Refinath commited on
Commit
7c8ab91
·
verified ·
1 Parent(s): ac316dc

Add SO101 dataset: pick-up-the-black-bowl-next-to-the-blue-box-and-place-it-on-the-drawer

Browse files
so101/pick-up-the-black-bowl-next-to-the-blue-box-and-place-it-on-the-drawer/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3079231483e3573244fbc59ddba05592182de1f2a0476a8605096e0de364749a
3
+ size 2642242
so101/pick-up-the-black-bowl-next-to-the-blue-box-and-place-it-on-the-drawer/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9d4b729f92e561d66b35456c2fe959c54fa5ba6369d0c6cfe5f672eb00fbba55
3
+ size 254390
so101/pick-up-the-black-bowl-next-to-the-blue-box-and-place-it-on-the-drawer/meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 30,
4
+ "features": {
5
+ "action": {
6
+ "dtype": "float32",
7
+ "names": [
8
+ "ee.x",
9
+ "ee.y",
10
+ "ee.z",
11
+ "ee.wx",
12
+ "ee.wy",
13
+ "ee.wz",
14
+ "ee.gripper_pos"
15
+ ],
16
+ "shape": [
17
+ 7
18
+ ]
19
+ },
20
+ "observation.state": {
21
+ "dtype": "float32",
22
+ "names": [
23
+ "ee.x",
24
+ "ee.y",
25
+ "ee.z",
26
+ "ee.wx",
27
+ "ee.wy",
28
+ "ee.wz",
29
+ "ee.gripper_pos"
30
+ ],
31
+ "shape": [
32
+ 7
33
+ ]
34
+ },
35
+ "observation.images.wrist": {
36
+ "dtype": "video",
37
+ "shape": [
38
+ 480,
39
+ 640,
40
+ 3
41
+ ],
42
+ "names": [
43
+ "height",
44
+ "width",
45
+ "channels"
46
+ ],
47
+ "info": {
48
+ "video.height": 480,
49
+ "video.width": 640,
50
+ "video.codec": "av1",
51
+ "video.pix_fmt": "yuv420p",
52
+ "video.is_depth_map": false,
53
+ "video.fps": 30,
54
+ "video.channels": 3,
55
+ "has_audio": false
56
+ }
57
+ },
58
+ "observation.images.agent_view": {
59
+ "dtype": "video",
60
+ "shape": [
61
+ 480,
62
+ 640,
63
+ 3
64
+ ],
65
+ "names": [
66
+ "height",
67
+ "width",
68
+ "channels"
69
+ ],
70
+ "info": {
71
+ "video.height": 480,
72
+ "video.width": 640,
73
+ "video.codec": "av1",
74
+ "video.pix_fmt": "yuv420p",
75
+ "video.is_depth_map": false,
76
+ "video.fps": 30,
77
+ "video.channels": 3,
78
+ "has_audio": false
79
+ }
80
+ },
81
+ "timestamp": {
82
+ "dtype": "float32",
83
+ "shape": [
84
+ 1
85
+ ],
86
+ "names": null
87
+ },
88
+ "frame_index": {
89
+ "dtype": "int64",
90
+ "shape": [
91
+ 1
92
+ ],
93
+ "names": null
94
+ },
95
+ "episode_index": {
96
+ "dtype": "int64",
97
+ "shape": [
98
+ 1
99
+ ],
100
+ "names": null
101
+ },
102
+ "index": {
103
+ "dtype": "int64",
104
+ "shape": [
105
+ 1
106
+ ],
107
+ "names": null
108
+ },
109
+ "task_index": {
110
+ "dtype": "int64",
111
+ "shape": [
112
+ 1
113
+ ],
114
+ "names": null
115
+ }
116
+ },
117
+ "total_episodes": 107,
118
+ "total_frames": 35857,
119
+ "total_tasks": 1,
120
+ "chunks_size": 1000,
121
+ "data_files_size_in_mb": 100,
122
+ "video_files_size_in_mb": 200,
123
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
124
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
125
+ "robot_type": "so_follower",
126
+ "splits": {
127
+ "train": "0:107"
128
+ }
129
+ }
so101/pick-up-the-black-bowl-next-to-the-blue-box-and-place-it-on-the-drawer/meta/stats.json ADDED
@@ -0,0 +1,611 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ 0.040936801582574844,
5
+ -0.13751716911792755,
6
+ -0.016386808827519417,
7
+ -2.4468929767608643,
8
+ -3.1386122703552246,
9
+ -0.6219443082809448,
