Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000021.parquet +3 -0
- data/chunk-000/episode_000022.parquet +3 -0
- data/chunk-000/episode_000023.parquet +3 -0
- data/chunk-000/episode_000024.parquet +3 -0
- meta/episodes.jsonl +4 -0
- meta/info.json +4 -4
- meta/stats.json +78 -78
- videos/chunk-000/observation.images.head/episode_000021.mp4 +3 -0
- videos/chunk-000/observation.images.head/episode_000022.mp4 +3 -0
- videos/chunk-000/observation.images.head/episode_000023.mp4 +3 -0
- videos/chunk-000/observation.images.head/episode_000024.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000021.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000022.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000023.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000024.mp4 +3 -0
data/chunk-000/episode_000021.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8c87d8a9a00140854178b7f70772b1d6d588bc7f9ac1a860eb3cf30e11560feb
|
| 3 |
+
size 50377
|
data/chunk-000/episode_000022.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:24c1551d05df858c6fca2588a928fab1d95a7f6ad2510a609961270eef3456c3
|
| 3 |
+
size 50097
|
data/chunk-000/episode_000023.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0594b0b37d7230be966c78b2e6208a7c799880aad61e457478e0631b3668aae4
|
| 3 |
+
size 49670
|
data/chunk-000/episode_000024.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ae5231f88a82fc1963f93e6182950e398cbb5e1beae4fd12597feb76aac3c817
|
| 3 |
+
size 33280
|
meta/episodes.jsonl
CHANGED
|
@@ -19,3 +19,7 @@
|
|
| 19 |
{"episode_index": 18, "tasks": ["random move with franka"], "length": 300}
|
| 20 |
{"episode_index": 19, "tasks": ["random move with franka"], "length": 300}
|
| 21 |
{"episode_index": 20, "tasks": ["random move with franka"], "length": 83}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 19 |
{"episode_index": 18, "tasks": ["random move with franka"], "length": 300}
|
| 20 |
{"episode_index": 19, "tasks": ["random move with franka"], "length": 300}
|
| 21 |
{"episode_index": 20, "tasks": ["random move with franka"], "length": 83}
|
| 22 |
+
{"episode_index": 21, "tasks": ["random move with franka"], "length": 300}
|
| 23 |
+
{"episode_index": 22, "tasks": ["random move with franka"], "length": 300}
|
| 24 |
+
{"episode_index": 23, "tasks": ["random move with franka"], "length": 300}
|
| 25 |
+
{"episode_index": 24, "tasks": ["random move with franka"], "length": 209}
|
meta/info.json
CHANGED
|
@@ -1,15 +1,15 @@
|
|
| 1 |
{
|
| 2 |
"codebase_version": "v2.0",
|
| 3 |
"robot_type": "Franka",
|
| 4 |
-
"total_episodes":
|
| 5 |
-
"total_frames":
|
| 6 |
"total_tasks": 1,
|
| 7 |
-
"total_videos":
|
| 8 |
"total_chunks": 1,
|
| 9 |
"chunks_size": 1000,
|
| 10 |
"fps": 10,
|
| 11 |
"splits": {
|
| 12 |
-
"train": "0:
|
| 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",
|
|
|
|
| 1 |
{
|
| 2 |
"codebase_version": "v2.0",
|
| 3 |
"robot_type": "Franka",
|
| 4 |
+
"total_episodes": 25,
|
| 5 |
+
"total_frames": 6356,
|
| 6 |
"total_tasks": 1,
|
| 7 |
+
"total_videos": 50,
|
| 8 |
"total_chunks": 1,
|
| 9 |
"chunks_size": 1000,
|
| 10 |
"fps": 10,
|
| 11 |
"splits": {
|
| 12 |
+
"train": "0:25"
|
| 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",
|
meta/stats.json
CHANGED
|
@@ -1,22 +1,22 @@
|
|
| 1 |
{
|
| 2 |
"action": {
|
| 3 |
"mean": [
|
| 4 |
-
-0.
