Upload folder using huggingface_hub

meta/info.json

@@ -1,44 +1,64 @@
 {
-    "codebase_version": "v2.1",
-    "robot_type": "jaco_2",
-    "total_episodes": 976,
-    "total_frames": 70127,
-    "total_tasks": 88,
-    "total_videos": 1952,
+    "codebase_version": "v2.0",
+    "robot_type": "franka",
+    "total_episodes": 379,
+    "total_frames": 101469,
+    "total_tasks": 10,
+    "total_videos": 758,
     "total_chunks": 1,
     "chunks_size": 1000,
-    "fps": 10,
+    "fps": 20,
     "splits": {
-        "train": "0:976"
+        "train": "0:379"
     },
     "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
     "features": {
-        "observation.images.image_wrist": {
+        "observation.images.wrist_image": {
             "dtype": "video",
             "shape": [
-                224,
-                224,
+                256,
+                256,
                 3
             ],
             "names": [
                 "height",
                 "width",
                 "rgb"
-            ]
+            ],
+            "info": {
+                "video.fps": 20.0,
+                "video.height": 256,
+                "video.width": 256,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
         },
         "observation.images.image": {
             "dtype": "video",
             "shape": [
-                224,
-                224,
+                256,
+                256,
                 3
             ],
             "names": [
                 "height",
                 "width",
                 "rgb"
-            ]
+            ],
+            "info": {
+                "video.fps": 20.0,
+                "video.height": 256,
+                "video.width": 256,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
         },
         "observation.state": {
             "dtype": "float32",
@@ -53,7 +73,7 @@
                     "roll",
                     "pitch",
                     "yaw",
-                    "pad",
+                    "gripper",
                     "gripper"
                 ]
             }

meta/stats.json

@@ -0,0 +1,292 @@
+{
+    "observation.images.wrist_image": {
+        "mean": [
+            [
+                [
+                    0.4294614791870117
+                ]
+            ],
+            [
+                [
+                    0.37220528721809387
+                ]
+            ],
+            [
+                [
+                    0.3253111243247986
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.24626663327217102
+                ]
+            ],
+            [
+                [
+                    0.2361597865819931
+                ]
+            ],
+            [
+                [
+                    0.22468364238739014
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ]
+    },
+    "observation.images.image": {
+        "mean": [
+            [
+                [
+                    0.41090327501296997
+                ]
+            ],
+            [
+                [
+                    0.36617761850357056
+                ]
+            ],
+            [
+                [
+                    0.32437071204185486
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.2515506148338318
+                ]
+            ],
+            [
+                [
+                    0.2467767298221588
+                ]
+            ],
+            [
+                [
+                    0.24008291959762573
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ]
+    },
+    "observation.state": {
+        "mean": [
+            -0.0419064462184906,
+            0.035394374281167984,
+            0.8257066011428833,
+            2.9083166122436523,
+            -0.5562162399291992,
+            -0.16649124026298523,
+            0.02831536903977394,
+            -0.028561530634760857
+        ],
+        "std": [
+            0.10743440687656403,
+            0.14424766600131989,
+            0.25723373889923096,
+            0.3441380262374878,
+            1.2344306707382202,
+            0.3579879701137543,
+            0.013308783061802387,
+            0.013174603693187237
+        ],
+        "max": [
+            0.21031762659549713,
+            0.39128610491752625,
+            1.3332009315490723,
+            3.6714255809783936,
+            3.560650587081909,
+            1.386339545249939,
+            0.04160946607589722,
+            0.0013633022317662835
+        ],
+        "min": [
+            -0.4828203022480011,
+            -0.3255046010017395,
+            0.445506751537323,
+            1.1321442127227783,
+            -3.641430377960205,
+            -1.842738389968872,
+            -0.0010040868073701859,
+            -0.04111652821302414
+        ]
+    },
+    "action": {
+        "mean": [
+            0.01820319890975952,
+            0.05858375504612923,
+            -0.05592353641986847,
+            0.004626936744898558,
+            0.002896078396588564,
+            -0.007673135958611965,
+            0.5457819700241089
+        ],
+        "std": [
+            0.28252503275871277,
+            0.3590114116668701,
+            0.36740872263908386,
+            0.03770618513226509,
+            0.05429301783442497,
+            0.08724785596132278,
+            0.49790024757385254
+        ],
+        "max": [
+            0.9375,
+            0.9375,
+            0.9375,
+            0.30000001192092896,
+            0.29357144236564636,
+            0.375,
+            1.0
+        ],
+        "min": [
+            -0.9375,
+            -0.9375,
+            -0.9375,
+            -0.23642857372760773,
+            -0.3053571283817291,
+            -0.3675000071525574,
+            0.0
+        ]
+    },
+    "timestamp": {
+        "mean": [
+            6.968810081481934
+        ],
+        "std": [
+            4.420584678649902
+        ],
+        "max": [
+            25.200000762939453
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "frame_index": {
+        "mean": [
+            139.37649536132812
+        ],
+        "std": [
+            88.41161346435547
+        ],
+        "max": [
+            504.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "episode_index": {
+        "mean": [
+            187.34478759765625
+        ],
+        "std": [
+            109.93406677246094
+        ],
+        "max": [
+            378.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "index": {
+        "mean": [
+            50734.109375
+        ],
+        "std": [
+            29291.583984375
+        ],
+        "max": [
+            101468.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "task_index": {
+        "mean": [
+            4.459619998931885
+        ],
+        "std": [
+            2.748793363571167
+        ],
+        "max": [
+            9.0
+        ],
+        "min": [
+            0.0
+        ]
+    }
+}