10
+ 1.4540647268295288
11
+ ],
12
+ "max": [
13
+ 0.297916442155838,
14
+ 0.25120988488197327,
15
+ 0.2869347333908081,
16
+ 2.4251372814178467,
17
+ 3.141026258468628,
18
+ 0.775648832321167,
19
+ 55.71711730957031
20
+ ],
21
+ "mean": [
22
+ 0.17348898947238922,
23
+ 0.019888771697878838,
24
+ 0.07354260981082916,
25
+ -0.09837938100099564,
26
+ 2.1716408729553223,
27
+ 0.028941916301846504,
28
+ 5.722757816314697
29
+ ],
30
+ "std": [
31
+ 0.033338434994220734,
32
+ 0.07680801302194595,
33
+ 0.0664537250995636,
34
+ 0.6965078711509705,
35
+ 1.3661081790924072,
36
+ 0.15954270958900452,
37
+ 8.313887596130371
38
+ ],
39
+ "count": [
40
+ 35857,
41
+ 35857,
42
+ 35857,
43
+ 35857,
44
+ 35857,
45
+ 35857,
46
+ 35857
47
+ ]
48
+ },
49
+ "task_index": {
50
+ "min": [
51
+ 0
52
+ ],
53
+ "max": [
54
+ 0
55
+ ],
56
+ "mean": [
57
+ 0.0
58
+ ],
59
+ "std": [
60
+ 0.0
61
+ ],
62
+ "count": [
63
+ 36969
64
+ ],
65
+ "q01": [
66
+ 3.9999999999994186e-16
67
+ ],
68
+ "q10": [
69
+ 3.9999999999994166e-15
70
+ ],
71
+ "q50": [
72
+ 1.9999999999997075e-14
73
+ ],
74
+ "q90": [
75
+ 3.5999999999994754e-14
76
+ ],
77
+ "q99": [
78
+ 3.9599999999994235e-14
79
+ ]
80
+ },
81
+ "observation.images.wrist": {
82
+ "min": [
83
+ [
84
+ [
85
+ 0.0
86
+ ]
87
+ ],
88
+ [
89
+ [
90
+ 0.0
91
+ ]
92
+ ],
93
+ [
94
+ [
95
+ 0.0
96
+ ]
97
+ ]
98
+ ],
99
+ "max": [
100
+ [
101
+ [
102
+ 1.0
103
+ ]
104
+ ],
105
+ [
106
+ [
107
+ 1.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 1.0
113
+ ]
114
+ ]
115
+ ],
116
+ "mean": [
117
+ [
118
+ [
119
+ 0.5456937263730509
120
+ ]
121
+ ],
122
+ [
123
+ [
124
+ 0.5394710658605284
125
+ ]
126
+ ],
127
+ [
128
+ [
129
+ 0.5376982008100583
130
+ ]
131
+ ]
132
+ ],
133
+ "std": [
134
+ [
135
+ [
136
+ 0.013844559615131273
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 0.016798331816949175
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.01620287815386055
147
+ ]
148
+ ]
149
+ ],
150
+ "count": [
151
+ 11003
152
+ ],
153
+ "q01": [
154
+ [
155
+ [
156
+ 0.0034665080416936903
157
+ ]
158
+ ],
159
+ [
160
+ [
161
+ -3.9215686274509843e-13
162
+ ]
163
+ ],
164
+ [
165
+ [
166
+ -3.9215686274509843e-13
167
+ ]
168
+ ]
169
+ ],
170
+ "q10": [
171
+ [
172
+ [
173
+ 0.03416221861848021
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ 0.0434944325329524
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 0.0023860936147562573
184
+ ]
185
+ ]
186
+ ],
187
+ "q50": [
188
+ [
189
+ [
190
+ 0.6622428466824243
191
+ ]
192
+ ],
193
+ [
194
+ [
195
+ 0.6442741355614982
196
+ ]
197
+ ],
198
+ [
199
+ [
200
+ 0.6451055782858651
201
+ ]
202
+ ]
203
+ ],
204
+ "q90": [
205
+ [
206
+ [
207
+ 0.834120543331462
208
+ ]
209
+ ],
210
+ [
211
+ [
212
+ 0.8304207826045709
213
+ ]
214
+ ],
215
+ [
216
+ [
217
+ 0.8364422327212376
218
+ ]
219
+ ]
220
+ ],
221
+ "q99": [
222
+ [
223
+ [
224
+ 0.9544516036298658
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.9421406607730498
230
+ ]
231
+ ],
232
+ [
233
+ [
234
+ 0.950206475045107
235
+ ]
236
+ ]
237
+ ]
238
+ },
239
+ "observation.images.agent_view": {
240
+ "min": [
241
+ [
242
+ [
243
+ 0.0
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.0
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.0
254
+ ]
255
+ ]
256
+ ],
257
+ "max": [