|
| 5 |
-
|
| 6 |
-
0.
|
| 7 |
-
-2.
|
| 8 |
-
0.
|
| 9 |
-
2.
|
| 10 |
-
0.
|
| 11 |
],
|
| 12 |
"std": [
|
| 13 |
-
0.
|
| 14 |
-
0.
|
| 15 |
-
0.
|
| 16 |
-
0.
|
| 17 |
-
0.
|
| 18 |
-
0.
|
| 19 |
-
0.
|
| 20 |
],
|
| 21 |
"max": [
|
| 22 |
0.5802273154258728,
|
|
@@ -39,22 +39,22 @@
|
|
| 39 |
},
|
| 40 |
"observation.state": {
|
| 41 |
"mean": [
|
| 42 |
-
-0.
|
| 43 |
-
|
| 44 |
-
0.
|
| 45 |
-
-2.
|
| 46 |
-
0.
|
| 47 |
-
2.
|
| 48 |
-
0.
|
| 49 |
],
|
| 50 |
"std": [
|
| 51 |
-
0.
|
| 52 |
-
0.
|
| 53 |
-
0.
|
| 54 |
-
0.
|
| 55 |
-
0.
|
| 56 |
-
0.
|
| 57 |
-
0.
|
| 58 |
],
|
| 59 |
"max": [
|
| 60 |
0.5802273154258728,
|
|
@@ -77,22 +77,22 @@
|
|
| 77 |
},
|
| 78 |
"observation.velocity": {
|
| 79 |
"mean": [
|
| 80 |
-
-0.
|
| 81 |
-
-0.
|
| 82 |
-
0.
|
| 83 |
-
0.
|
| 84 |
-
0.
|
| 85 |
-
-
|
| 86 |
-
0.
|
| 87 |
],
|
| 88 |
"std": [
|
| 89 |
-
0.
|
| 90 |
-
0.
|
| 91 |
-
0.
|
| 92 |
-
0.
|
| 93 |
-
0.
|
| 94 |
-
0.
|
| 95 |
-
0.
|
| 96 |
],
|
| 97 |
"max": [
|
| 98 |
0.22520515322685242,
|
|
@@ -115,22 +115,22 @@
|
|
| 115 |
},
|
| 116 |
"observation.torque": {
|
| 117 |
"mean": [
|
| 118 |
-
0.
|
| 119 |
-
-
|
| 120 |
-
-0.
|
| 121 |
-
21.
|
| 122 |
-
0.
|
| 123 |
-
2.
|
| 124 |
-
0.
|
| 125 |
],
|
| 126 |
"std": [
|
| 127 |
-
0.
|
| 128 |
-
|
| 129 |
-
5.
|
| 130 |
-
3.
|
| 131 |
-
0.
|
| 132 |
-
0.
|
| 133 |
-
0.
|
| 134 |
],
|
| 135 |
"max": [
|
| 136 |
3.4432332515716553,
|
|
@@ -155,34 +155,34 @@
|
|
| 155 |
"mean": [
|
| 156 |
[
|
| 157 |
[
|
| 158 |
-
0.
|
| 159 |
]
|
| 160 |
],
|
| 161 |
[
|
| 162 |
[
|
| 163 |
-
0.
|
| 164 |
]
|
| 165 |
],
|
| 166 |
[
|
| 167 |
[
|
| 168 |
-
0.
|
| 169 |
]
|
| 170 |
]
|
| 171 |
],
|
| 172 |
"std": [
|
| 173 |
[
|
| 174 |
[
|
| 175 |
-
0.
|
| 176 |
]
|
| 177 |
],
|
| 178 |
[
|
| 179 |
[
|
| 180 |
-
0.
|
| 181 |
]
|
| 182 |
],
|
| 183 |
[
|
| 184 |
[
|
| 185 |
-
0.