meta/tasks.jsonl

@@ -1,88 +1,10 @@
-{"task_index": 0, "task": "pick up the butter dairy"}
-{"task_index": 1, "task": "place the gray bowl in the dish rack"}
-{"task_index": 2, "task": "pick up the square bread"}
-{"task_index": 3, "task": "pick up the gray bowl"}
-{"task_index": 4, "task": "pick up the orange fruit"}
-{"task_index": 5, "task": "pick up the milk dairy"}
-{"task_index": 6, "task": "place the gray bowl in the table"}
-{"task_index": 7, "task": "place the green cup in the oven"}
-{"task_index": 8, "task": "pick up the burger meat"}
-{"task_index": 9, "task": "pick up the yellow cup"}
-{"task_index": 10, "task": "pick up the black bowl"}
-{"task_index": 11, "task": "place the milk dairy in the white plate"}
-{"task_index": 12, "task": "pick up the apple fruit"}
-{"task_index": 13, "task": "place the long bread in the sink"}
-{"task_index": 14, "task": "pick up the long bread"}
-{"task_index": 15, "task": "place the burger meat in the oven"}
-{"task_index": 16, "task": "place the green cup in the gray plate"}
-{"task_index": 17, "task": "place the milk dairy in the table"}
-{"task_index": 18, "task": "place the burger meat in the black bowl"}
-{"task_index": 19, "task": "place the yellow cup in the dish rack"}
-{"task_index": 20, "task": "place the black bowl in the dish rack"}
-{"task_index": 21, "task": "place the black bowl in the gray plate"}
-{"task_index": 22, "task": "place the apple fruit in the sink"}
-{"task_index": 23, "task": "place the yellow cup in the white plate"}
-{"task_index": 24, "task": "pick up the steak meat"}
-{"task_index": 25, "task": "place the long bread in the gray bowl"}
-{"task_index": 26, "task": "place the butter dairy in the gray bowl"}
-{"task_index": 27, "task": "pick up the green cup"}
-{"task_index": 28, "task": "place the green cup in the dish rack"}
-{"task_index": 29, "task": "place the gray bowl in the sink"}
-{"task_index": 30, "task": "place the black bowl in the oven"}
-{"task_index": 31, "task": "place the butter dairy in the sink"}
-{"task_index": 32, "task": "place the gray bowl in the oven"}
-{"task_index": 33, "task": "place the milk dairy in the black bowl"}
-{"task_index": 34, "task": "place the butter dairy in the table"}
-{"task_index": 35, "task": "place the apple fruit in the white plate"}
-{"task_index": 36, "task": "place the steak meat in the black bowl"}
-{"task_index": 37, "task": "place the orange fruit in the sink"}
-{"task_index": 38, "task": "place the butter dairy in the black bowl"}
-{"task_index": 39, "task": "place the yellow cup in the oven"}
-{"task_index": 40, "task": "place the square bread in the blue bowl"}
-{"task_index": 41, "task": "place the apple fruit in the black bowl"}
-{"task_index": 42, "task": "place the orange fruit in the table"}
-{"task_index": 43, "task": "place the apple fruit in the table"}
-{"task_index": 44, "task": "place the apple fruit in the gray plate"}
-{"task_index": 45, "task": "place the black bowl in the sink"}
-{"task_index": 46, "task": "place the steak meat in the oven"}
-{"task_index": 47, "task": "place the square bread in the table"}
-{"task_index": 48, "task": "place the square bread in the oven"}
-{"task_index": 49, "task": "place the long bread in the table"}
-{"task_index": 50, "task": "place the milk dairy in the sink"}
-{"task_index": 51, "task": "place the burger meat in the sink"}