258
+ [
259
+ [
260
+ 1.0
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 1.0
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 1.0
271
+ ]
272
+ ]
273
+ ],
274
+ "mean": [
275
+ [
276
+ [
277
+ 0.47262948615024214
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 0.4708204859013496
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.468949441224883
288
+ ]
289
+ ]
290
+ ],
291
+ "std": [
292
+ [
293
+ [
294
+ 0.01513569387946069
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.014868622026841437
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.015150979353723264
305
+ ]
306
+ ]
307
+ ],
308
+ "count": [
309
+ 11003
310
+ ],
311
+ "q01": [
312
+ [
313
+ [
314
+ 0.00595719876296156
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.05970678087858508
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.05764560137173362
325
+ ]
326
+ ]
327
+ ],
328
+ "q10": [
329
+ [
330
+ [
331
+ 0.1475168660523208
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.20065841594714753
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.23901189758489394
342
+ ]
343
+ ]
344
+ ],
345
+ "q50": [
346
+ [
347
+ [
348
+ 0.5196875894425883
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.5170472780573245
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ 0.5105026673028824
359
+ ]
360
+ ]
361
+ ],
362
+ "q90": [
363
+ [
364
+ [
365
+ 0.6008495310339013
366
+ ]
367
+ ],
368
+ [
369
+ [
370
+ 0.6006531463464524
371
+ ]
372
+ ],
373
+ [
374
+ [
375
+ 0.5920784206267864
376
+ ]
377
+ ]
378
+ ],
379
+ "q99": [
380
+ [
381
+ [
382
+ 0.6386116433476289
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.6409715405334512
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.6398228290921645
393
+ ]
394
+ ]
395
+ ]
396
+ },
397
+ "timestamp": {
398
+ "min": [
399
+ 0.0
400
+ ],
401
+ "max": [
402
+ 16.033333333333335
403
+ ],
404
+ "mean": [
405
+ 5.6561326156148874
406
+ ],
407
+ "std": [
408
+ 3.3674421621416952
409
+ ],
410
+ "count": [
411
+ 36969
412
+ ],
413
+ "q01": [
414
+ 0.09978142494797623
415
+ ],
416
+ "q10": [
417
+ 1.1174068690623689
418
+ ],
419
+ "q50": [
420
+ 5.64904413842215
421
+ ],
422
+ "q90": [
423
+ 10.192536654790901
424
+ ],
425
+ "q99": [
426
+ 11.2124838062818
427
+ ]
428
+ },
429
+ "frame_index": {
430
+ "min": [
431
+ 0
432
+ ],
433
+ "max": [
434
+ 481
435
+ ],
436
+ "mean": [
437
+ 169.68397846844655
438
+ ],
439
+ "std": [
440
+ 101.02326486425096
441
+ ],
442
+ "count": [
443
+ 36969
444
+ ],
445
+ "q01": [
446
+ 2.993442751288062
447
+ ],
448
+ "q10": [
449
+ 33.522206074198216
450
+ ],
451
+ "q50": [
452
+ 169.4718796234681
453
+ ],
454
+ "q90": [
455
+ 305.77609964140134
456
+ ],
457
+ "q99": [
458
+ 336.37451418560505
459
+ ]
460
+ },
461
+ "index": {
462
+ "min": [
463
+ 0
464
+ ],
465
+ "max": [
466
+ 36968
467
+ ],
468
+ "mean": [
469
+ 18484.0
470
+ ],
471
+ "std": [
472
+ 10672.03104693135
473
+ ],
474
+ "count": [
475
+ 36969
476
+ ],
477
+ "q01": [
478
+ 18317.309464282844
479
+ ],
480
+ "q10": [
481
+ 18347.838227605753
482
+ ],
483
+ "q50": [
484
+ 18483.79045464578
485
+ ],
486
+ "q90": [
487
+ 18620.09212117296
488
+ ],
489
+ "q99": [
490
+ 18650.690535717164
491
+ ]
492
+ },
493
+ "action": {
494
+ "min": [
495
+ 0.042123112827539444,
496
