1Nono1 commited on
Commit
d2dde8a
·
verified ·
1 Parent(s): 0b1ef90

Upload 7 files

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ad7c3fcf0cf852a8bbe0a049379f786f3211c76994afb0a465461f2d9b648f59
3
+ size 1323997
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1e719ae096f21a6a8d9f9845fde61eafd8b556d7bcb777348e21ea3a08e64a8b
3
+ size 187462
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "piper",
4
+ "total_episodes": 40,
5
+ "total_frames": 17955,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:40"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "joint_1",
21
+ "joint_2",
22
+ "joint_3",
23
+ "joint_4",
24
+ "joint_5",
25
+ "joint_6",
26
+ "gripper"
27
+ ],
28
+ "shape": [
29
+ 7
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "names": [
35
+ "joint_1",
36
+ "joint_2",
37
+ "joint_3",
38
+ "joint_4",
39
+ "joint_5",
40
+ "joint_6",
41
+ "gripper"
42
+ ],
43
+ "shape": [
44
+ 7
45
+ ]
46
+ },
47
+ "observation.images.camera1": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 3,
51
+ 480,
52
+ 640
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.height": 480,
61
+ "video.width": 640,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "video.fps": 30,
66
+ "video.channels": 3,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.camera2": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 3,
74
+ 480,
75
+ 640
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.height": 480,
84
+ "video.width": 640,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "video.fps": 30,
89
+ "video.channels": 3,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "timestamp": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "frame_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "task_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ }
128
+ }
129
+ }
meta/stats.json ADDED
@@ -0,0 +1,650 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 14.933333333333334
8
+ ],
9
+ "mean": [
10
+ 7.464587394411963
11
+ ],
12
+ "std": [
13
+ 4.319298009062948
14
+ ],
15
+ "count": [
16
+ 17955
17
+ ],
18
+ "q01": [
19
+ 0.13283607943394327
20
+ ],
21
+ "q10": [
22
+ 1.4690668121354056
23
+ ],
24
+ "q50": [
25
+ 7.464035555555542
26
+ ],
27
+ "q90": [
28
+ 13.460107976688503
29
+ ],
30
+ "q99": [
31
+ 14.79633870938996
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 448
40
+ ],
41
+ "mean": [
42
+ 223.9376218323587
43
+ ],
44
+ "std": [
45
+ 129.57894027188846
46
+ ],
47
+ "count": [
48
+ 17955
49
+ ],
50
+ "q01": [
51
+ 3.9850823858666913
52
+ ],
53
+ "q10": [
54
+ 44.072004366391425
55
+ ],
56
+ "q50": [
57
+ 223.92106666666646
58
+ ],
59
+ "q90": [
60
+ 403.80323929832616
61
+ ],
62
+ "q99": [
63
+ 443.8901612788506
64
+ ]
65
+ },
66
+ "observation.images.camera2": {
67
+ "min": [
68
+ [
69
+ [
70
+ 0.0
71
+ ]
72
+ ],
73
+ [
74
+ [
75
+ 0.0
76
+ ]
77
+ ],
78
+ [
79
+ [
80
+ 0.0
81
+ ]
82
+ ]
83
+ ],
84
+ "max": [
85
+ [
86
+ [
87
+ 1.0
88
+ ]
89
+ ],
90
+ [
91
+ [
92
+ 1.0
93
+ ]
94
+ ],
95
+ [
96
+ [
97
+ 1.0
98
+ ]
99
+ ]
100
+ ],
101
+ "mean": [
102
+ [
103
+ [
104
+ 0.41727315282884
