aliberts HF staff commited on
Commit
4138663
1 Parent(s): 0328323

Upload folder using huggingface_hub

Browse files
Files changed (3) hide show
  1. meta/info.json +279 -0
  2. meta/stats.json +274 -0
  3. meta/tasks.json +3 -0
meta/info.json ADDED
@@ -0,0 +1,279 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
4
+ "robot_type": "aloha",
5
+ "total_episodes": 50,
6
+ "total_tasks": 1,
7
+ "fps": 50,
8
+ "splits": {
9
+ "train": "0:50"
10
+ },
11
+ "keys": [
12
+ "observation.state",
13
+ "action"
14
+ ],
15
+ "video_keys": [
16
+ "observation.images.top"
17
+ ],
18
+ "image_keys": [],
19
+ "shapes": {
20
+ "observation.state": 14,
21
+ "action": 14,
22
+ "observation.images.top": {
23
+ "width": 640,
24
+ "height": 480,
25
+ "channels": 3
26
+ }
27
+ },
28
+ "names": {
29
+ "observation.state": [
30
+ "left_waist",
31
+ "left_shoulder",
32
+ "left_elbow",
33
+ "left_forearm_roll",
34
+ "left_wrist_angle",
35
+ "left_wrist_rotate",
36
+ "left_gripper",
37
+ "right_waist",
38
+ "right_shoulder",
39
+ "right_elbow",
40
+ "right_forearm_roll",
41
+ "right_wrist_angle",
42
+ "right_wrist_rotate",
43
+ "right_gripper"
44
+ ],
45
+ "action": [
46
+ "left_waist",
47
+ "left_shoulder",
48
+ "left_elbow",
49
+ "left_forearm_roll",
50
+ "left_wrist_angle",
51
+ "left_wrist_rotate",
52
+ "left_gripper",
53
+ "right_waist",
54
+ "right_shoulder",
55
+ "right_elbow",
56
+ "right_forearm_roll",
57
+ "right_wrist_angle",
58
+ "right_wrist_rotate",
59
+ "right_gripper"
60
+ ]
61
+ },
62
+ "videos": {
63
+ "videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4",
64
+ "observation.images.top": {
65
+ "video.fps": 50.0,
66
+ "video.width": 640,
67
+ "video.height": 480,
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
+ "episodes": [
76
+ {
77
+ "0": {
78
+ "length": 500,
79
+ "task": 0
80
+ },
81
+ "1": {
82
+ "length": 500,
83
+ "task": 0
84
+ },
85
+ "2": {
86
+ "length": 500,
87
+ "task": 0
88
+ },
89
+ "3": {
90
+ "length": 500,
91
+ "task": 0
92
+ },
93
+ "4": {
94
+ "length": 500,
95
+ "task": 0
96
+ },
97
+ "5": {
98
+ "length": 500,
99
+ "task": 0
100
+ },
101
+ "6": {
102
+ "length": 500,
103
+ "task": 0
104
+ },
105
+ "7": {
106
+ "length": 500,
107
+ "task": 0
108
+ },
109
+ "8": {
110
+ "length": 500,
111
+ "task": 0
112
+ },
113
+ "9": {
114
+ "length": 500,
115
+ "task": 0
116
+ },
117
+ "10": {
118
+ "length": 500,
119
+ "task": 0
120
+ },
121
+ "11": {
122
+ "length": 500,
123
+ "task": 0
124
+ },
125
+ "12": {
126
+ "length": 500,
127
+ "task": 0
128
+ },
129
+ "13": {
130
+ "length": 500,
131
+ "task": 0
132
+ },
133
+ "14": {
134
+ "length": 500,
135
+ "task": 0
136
+ },
137
+ "15": {
138
+ "length": 500,
139
+ "task": 0
140
+ },
141
+ "16": {
142
+ "length": 500,
143
+ "task": 0
144
+ },
145
+ "17": {
146
+ "length": 500,
147
+ "task": 0
148
+ },
149
+ "18": {
150
+ "length": 500,
151
+ "task": 0
152
+ },
153
+ "19": {
154
+ "length": 500,
155
+ "task": 0
156
+ },
157
+ "20": {
158
+ "length": 500,
159
+ "task": 0
160
+ },
161
+ "21": {
162
+ "length": 500,
163
+ "task": 0
164
+ },
165
+ "22": {
166
+ "length": 500,
167
+ "task": 0
168
+ },
169
+ "23": {
170
+ "length": 500,
171
+ "task": 0
172
+ },
173
+ "24": {
174
+ "length": 500,
175
+ "task": 0
176
+ },
177
+ "25": {
178
+ "length": 500,
179
+ "task": 0
180