+ -0.14811550080776215,
497
+ -0.01435987837612629,
498
+ -2.493678092956543,
499
+ 1.7740548849105835,
500
+ -0.5958319306373596,
501
+ 0.0
502
+ ],
503
+ "max": [
504
+ 0.31385746598243713,
505
+ 0.2639123797416687,
506
+ 0.2954423725605011,
507
+ 2.446279525756836,
508
+ 4.645144462585449,
509
+ 0.7977928519248962,
510
+ 56.23451614379883
511
+ ],
512
+ "mean": [
513
+ 0.17642109096050262,
514
+ 0.020735887810587883,
515
+ 0.08012072741985321,
516
+ -0.11011902242898941,
517
+ 2.565432071685791,
518
+ 0.03527706488966942,
519
+ 5.299781322479248
520
+ ],
521
+ "std": [
522
+ 0.03389589488506317,
523
+ 0.07930271327495575,
524
+ 0.0683600977063179,
525
+ 0.693082332611084,
526
+ 0.2879287898540497,
527
+ 0.1670622080564499,
528
+ 8.847557067871094
529
+ ],
530
+ "count": [
531
+ 35857
532
+ ],
533
+ "q01": [
534
+ 0.0867089182138443,
535
+ -0.12350920587778091,
536
+ -0.00304509443230927,
537
+ -1.739628791809082,
538
+ 2.0526511669158936,
539
+ -0.34030765295028687,
540
+ 0.9909166097640991
541
+ ],
542
+ "q10": [
543
+ 0.13181369006633759,
544
+ -0.08061430603265762,
545
+ 0.012517768889665604,
546
+ -1.082812786102295,
547
+ 2.3289575576782227,
548
+ -0.1601342111825943,
549
+ 0.9909166097640991
550
+ ],
551
+ "q50": [
552
+ 0.1792844980955124,
553
+ 0.005152114201337099,
554
+ 0.05046549439430237,
555
+ -0.029724763706326485,
556
+ 2.4976553916931152,
557
+ 0.01889376901090145,
558
+ 1.1560693979263306
559
+ ],
560
+ "q90": [
561
+ 0.21487575769424438,
562
+ 0.15312768518924713,
563
+ 0.17409920692443848,
564
+ 0.7346963882446289,
565
+ 2.8920695781707764,
566
+ 0.2594180703163147,
567
+ 21.172456741333008
568
+ ],
569
+ "q99": [
570
+ 0.26826709508895874,
571
+ 0.19719432294368744,
572
+ 0.21529385447502136,
573
+ 1.6524324417114258,
574
+ 3.6305651664733887,
575
+ 0.5440086126327515,
576
+ 36.28748321533203
577
+ ]
578
+ },
579
+ "episode_index": {
580
+ "min": [
581
+ 0
582
+ ],
583
+ "max": [
584
+ 109
585
+ ],
586
+ "mean": [
587
+ 54.63742595147284
588
+ ],
589
+ "std": [
590
+ 31.680912551812614
591
+ ],
592
+ "count": [
593
+ 36969
594
+ ],
595
+ "q01": [
596
+ 54.63742595147284
597
+ ],
598
+ "q10": [
599
+ 54.63742595147284
600
+ ],
601
+ "q50": [
602
+ 54.63742595147287
603
+ ],
604
+ "q90": [
605
+ 54.63742595147288
606
+ ],
607
+ "q99": [
608
+ 54.63742595147288
609
+ ]
610
+ }
611
+ }
so101/pick-up-the-black-bowl-next-to-the-blue-box-and-place-it-on-the-drawer/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0a0928dbe478fe882723f31ff473cd21dd71469cb4ddc4812cc84eb4a13dce41
3
+ size 2340
so101/pick-up-the-black-bowl-next-to-the-blue-box-and-place-it-on-the-drawer/videos/observation.images.agent_view/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:88a34cf9873b23ec6f13cda95249d47c1c88ae18a100c5350761754373f8bc1a
3
+ size 209388017
so101/pick-up-the-black-bowl-next-to-the-blue-box-and-place-it-on-the-drawer/videos/observation.images.agent_view/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3b51c9542756d68a98d1c1d8e1ed58f55b4bbd0a3413a8f67b81a4df8cf2c272
3
+ size 59060093
so101/pick-up-the-black-bowl-next-to-the-blue-box-and-place-it-on-the-drawer/videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9631328cb4ab36e95d85163c673f096c349fc8dd1a979288dd7cbbc65c1f4146
3
+ size 162486870