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.42564090165441176
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.41534464210580063
115
+ ]
116
+ ]
117
+ ],
118
+ "std": [
119
+ [
120
+ [
121
+ 0.005225755735905474
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 0.005064299375090802
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.005515744559827873
132
+ ]
133
+ ]
134
+ ],
135
+ "count": [
136
+ 4000
137
+ ],
138
+ "q01": [
139
+ [
140
+ [
141
+ 0.010267795425387439
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.04186035276075214
147
+ ]
148
+ ],
149
+ [
150
+ [
151
+ 0.0291936827631759
152
+ ]
153
+ ]
154
+ ],
155
+ "q10": [
156
+ [
157
+ [
158
+ 0.07177356975526454
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.10961359998179165
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.09627551827344814
169
+ ]
170
+ ]
171
+ ],
172
+ "q50": [
173
+ [
174
+ [
175
+ 0.4698871726100932
176
+ ]
177
+ ],
178
+ [
179
+ [
180
+ 0.4679442465070012
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.4391063653223843
186
+ ]
187
+ ]
188
+ ],
189
+ "q90": [
190
+ [
191
+ [
192
+ 0.6072381143240433
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.6294852807997586
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.6575445405334214
203
+ ]
204
+ ]
205
+ ],
206
+ "q99": [
207
+ [
208
+ [
209
+ 0.8501874728564419
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.9139080074866034
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.9713748882686406
220
+ ]
221
+ ]
222
+ ]
223
+ },
224
+ "episode_index": {
225
+ "min": [
226
+ 0
227
+ ],
228
+ "max": [
229
+ 39
230
+ ],
231
+ "mean": [
232
+ 19.50091896407686
233
+ ],
234
+ "std": [
235
+ 11.54346630369269
236
+ ],
237
+ "count": [
238
+ 17955
239
+ ],
240
+ "q01": [
241
+ 19.50091896407686
242
+ ],
243
+ "q10": [
244
+ 19.50091896407686
245
+ ],
246
+ "q50": [
247
+ 19.500918964076874
248
+ ],
249
+ "q90": [
250
+ 19.500918964076895
251
+ ],
252
+ "q99": [
253
+ 19.500918964076895
254
+ ]
255
+ },
256
+ "action": {
257
+ "min": [
258
+ -0.7739139199256897,
259
+ 0.0033859387040138245,
260
+ -1.2521166801452637,
261
+ -0.13025392591953278,
262
+ 0.18188075721263885,
263
+ -0.48085567355155945,
264
+ 0.0
265
+ ],
266
+ "max": [
267
+ 0.17694148421287537,
268
+ 1.808370590209961,
269
+ 0.012007865123450756,
270
+ 0.28295278549194336,
271
+ 0.9244310855865479,
272
+ 0.17790141701698303,
273
+ 0.0
274
+ ],
275
+ "mean": [
276
+ -0.16087158861313564,
277
+ 0.7788897381423742,
278
+ -0.5697629882677854,
279
+ 0.06301888250357458,
280
+ 0.5710375013340816,
281
+ -0.11748151035091897,
282
+ 0.0
283
+ ],
284
+ "std": [
285
+ 0.22241161162531198,
286
+ 0.611664142163264,
287
+ 0.3330522383591317,
288
+ 0.0820761256176979,
289
+ 0.1403390550630198,
290
+ 0.1338458330752941,
291
+ 0.0
292
+ ],
293
+ "count": [
294
+ 17955
295
+ ],
296
+ "q01": [
297
+ -0.4629099489364265,
298
+ 0.00926544852280341,
299
+ -0.981166269457512,
300
+ -0.05361521214079055,
301
+ 0.3798703153772388,
302
+ -0.31555954495104765,
303
+ 3.9995784462121245e-16
304