|
| 186 |
]
|
| 187 |
]
|
| 188 |
],
|
|
@@ -225,34 +225,34 @@
|
|
| 225 |
"mean": [
|
| 226 |
[
|
| 227 |
[
|
| 228 |
-
0.
|
| 229 |
]
|
| 230 |
],
|
| 231 |
[
|
| 232 |
[
|
| 233 |
-
0.
|
| 234 |
]
|
| 235 |
],
|
| 236 |
[
|
| 237 |
[
|
| 238 |
-
0.
|
| 239 |
]
|
| 240 |
]
|
| 241 |
],
|
| 242 |
"std": [
|
| 243 |
[
|
| 244 |
[
|
| 245 |
-
0.
|
| 246 |
]
|
| 247 |
],
|
| 248 |
[
|
| 249 |
[
|
| 250 |
-
0.
|
| 251 |
]
|
| 252 |
],
|
| 253 |
[
|
| 254 |
[
|
| 255 |
-
0.
|
| 256 |
]
|
| 257 |
]
|
| 258 |
],
|
|
@@ -293,10 +293,10 @@
|
|
| 293 |
},
|
| 294 |
"timestamp": {
|
| 295 |
"mean": [
|
| 296 |
-
14.
|
| 297 |
],
|
| 298 |
"std": [
|
| 299 |
-
8.
|
| 300 |
],
|
| 301 |
"max": [
|
| 302 |
29.899999618530273
|
|
@@ -307,10 +307,10 @@
|
|
| 307 |
},
|
| 308 |
"frame_index": {
|
| 309 |
"mean": [
|
| 310 |
-
141.
|
| 311 |
],
|
| 312 |
"std": [
|
| 313 |
-
87.
|
| 314 |
],
|
| 315 |
"max": [
|
| 316 |
299.0
|
|
@@ -321,13 +321,13 @@
|
|
| 321 |
},
|
| 322 |
"episode_index": {
|
| 323 |
"mean": [
|
| 324 |
-
|
| 325 |
],
|
| 326 |
"std": [
|
| 327 |
-
|
| 328 |
],
|
| 329 |
"max": [
|
| 330 |
-
|
| 331 |
],
|
| 332 |
"min": [
|
| 333 |
0.0
|
|
@@ -335,13 +335,13 @@
|
|
| 335 |
},
|
| 336 |
"index": {
|
| 337 |
"mean": [
|
| 338 |
-
|
| 339 |
],
|
| 340 |
"std": [
|
| 341 |
-
|
| 342 |
],
|
| 343 |
"max": [
|
| 344 |
-
|
| 345 |
],
|
| 346 |
"min": [
|
| 347 |
0.0
|
|
|
|
| 1 |
{
|
| 2 |
"action": {
|
| 3 |
"mean": [
|
| 4 |
+
-0.09436686336994171,
|
| 5 |
+
0.00661524198949337,
|
| 6 |
+
0.18873292207717896,
|
| 7 |
+
-2.1743552684783936,
|
| 8 |
+
0.10235194861888885,
|
| 9 |
+
2.2278401851654053,
|
| 10 |
+
0.12625150382518768
|
| 11 |
],
|
| 12 |
"std": [
|
| 13 |
+
0.25706809759140015,
|
| 14 |
+
0.4299778938293457,
|
| 15 |
+
0.3168901801109314,
|
| 16 |
+
0.43826258182525635,
|
| 17 |
+
0.33916449546813965,
|
| 18 |
+
0.3781289756298065,
|
| 19 |
+
0.6406135559082031
|
| 20 |
],
|
| 21 |
"max": [
|
| 22 |
0.5802273154258728,
|
|
|
|
| 39 |
},
|
| 40 |
"observation.state": {
|
| 41 |
"mean": [
|
| 42 |
+
-0.09436686336994171,
|
| 43 |
+
0.00661524198949337,
|
| 44 |
+
0.18873292207717896,
|
| 45 |
+
-2.1743552684783936,
|
| 46 |
+
0.10235194861888885,
|
| 47 |
+
2.2278401851654053,
|
| 48 |
+
0.12625150382518768
|
| 49 |
],
|
| 50 |
"std": [
|
| 51 |
+
0.25706809759140015,
|
| 52 |
+
0.4299778938293457,
|
| 53 |
+
0.3168901801109314,
|
| 54 |
+
0.43826258182525635,
|
| 55 |
+
0.33916449546813965,
|
| 56 |
+
0.3781289756298065,
