33dre commited on
Commit
8c01729
·
verified ·
1 Parent(s): a962c1a

Upload folder using huggingface_hub

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ae774b63278a46548f1cd1be1d13b9dbdc8429a4a248f65d400fd3c5f3ad747
3
+ size 47643
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:482df3c978db4eb14f03c20fb82bc27a1cb946d171e848ec4608b895f57f9a85
3
+ size 91283
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 876,
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": "0:1"
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
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "names": [
34
+ "shoulder_pan.pos",
35
+ "shoulder_lift.pos",
36
+ "elbow_flex.pos",
37
+ "wrist_flex.pos",
38
+ "wrist_roll.pos",
39
+ "gripper.pos"
40
+ ],
41
+ "shape": [
42
+ 6
43
+ ]
44
+ },
45
+ "observation.images.front": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.wrist": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 30,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -47.17948532104492,
5
+ -99.49494934082031,
6
+ 20.0,
7
+ 40.954017639160156,
8
+ -12.245424270629883,
9
+ 0.6691449880599976
10
+ ],
11
+ "max": [
12
+ 81.79486846923828,
13
+ 9.090909004211426,
14
+ 99.01123809814453,
15
+ 82.55264282226562,
16
+ 13.173498153686523,
17
+ 62.45353317260742
18
+ ],
19
+ "mean": [
20
+ -1.6985613107681274,
21
+ -35.734535217285156,
22
+ 56.82844924926758,
23
+ 55.56290054321289,
24
+ 0.7641507387161255,
25
+ 13.253257751464844
26
+ ],
27
+ "std": [
28
+ 38.06260681152344,
29
+ 42.318077087402344,
30
+ 24.580429077148438,
31
+ 12.053338050842285,
32
+ 6.948573589324951,
33
+ 22.38974952697754
34
+ ],
35
+ "count": [
36
+ 876
37
+ ],
38
+ "q01": [
39
+ -47.17948532104492,
40
+ -99.42760354113223,
41
+ 20.081540298461913,
42
+ 41.124097254826474,
43
+ -12.139071846008301,
44
+ 0.8921111987163494
45
+ ],
46
+ "q10": [
47
+ -34.125455697866585,
48
+ -99.3395034272792,
49
+ 38.07334609985352,
50
+ 41.89577295939127,
51
+ -6.363940658067402,
52
+ 0.8984372779920504
53
+ ],
54
+ "q50": [
55
+ -12.579082376816693,
56
+ -12.452522277832031,
57
+ 48.138007736206056,
58
+ 53.75833570957184,
59
+ -2.5007031618893802,
60
+ 1.4122211566338172
61
+ ],
62
+ "q90": [
63
+ 79.7392481023615,
64
+ 5.05006612141927,
65
+ 98.65574280043779,
66
+ 73.61300134344415,
67
+ 13.169659548792346,
68
+ 61.99703630719866
69
+ ],
70
+ "q99": [
71
+ 81.77871863228934,
72
+ 8.659176025390625,
73
+ 99.00629480634417,
74
+ 81.94730255126953,
75
+ 13.173114293197106,
76
+ 62.371651560465494
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -46.91358184814453,
82
+ -99.36406707763672,
83
+ 22.65242576599121,
84
+ 41.60881805419922,
85
+ -11.99023151397705,
86
+ 0.40622884035110474
87
+ ],
88
+ "max": [
89
+ 80.24691009521484,
90
+ 8.982511520385742,
91
+ 98.48686981201172,
92
+ 82.36014556884766,
93
+ 13.064713478088379,
94
+ 62.01760482788086
95
+ ],
96
+ "mean": [
97
+ -1.8656808137893677,
98
+ -34.935298919677734,
99
+ 57.694549560546875,
100
+ 55.774818420410156,
101
+ 0.7308816909790039,
102
+ 15.41355037689209
103
+ ],
104
+ "std": [
105
+ 37.960880279541016,
106
+ 42.530399322509766,
107
+ 23.97026252746582,
108
+ 12.040103912353516,
109
+ 6.927366256713867,
110
+ 21.712350845336914
111
+ ],
112
+ "count": [
113
+ 876
114
+ ],
115
+ "q01": [
116
+ -46.91358184814453,
117
+ -99.05210166931153,
118
+ 22.72860934633197,
119
+ 41.60881805419922,
120
+ -11.6957857131958,
121
+ 0.8009036070853471
122
+ ],
123
+ "q10": [
124
+ -35.82144344117906,
125
+ -98.72742309570313,
126
+ 39.0204268619932,
127
+ 41.937462205153246,
128
+ -6.129147324195275,
129
+ 0.808493377827108
130
+ ],
131
+ "q50": [
132
+ -11.856667101961895,
133
+ -11.364974975585938,
134
+ 49.08790031639305,
135
+ 53.690722841205016,
136
+ -2.323072799264568,
137
+ 1.3492937167485555
138
+ ],
139
+ "q90": [
140
+ 79.74911885579426,
141
+ 6.189998744084285,
142
+ 98.1308298658288,
143
+ 73.61860557089047,
144
+ 13.060493007073035,
145
+ 62.008052960961265
146
+ ],
147
+ "q99": [
148
+ 80.23865987141927,
149
+ 8.968950287955147,
150
+ 98.48284360018643,
151
+ 82.27251330566406,
152
+ 13.064291430986845,
153
+ 62.0166496411889
154
+ ]
155
+ },
156
+ "observation.images.front": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.011764705882352941
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.49906421898469533
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.46898083363780296