+ ],
305
+ "q10": [
306
+ -0.443621361270756,
307
+ 0.01284577764018025,
308
+ -0.9613803557089012,
309
+ -0.021906063846006466,
310
+ 0.44045788075443554,
311
+ -0.2905556961544337,
312
+ 3.999578446212124e-15
313
+ ],
314
+ "q50": [
315
+ -0.17948857266716675,
316
+ 0.9837249907811662,
317
+ -0.6652537236102737,
318
+ 0.05998086938730057,
319
+ 0.561219805837906,
320
+ -0.12273193283353806,
321
+ 1.9997892231060632e-14
322
+ ],
323
+ "q90": [
324
+ 0.06587645487449571,
325
+ 1.5013921177822276,
326
+ -0.16262792603523024,
327
+ 0.16556932546678063,
328
+ 0.7174445426154196,
329
+ 0.025921655592636803,
330
+ 3.599620601590915e-14
331
+ ],
332
+ "q99": [
333
+ 0.09123249643794978,
334
+ 1.547162868220054,
335
+ -0.14787197936295618,
336
+ 0.19030438828153004,
337
+ 0.7532088093834292,
338
+ 0.05129592535179541,
339
+ 3.9595826617500056e-14
340
+ ]
341
+ },
342
+ "observation.images.camera1": {
343
+ "min": [
344
+ [
345
+ [
346
+ 0.0
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.0
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.0
357
+ ]
358
+ ]
359
+ ],
360
+ "max": [
361
+ [
362
+ [
363
+ 1.0
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 1.0
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 1.0
374
+ ]
375
+ ]
376
+ ],
377
+ "mean": [
378
+ [
379
+ [
380
+ 0.43893403809232034
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.4443143211805556
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.4374013459456699
391
+ ]
392
+ ]
393
+ ],
394
+ "std": [
395
+ [
396
+ [
397
+ 0.005109861969159491
398
+ ]
399
+ ],
400
+ [
401
+ [
402
+ 0.004673653813031835
403
+ ]
404
+ ],
405
+ [
406
+ [
407
+ 0.003908743821198574
408
+ ]
409
+ ]
410
+ ],
411
+ "count": [
412
+ 4000
413
+ ],
414
+ "q01": [
415
+ [
416
+ [
417
+ 0.01666738279412101
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.03747492344575112
423
+ ]
424
+ ],
425
+ [
426
+ [
427
+ 0.03231919007173028
428
+ ]
429
+ ]
430
+ ],
431
+ "q10": [
432
+ [
433
+ [
434
+ 0.07245680692016246
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ 0.0924624367615373
440
+ ]
441
+ ],
442
+ [
443
+ [
444
+ 0.09460218786127622
445
+ ]
446
+ ]
447
+ ],
448
+ "q50": [
449
+ [
450
+ [
451
+ 0.5185210488015917
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.5153134816167572
457
+ ]
458
+ ],
459
+ [
460
+ [
461
+ 0.4988298153067475
462
+ ]
463
+ ]
464
+ ],
465
+ "q90": [
466
+ [
467
+ [
468
+ 0.6045980762852436
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 0.6098846525847695
474
+ ]
475
+ ],
476
+ [
477
+ [
478
+ 0.6127434258726133
479
+ ]
480
+ ]
481
+ ],
482
+ "q99": [
483
+ [
484
+ [
485
+ 0.7440277793976895
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.8025501667269054
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ 0.8710748001651571
496
+ ]
497
+ ]
498
+ ]
499
+ },
500
+ "task_index": {
501
+ "min": [
502
+ 0
503
+ ],
504
+ "max": [
505
+ 0
506
+ ],
507
+ "mean": [
508
+ 0.0
509
+ ],
510
+ "std": [
511
+ 0.0
512
+ ],
513
+ "count": [
514
+ 17955
515
+ ],
516
+ "q01": [
517
+ 3.9999999999994186e-16
518
+ ],
519