|
| 57 |
+
0.6406135559082031
|
| 58 |
],
|
| 59 |
"max": [
|
| 60 |
0.5802273154258728,
|
|
|
|
| 77 |
},
|
| 78 |
"observation.velocity": {
|
| 79 |
"mean": [
|
| 80 |
+
-0.002424686448648572,
|
| 81 |
+
-0.0014762479113414884,
|
| 82 |
+
0.004685878753662109,
|
| 83 |
+
0.0002463144774083048,
|
| 84 |
+
0.002449075458571315,
|
| 85 |
+
3.107491647824645e-05,
|
| 86 |
+
0.0029937808867543936
|
| 87 |
],
|
| 88 |
"std": [
|
| 89 |
+
0.04443640634417534,
|
| 90 |
+
0.12908333539962769,
|
| 91 |
+
0.05627685412764549,
|
| 92 |
+
0.12501157820224762,
|
| 93 |
+
0.042509596794843674,
|
| 94 |
+
0.10586301982402802,
|
| 95 |
+
0.07162989675998688
|
| 96 |
],
|
| 97 |
"max": [
|
| 98 |
0.22520515322685242,
|
|
|
|
| 115 |
},
|
| 116 |
"observation.torque": {
|
| 117 |
"mean": [
|
| 118 |
+
0.15062470734119415,
|
| 119 |
+
-27.649890899658203,
|
| 120 |
+
-0.7045367956161499,
|
| 121 |
+
21.012807846069336,
|
| 122 |
+
0.4312247633934021,
|
| 123 |
+
2.2956440448760986,
|
| 124 |
+
0.23529455065727234
|
| 125 |
],
|
| 126 |
"std": [
|
| 127 |
+
0.39264464378356934,
|
| 128 |
+
16.528980255126953,
|
| 129 |
+
5.2675347328186035,
|
| 130 |
+
3.203606128692627,
|
| 131 |
+
0.637052059173584,
|
| 132 |
+
0.7211697101593018,
|
| 133 |
+
0.24307261407375336
|
| 134 |
],
|
| 135 |
"max": [
|
| 136 |
3.4432332515716553,
|
|
|
|
| 155 |
"mean": [
|
| 156 |
[
|
| 157 |
[
|
| 158 |
+
0.424287348985672
|
| 159 |
]
|
| 160 |
],
|
| 161 |
[
|
| 162 |
[
|
| 163 |
+
0.44035589694976807
|
| 164 |
]
|
| 165 |
],
|
| 166 |
[
|
| 167 |
[
|
| 168 |
+
0.4374593198299408
|
| 169 |
]
|
| 170 |
]
|
| 171 |
],
|
| 172 |
"std": [
|
| 173 |
[
|
| 174 |
[
|
| 175 |
+
0.2839105427265167
|
| 176 |
]
|
| 177 |
],
|
| 178 |
[
|
| 179 |
[
|
| 180 |
+
0.2744481861591339
|
| 181 |
]
|
| 182 |
],
|
| 183 |
[
|
| 184 |
[
|
| 185 |
+
0.2798345983028412
|
| 186 |
]
|
| 187 |
]
|
| 188 |
],
|
|
|
|
| 225 |
"mean": [
|
| 226 |
[
|
| 227 |
[
|
| 228 |
+
0.4254765808582306
|
| 229 |
]
|
| 230 |
],
|
| 231 |
[
|
| 232 |
[
|
| 233 |
+
0.4330584704875946
|
| 234 |
]
|
| 235 |
],
|
| 236 |
[
|
| 237 |
[
|
| 238 |
+
0.42566752433776855
|
| 239 |
]
|
| 240 |
]
|
| 241 |
],
|
| 242 |
"std": [
|
| 243 |
[
|
| 244 |
[
|
| 245 |
+
0.18742284178733826
|
| 246 |
]
|
| 247 |
],
|
| 248 |
[
|
| 249 |
[
|
| 250 |
+
0.17611196637153625
|
| 251 |
]
|
| 252 |
],
|
| 253 |
[
|
| 254 |
[
|
| 255 |
+
0.18482938408851624
|
| 256 |
]
|
| 257 |
]
|
| 258 |
],
|
|
|
|
| 293 |
},
|
| 294 |
"timestamp": {
|