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.426935934518735
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 161
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ 0.03539989534238809
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.0549461628780628
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.04701883221440981
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.08231364867208317
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.09806850850328577
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.09406297572213125
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.5411254544024242
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.5489965982647799
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.4509400472725202
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.7686977511246486
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.7021321698851875
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.6508414163999007
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.8313996980157904
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.8822758517514038
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.9920106745933038
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.wrist": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.4086827160211911
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.41958674466163276
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.36200924826452324
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 161
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ 0.019645963189807297
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.0744076689112456
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ 0.09002553511045577
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.06275770826018974
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.11377354686145377
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.12150981303991358
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.44706302198055553
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.44710985298481143
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.35299072133157394
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.7059049551982614
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.717628279952721
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.6392935700198331
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.8274419862739749
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.8393410088566389
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.7843937215192104
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 29.166666666666668
478
+ ],
479
+ "mean": [
480
+ 14.583333333333334
481
+ ],
482
+ "std": [
483
+ 8.429308437869661
484
+ ],
485
+ "count": [
486
+ 876
487
+ ],
488
+ "q01": [
489
+ 0.26693333323516366
490
+ ],
491
+ "q10": [
492
+ 2.902666666586571
493
+ ],
494
+ "q50": [
495
+ 14.571666666666585
496
+ ],
497
+ "q90": [
498
+ 26.264000000080095
499
+ ],
500
+ "q99": [
501
+ 28.899733333431502
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 875
510
+ ],
511
+ "mean": [
512
+ 437.5
513
+ ],
514
+ "std": [
515
+ 252.87925313608994
516
+ ],
517
+ "count": [
518
+ 876
519
+ ],
520
+ "q01": [
521
+ 8.00799999990183
522
+ ],
523
+ "q10": [
524
+ 87.07999999991992
525
+ ],
526
+ "q50": [
527
+ 437.15
528
+ ],
529
+ "q90": [
530
+ 787.9200000000801
531
+ ],
532
+ "q99": [
533
+ 866.9920000000982
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 876
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 875
574
+ ],
575
+ "mean": [
576
+ 437.5
577
+ ],
578
+ "std": [
579
+ 252.87925313608994
580
+ ],
581
+ "count": [
582
+ 876
583
+ ],
584
+ "q01": [
585
+ 8.00799999990183
586
+ ],
587
+ "q10": [
588
+ 87.07999999991992
589
+ ],
590
+ "q50": [
591
+ 437.15
592
+ ],
593
+ "q90": [
594
+ 787.9200000000801
595
+ ],
596
+ "q99": [
597
+ 866.9920000000982
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 876
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:815b6add8163da5ac64fd321ea697dfe462d457e1e4967aa4eda1d982d4c9e66
3
+ size 2106
videos/observation.images.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:17c250f14d9e9aa6460dfb9acbbc8fe5b20e3c86cc1d29f7cca06efae660b16f
3
+ size 9905625
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:a1d8fe3af1337ad2d58687f1505d39bf4e1711fd1b21d93318df6795f3219f62
3
+ size 5968449