+ "q10": [
520
+ 3.999999999999418e-15
521
+ ],
522
+ "q50": [
523
+ 1.9999999999997103e-14
524
+ ],
525
+ "q90": [
526
+ 3.599999999999474e-14
527
+ ],
528
+ "q99": [
529
+ 3.959999999999426e-14
530
+ ]
531
+ },
532
+ "index": {
533
+ "min": [
534
+ 0
535
+ ],
536
+ "max": [
537
+ 17954
538
+ ],
539
+ "mean": [
540
+ 8977.0
541
+ ],
542
+ "std": [
543
+ 5183.162033611015
544
+ ],
545
+ "count": [
546
+ 17955
547
+ ],
548
+ "q01": [
549
+ 8757.047460553507
550
+ ],
551
+ "q10": [
552
+ 8797.134382534032
553
+ ],
554
+ "q50": [
555
+ 8976.98344483431
556
+ ],
557
+ "q90": [
558
+ 9156.865617465968
559
+ ],
560
+ "q99": [
561
+ 9196.952539446496
562
+ ]
563
+ },
564
+ "observation.state": {
565
+ "min": [
566
+ -0.7739139199256897,
567
+ 0.0033859387040138245,
568
+ -1.2521166801452637,
569
+ -0.13025392591953278,
570
+ 0.18188075721263885,
571
+ -0.48085567355155945,
572
+ 0.0
573
+ ],
574
+ "max": [
575
+ 0.17694148421287537,
576
+ 1.808370590209961,
577
+ 0.012007865123450756,
578
+ 0.28295278549194336,
579
+ 0.9244310855865479,
580
+ 0.17790141701698303,
581
+ 0.0
582
+ ],
583
+ "mean": [
584
+ -0.16087158861313564,
585
+ 0.7788897381423742,
586
+ -0.5697629882677854,
587
+ 0.06301888250357458,
588
+ 0.5710375013340816,
589
+ -0.11748151035091897,
590
+ 0.0
591
+ ],
592
+ "std": [
593
+ 0.22241161162531198,
594
+ 0.611664142163264,
595
+ 0.3330522383591317,
596
+ 0.0820761256176979,
597
+ 0.1403390550630198,
598
+ 0.1338458330752941,
599
+ 0.0
600
+ ],
601
+ "count": [
602
+ 17955
603
+ ],
604
+ "q01": [
605
+ -0.4629099489364265,
606
+ 0.00926544852280341,
607
+ -0.981166269457512,
608
+ -0.05361521214079055,
609
+ 0.3798703153772388,
610
+ -0.31555954495104765,
611
+ 3.9995784462121245e-16
612
+ ],
613
+ "q10": [
614
+ -0.443621361270756,
615
+ 0.01284577764018025,
616
+ -0.9613803557089012,
617
+ -0.021906063846006466,
618
+ 0.44045788075443554,
619
+ -0.2905556961544337,
620
+ 3.999578446212124e-15
621
+ ],
622
+ "q50": [
623
+ -0.17948857266716675,
624
+ 0.9837249907811662,
625
+ -0.6652537236102737,
626
+ 0.05998086938730057,
627
+ 0.561219805837906,
628
+ -0.12273193283353806,
629
+ 1.9997892231060632e-14
630
+ ],
631
+ "q90": [
632
+ 0.06587645487449571,
633
+ 1.5013921177822276,
634
+ -0.16262792603523024,
635
+ 0.16556932546678063,
636
+ 0.7174445426154196,
637
+ 0.025921655592636803,
638
+ 3.599620601590915e-14
639
+ ],
640
+ "q99": [
641
+ 0.09123249643794978,
642
+ 1.547162868220054,
643
+ -0.14787197936295618,
644
+ 0.19030438828153004,
645
+ 0.7532088093834292,
646
+ 0.05129592535179541,
647
+ 3.9595826617500056e-14
648
+ ]
649
+ }
650
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f2d564b461d41179065e8fdad1a021320023b27966bf978d69dbf073d8775deb
3
+ size 2226
videos/observation.images.camera1/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0f27ce869d520d51b775ab326a7c4079e5caa5a125ee2da01f08dd09a1a5587f
3
+ size 160942331
videos/observation.images.camera2/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d8040b9c0efd4d7f69271f8818b05e20347637bc0dec4fc4c5df6a3409ebe6a1
3
+ size 155619511