| 295 |
"mean": [
|
| 296 |
+
14.136819839477539
|
| 297 |
],
|
| 298 |
"std": [
|
| 299 |
+
8.713593482971191
|
| 300 |
],
|
| 301 |
"max": [
|
| 302 |
29.899999618530273
|
|
|
|
| 307 |
},
|
| 308 |
"frame_index": {
|
| 309 |
"mean": [
|
| 310 |
+
141.3681182861328
|
| 311 |
],
|
| 312 |
"std": [
|
| 313 |
+
87.13595581054688
|
| 314 |
],
|
| 315 |
"max": [
|
| 316 |
299.0
|
|
|
|
| 321 |
},
|
| 322 |
"episode_index": {
|
| 323 |
"mean": [
|
| 324 |
+
12.01054859161377
|
| 325 |
],
|
| 326 |
"std": [
|
| 327 |
+
7.194680690765381
|
| 328 |
],
|
| 329 |
"max": [
|
| 330 |
+
24.0
|
| 331 |
],
|
| 332 |
"min": [
|
| 333 |
0.0
|
|
|
|
| 335 |
},
|
| 336 |
"index": {
|
| 337 |
"mean": [
|
| 338 |
+
3177.499755859375
|
| 339 |
],
|
| 340 |
"std": [
|
| 341 |
+
1834.8193359375
|
| 342 |
],
|
| 343 |
"max": [
|
| 344 |
+
6355.0
|
| 345 |
],
|
| 346 |
"min": [
|
| 347 |
0.0
|
videos/chunk-000/observation.images.head/episode_000021.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:17720646160c0b18470fc9c0d1b224d0bc18ccb11f62e7aac74624b726d301e3
|
| 3 |
+
size 1910988
|
videos/chunk-000/observation.images.head/episode_000022.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cf25e9bebf5df7f058f91713907269b298588e85104cb63666e6c0c5ef75bfd7
|
| 3 |
+
size 1831436
|
videos/chunk-000/observation.images.head/episode_000023.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c62692ea6e98679396fde2abebfa73de563295f17d6846dcbfd28940efff8ebb
|
| 3 |
+
size 1849217
|
videos/chunk-000/observation.images.head/episode_000024.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:80e4c5b65f2cab34b22fe47143a4e0babe51a8579f1143bc8f10e33bc9df33bb
|
| 3 |
+
size 1200759
|
videos/chunk-000/observation.images.wrist/episode_000021.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f4e1fec5106a5f2b5235342d7e6dd4b58a1b837721e3960ba37aa82ecc62fa27
|
| 3 |
+
size 1173561
|
videos/chunk-000/observation.images.wrist/episode_000022.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:77e2f20588fc5ab1ce9d5429c59e3b5506026924d24f055a28c739e57f295955
|
| 3 |
+
size 1045423
|
videos/chunk-000/observation.images.wrist/episode_000023.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:60addb8218814812ae7e4dd1c72019b82741c974ad09719798e8d8e8112bb4eb
|
| 3 |
+
size 1025975
|
videos/chunk-000/observation.images.wrist/episode_000024.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f5c26589f0902d61111ae68703f4f78dfa9f5cecdb689511e592deb3f7b2c2bb
|
| 3 |
+
size 724739
|