000/file-000.mp4
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version https://git-lfs.github.com/spec/v1
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