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Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/hud_contract.json +294 -0
- meta/info.json +160 -0
- meta/stats.json +723 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.agentview_image/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.robot0_eye_in_hand_image/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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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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size 65229
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meta/hud_contract.json
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0.3557142913341522,
|
| 285 |
+
0.375,
|
| 286 |
+
0.375,
|
| 287 |
+
1.0
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
},
|
| 292 |
+
"comment": "LIBERO benchmark on a single Franka Panda (robosuite/MuJoCo). A launch-time decision variable (use_delta) selects one action branch from action_modes and is spliced into features.action by config.build_contract: 'delta' = 7-DoF OSC_POSE end-effector delta + gripper (ee_del); 'absolute' = absolute target eef pose (position + axis-angle) + gripper (ee_abs). State is the absolute eef pose (position + axis-angle from robosuite (x,y,z,w) quat) + gripper finger qpos (ee_abs). Two 256x256 RGB views (agentview, wrist) at 10 Hz. Delta stats are the physical-intelligence/libero normalization values; absolute stats mirror the eef-pose state distribution."
|
| 293 |
+
}
|
| 294 |
+
}
|
meta/info.json
ADDED
|
@@ -0,0 +1,160 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"fps": 10,
|
| 4 |
+
"features": {
|
| 5 |
+
"observation.images.agentview_image": {
|
| 6 |
+
"dtype": "video",
|
| 7 |
+
"shape": [
|
| 8 |
+
256,
|
| 9 |
+
256,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"names": [
|
| 13 |
+
"height",
|
| 14 |
+
"width",
|
| 15 |
+
"channel"
|
| 16 |
+
],
|
| 17 |
+
"info": {
|
| 18 |
+
"video.height": 256,
|
| 19 |
+
"video.width": 256,
|
| 20 |
+
"video.codec": "av1",
|
| 21 |
+
"video.pix_fmt": "yuv420p",
|
| 22 |
+
"video.is_depth_map": false,
|
| 23 |
+
"video.fps": 10,
|
| 24 |
+
"video.channels": 3,
|
| 25 |
+
"has_audio": false,
|
| 26 |
+
"video.g": 2,
|
| 27 |
+
"video.crf": 30,
|
| 28 |
+
"video.preset": 12,
|
| 29 |
+
"video.fast_decode": 0,
|
| 30 |
+
"video.video_backend": "pyav",
|
| 31 |
+
"video.extra_options": {}
|
| 32 |
+
}
|
| 33 |
+
},
|
| 34 |
+
"observation.images.robot0_eye_in_hand_image": {
|
| 35 |
+
"dtype": "video",
|
| 36 |
+
"shape": [
|
| 37 |
+
256,
|
| 38 |
+
256,
|
| 39 |
+
3
|
| 40 |
+
],
|
| 41 |
+
"names": [
|
| 42 |
+
"height",
|
| 43 |
+
"width",
|
| 44 |
+
"channel"
|
| 45 |
+
],
|
| 46 |
+
"info": {
|
| 47 |
+
"video.height": 256,
|
| 48 |
+
"video.width": 256,
|
| 49 |
+
"video.codec": "av1",
|
| 50 |
+
"video.pix_fmt": "yuv420p",
|
| 51 |
+
"video.is_depth_map": false,
|
| 52 |
+
"video.fps": 10,
|
| 53 |
+
"video.channels": 3,
|
| 54 |
+
"has_audio": false,
|
| 55 |
+
"video.g": 2,
|
| 56 |
+
"video.crf": 30,
|
| 57 |
+
"video.preset": 12,
|
| 58 |
+
"video.fast_decode": 0,
|
| 59 |
+
"video.video_backend": "pyav",
|
| 60 |
+
"video.extra_options": {}
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"observation.state": {
|
| 64 |
+
"dtype": "float32",
|
| 65 |
+
"shape": [
|
| 66 |
+
8
|
| 67 |
+
],
|
| 68 |
+
"names": [
|
| 69 |
+
"robot0_eef_pos.x",
|
| 70 |
+
"robot0_eef_pos.y",
|
| 71 |
+
"robot0_eef_pos.z",
|
| 72 |
+
"robot0_eef_axis_angle.rx",
|
| 73 |
+
"robot0_eef_axis_angle.ry",
|
| 74 |
+
"robot0_eef_axis_angle.rz",
|
| 75 |
+
"robot0_gripper_qpos.finger_joint1",
|
| 76 |
+
"robot0_gripper_qpos.finger_joint2"
|
| 77 |
+
]
|
| 78 |
+
},
|
| 79 |
+
"action": {
|
| 80 |
+
"dtype": "float32",
|
| 81 |
+
"shape": [
|
| 82 |
+
7
|
| 83 |
+
],
|
| 84 |
+
"names": [
|
| 85 |
+
"delta_eef_pos.dx",
|
| 86 |
+
"delta_eef_pos.dy",
|
| 87 |
+
"delta_eef_pos.dz",
|
| 88 |
+
"delta_eef_axis_angle.drx",
|
| 89 |
+
"delta_eef_axis_angle.dry",
|
| 90 |
+
"delta_eef_axis_angle.drz",
|
| 91 |
+
"gripper.open_close"
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"next.reward": {
|
| 95 |
+
"dtype": "float32",
|
| 96 |
+
"shape": [
|
| 97 |
+
1
|
| 98 |
+
],
|
| 99 |
+
"names": [
|
| 100 |
+
"reward"
|
| 101 |
+
]
|
| 102 |
+
},
|
| 103 |
+
"next.done": {
|
| 104 |
+
"dtype": "bool",
|
| 105 |
+
"shape": [
|
| 106 |
+
1
|
| 107 |
+
],
|
| 108 |
+
"names": [
|
| 109 |
+
"done"
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"timestamp": {
|
| 113 |
+
"dtype": "float32",
|
| 114 |
+
"shape": [
|
| 115 |
+
1
|
| 116 |
+
],
|
| 117 |
+
"names": null
|
| 118 |
+
},
|
| 119 |
+
"frame_index": {
|
| 120 |
+
"dtype": "int64",
|
| 121 |
+
"shape": [
|
| 122 |
+
1
|
| 123 |
+
],
|
| 124 |
+
"names": null
|
| 125 |
+
},
|
| 126 |
+
"episode_index": {
|
| 127 |
+
"dtype": "int64",
|
| 128 |
+
"shape": [
|
| 129 |
+
1
|
| 130 |
+
],
|
| 131 |
+
"names": null
|
| 132 |
+
},
|
| 133 |
+
"index": {
|
| 134 |
+
"dtype": "int64",
|
| 135 |
+
"shape": [
|
| 136 |
+
1
|
| 137 |
+
],
|
| 138 |
+
"names": null
|
| 139 |
+
},
|
| 140 |
+
"task_index": {
|
| 141 |
+
"dtype": "int64",
|
| 142 |
+
"shape": [
|
| 143 |
+
1
|
| 144 |
+
],
|
| 145 |
+
"names": null
|
| 146 |
+
}
|
| 147 |
+
},
|
| 148 |
+
"total_episodes": 2,
|
| 149 |
+
"total_frames": 194,
|
| 150 |
+
"total_tasks": 2,
|
| 151 |
+
"chunks_size": 1000,
|
| 152 |
+
"data_files_size_in_mb": 100,
|
| 153 |
+
"video_files_size_in_mb": 200,
|
| 154 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 155 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 156 |
+
"robot_type": "franka_panda_libero",
|
| 157 |
+
"splits": {
|
| 158 |
+
"train": "0:2"
|
| 159 |
+
}
|
| 160 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,723 @@
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