+ },
181
+ "26": {
182
+ "length": 500,
183
+ "task": 0
184
+ },
185
+ "27": {
186
+ "length": 500,
187
+ "task": 0
188
+ },
189
+ "28": {
190
+ "length": 500,
191
+ "task": 0
192
+ },
193
+ "29": {
194
+ "length": 500,
195
+ "task": 0
196
+ },
197
+ "30": {
198
+ "length": 500,
199
+ "task": 0
200
+ },
201
+ "31": {
202
+ "length": 500,
203
+ "task": 0
204
+ },
205
+ "32": {
206
+ "length": 500,
207
+ "task": 0
208
+ },
209
+ "33": {
210
+ "length": 500,
211
+ "task": 0
212
+ },
213
+ "34": {
214
+ "length": 500,
215
+ "task": 0
216
+ },
217
+ "35": {
218
+ "length": 500,
219
+ "task": 0
220
+ },
221
+ "36": {
222
+ "length": 500,
223
+ "task": 0
224
+ },
225
+ "37": {
226
+ "length": 500,
227
+ "task": 0
228
+ },
229
+ "38": {
230
+ "length": 500,
231
+ "task": 0
232
+ },
233
+ "39": {
234
+ "length": 500,
235
+ "task": 0
236
+ },
237
+ "40": {
238
+ "length": 500,
239
+ "task": 0
240
+ },
241
+ "41": {
242
+ "length": 500,
243
+ "task": 0
244
+ },
245
+ "42": {
246
+ "length": 500,
247
+ "task": 0
248
+ },
249
+ "43": {
250
+ "length": 500,
251
+ "task": 0
252
+ },
253
+ "44": {
254
+ "length": 500,
255
+ "task": 0
256
+ },
257
+ "45": {
258
+ "length": 500,
259
+ "task": 0
260
+ },
261
+ "46": {
262
+ "length": 500,
263
+ "task": 0
264
+ },
265
+ "47": {
266
+ "length": 500,
267
+ "task": 0
268
+ },
269
+ "48": {
270
+ "length": 500,
271
+ "task": 0
272
+ },
273
+ "49": {
274
+ "length": 500,
275
+ "task": 0
276
+ }
277
+ }
278
+ ]
279
+ }
meta/stats.json ADDED
@@ -0,0 +1,274 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "max": [
4
+ 0.31753402948379517,
5
+ 0.08436894416809082,
6
+ 1.2225826978683472,
7
+ 0.28071850538253784,
8
+ 0.9986215233802795,
9
+ 0.4417864680290222,
10
+ 1.162463665008545,
11
+ 0.3206019997596741,
12
+ 0.20555342733860016,
13
+ 1.211844801902771,
14
+ 0.7056311964988708,
15
+ 1.1458836793899536,
16
+ 0.4801360070705414,
17
+ 0.9540639519691467
18
+ ],
19
+ "mean": [
20
+ 0.007535833399742842,
21
+ -0.18172580003738403,
22
+ 0.7322154641151428,
23
+ -0.006863642483949661,
24
+ 0.4357183575630188,
25
+ -0.003104527248069644,
26
+ 0.2791751027107239,
27
+ -0.10019978880882263,
28
+ -0.20623691380023956,
29
+ 0.6435292959213257,
30
+ 0.20166447758674622,
31
+ 0.6110105514526367,
32
+ -0.14404065907001495,
33
+ 0.2545680105686188
34
+ ],
35
+ "min": [
36
+ -0.2883884012699127,
37
+ -0.9556700587272644,
38
+ 0.3021942377090454,
39
+ -0.2653786838054657,
40
+ -0.5445631742477417,
41
+ -0.4141748249530792,
42
+ 0.08270374685525894,
43
+ -0.4724660813808441,
44
+ -0.9940195679664612,
45
+ 0.08897088468074799,
46
+ -0.2208932340145111,
47
+ -0.4448544383049011,
48
+ -0.8452234268188477,
49
+ -0.06495711207389832
50
+ ],
51
+ "std": [
52
+ 0.10980397462844849,
53
+ 0.21561163663864136,
54
+ 0.20219536125659943,
55
+ 0.10660392045974731,
56
+ 0.22041413187980652,
57
+ 0.13943080604076385,
58
+ 0.2706775665283203,
59
+ 0.14247868955135345,
60
+ 0.3127114772796631,
61
+ 0.2860698997974396,
62
+ 0.19153234362602234,
63
+ 0.29991307854652405,
64
+ 0.2879566252231598,
65
+ 0.3503589332103729
66
+ ]
67
+ },
68
+ "episode_index": {
69
+ "max": [
70
+ 49.0
71
+ ],
72
+ "mean": [
73
+ 24.500009536743164
74
+ ],
75
+ "min": [
76
+ 0.0
77
+ ],
78
+ "std": [
79
+ 14.430867195129395
80
+ ]
81
+ },
82
+ "frame_index": {