-{"task_index": 52, "task": "place the gray bowl in the white plate"}
-{"task_index": 53, "task": "place the yellow cup in the sink"}
-{"task_index": 54, "task": "place the steak meat in the white plate"}
-{"task_index": 55, "task": "place the orange fruit in the gray plate"}
-{"task_index": 56, "task": "place the butter dairy in the white plate"}
-{"task_index": 57, "task": "place the steak meat in the table"}
-{"task_index": 58, "task": "place the steak meat in the sink"}
-{"task_index": 59, "task": "place the black bowl in the table"}
-{"task_index": 60, "task": "place the gray bowl in the gray plate"}
-{"task_index": 61, "task": "place the steak meat in the gray bowl"}
-{"task_index": 62, "task": "place the orange fruit in the blue bowl"}
-{"task_index": 63, "task": "place the green cup in the table"}
-{"task_index": 64, "task": "place the butter dairy in the gray plate"}
-{"task_index": 65, "task": "place the orange fruit in the white plate"}
-{"task_index": 66, "task": "place the apple fruit in the gray bowl"}
-{"task_index": 67, "task": "place the orange fruit in the gray bowl"}
-{"task_index": 68, "task": "place the milk dairy in the blue bowl"}
-{"task_index": 69, "task": "place the yellow cup in the table"}
-{"task_index": 70, "task": "place the apple fruit in the blue bowl"}
-{"task_index": 71, "task": "place the square bread in the white plate"}
-{"task_index": 72, "task": "place the burger meat in the blue bowl"}
-{"task_index": 73, "task": "place the square bread in the sink"}
-{"task_index": 74, "task": "place the long bread in the oven"}
-{"task_index": 75, "task": "place the burger meat in the table"}
-{"task_index": 76, "task": "place the milk dairy in the gray bowl"}
-{"task_index": 77, "task": "place the burger meat in the white plate"}
-{"task_index": 78, "task": "place the butter dairy in the blue bowl"}
-{"task_index": 79, "task": "place the black bowl in the white plate"}
-{"task_index": 80, "task": "place the yellow cup in the gray plate"}
-{"task_index": 81, "task": "place the milk dairy in the gray plate"}
-{"task_index": 82, "task": "place the green cup in the sink"}
-{"task_index": 83, "task": "place the orange fruit in the black bowl"}
-{"task_index": 84, "task": "place the steak meat in the blue bowl"}
-{"task_index": 85, "task": "place the long bread in the black bowl"}
-{"task_index": 86, "task": "place the steak meat in the gray plate"}
-{"task_index": 87, "task": "place the square bread in the gray plate"}
+{"task_index": 0, "task": "put the white mug on the left plate and put the yellow and white mug on the right plate"}
+{"task_index": 1, "task": "put the white mug on the plate and put the chocolate pudding to the right of the plate"}
+{"task_index": 2, "task": "put the yellow and white mug in the microwave and close it"}
+{"task_index": 3, "task": "turn on the stove and put the moka pot on it"}
+{"task_index": 4, "task": "put both the alphabet soup and the cream cheese box in the basket"}
+{"task_index": 5, "task": "put both the alphabet soup and the tomato sauce in the basket"}
+{"task_index": 6, "task": "put both moka pots on the stove"}
+{"task_index": 7, "task": "put both the cream cheese box and the butter in the basket"}
+{"task_index": 8, "task": "put the black bowl in the bottom drawer of the cabinet and close it"}
+{"task_index": 9, "task": "pick up the book and place it in the back compartment of the caddy"}