83
+ "max": [
84
+ 499.0
85
+ ],
86
+ "mean": [
87
+ 249.4999542236328
88
+ ],
89
+ "min": [
90
+ 0.0
91
+ ],
92
+ "std": [
93
+ 144.3372344970703
94
+ ]
95
+ },
96
+ "index": {
97
+ "max": [
98
+ 24999.0
99
+ ],
100
+ "mean": [
101
+ 12499.4970703125
102
+ ],
103
+ "min": [
104
+ 0.0
105
+ ],
106
+ "std": [
107
+ 7216.8779296875
108
+ ]
109
+ },
110
+ "next.done": {
111
+ "max": [
112
+ 1.0
113
+ ],
114
+ "mean": [
115
+ 0.001999999862164259
116
+ ],
117
+ "min": [
118
+ 0.0
119
+ ],
120
+ "std": [
121
+ 0.044676605612039566
122
+ ]
123
+ },
124
+ "observation.images.top": {
125
+ "max": [
126
+ [
127
+ [
128
+ 1.0
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 1.0
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 1.0
139
+ ]
140
+ ]
141
+ ],
142
+ "mean": [
143
+ [
144
+ [
145
+ 0.16155484318733215
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.16072192788124084
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.16265682876110077
156
+ ]
157
+ ]
158
+ ],
159
+ "min": [
160
+ [
161
+ [
162
+ 0.0
163
+ ]
164
+ ],
165
+ [
166
+ [
167
+ 0.0
168
+ ]
169
+ ],
170
+ [
171
+ [
172
+ 0.0
173
+ ]
174
+ ]
175
+ ],
176
+ "std": [
177
+ [
178
+ [
179
+ 0.20356139540672302
180
+ ]
181
+ ],
182
+ [
183
+ [
184
+ 0.20209859311580658
185
+ ]
186
+ ],
187
+ [
188
+ [
189
+ 0.20557980239391327
190
+ ]
191
+ ]
192
+ ]
193
+ },
194
+ "observation.state": {
195
+ "max": [
196
+ 0.3167214095592499,
197
+ 0.075322724878788,
198
+ 1.2031160593032837,
199
+ 0.2756938934326172,
200
+ 0.9997532367706299,
201
+ 0.44105732440948486,
202
+ 1.091105341911316,
203
+ 0.3204266130924225,
204
+ 0.20700688660144806,
205
+ 1.2157615423202515,
206
+ 0.8068909645080566,
207
+ 1.1542441844940186,
208
+ 0.5063774585723877,
209
+ 1.0758001804351807
210
+ ],
211
+ "mean": [
212
+ 0.007601049263030291,
213
+ -0.18723908066749573,
214
+ 0.7382190823554993,
215
+ -0.007421848364174366,
216
+ 0.4406488537788391,
217
+ -0.0038443673402071,
218
+ 0.6210289597511292,
219
+ -0.0989922359585762,
220
+ -0.2149745523929596,
221
+ 0.6489818692207336,
222
+ 0.18937698006629944,
223
+ 0.6149133443832397,
224
+ -0.1431254744529724,
225
+ 0.41608139872550964
226
+ ],
227
+ "min": [
228
+ -0.2860569655895233,
229
+ -0.9599999785423279,
230
+ 0.3066967725753784,
231
+ -0.2636253535747528,
232
+ -0.493009477853775,
233
+ -0.42267003655433655,
234
+ 0.0,
235
+ -0.4774622619152069,
236
+ -0.9905557632446289,
237
+ 0.09440229088068008,
238
+ -0.22565385699272156,
239
+ -0.43221959471702576,
240
+ -0.8460990786552429,
241
+ -0.012096084654331207
242
+ ],
243
+ "std": [
244
+ 0.1090703159570694,
245
+ 0.22419287264347076,
246
+ 0.20276568830013275,
247
+ 0.1034158319234848,
248
+ 0.22568829357624054,
249
+ 0.13937631249427795,
250
+ 0.19231784343719482,
251
+ 0.14224261045455933,
252
+ 0.3174290657043457,
253
+ 0.2854515016078949,
254
+ 0.18508385121822357,
255
+ 0.30433014035224915,
256
+ 0.2879387140274048,
257
+ 0.25740933418273926
258
+ ]
259
+ },
260
+ "timestamp": {
261
+ "max": [
262
+ 9.979999542236328
263
+ ],
264
+ "mean": [
265
+ 4.990005970001221
266
+ ],
267
+ "min": [
268
+ 0.0
269
+ ],
270
+ "std": [
271
+ 2.886744976043701
272
+ ]
273
+ }
274
+ }
meta/tasks.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "0": "Insert the peg into the socket."
3
+ }