HyeonseokE commited on
Commit
40f5375
·
verified ·
1 Parent(s): 639a187

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 sha256:7feabb8521551f85c1e53eb17a61f88ffb565d4ed86310c235aacaea02c4eeb0
3
+ size 308582
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:61191b95d8fb6a34fd89009319202ae61d5672ee2e75c5dd9ecbb3bcb9e6d55c
3
+ size 66156
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 5686,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:10"
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
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "action": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.realsense": {
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.innomaker": {
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 20.733333333333334
8
+ ],
9
+ "mean": [
10
+ 9.473935983116426
11
+ ],
12
+ "std": [
13
+ 5.496294803954353
14
+ ],
15
+ "count": [
16
+ 5686
17
+ ],
18
+ "q01": [
19
+ 0.17062928155263846
20
+ ],
21
+ "q10": [
22
+ 1.876929716416469
23
+ ],
24
+ "q50": [
25
+ 9.468934590221542
26
+ ],
27
+ "q90": [
28
+ 17.062313594639832
29
+ ],
30
+ "q99": [
31
+ 18.77724268468021
32
+ ]
33
+ },
34
+ "observation.images.realsense": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.00784313725490196
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.45848439031862737
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.47031095968559833
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.47578528584206675
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.006162224762751051
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.00315772178481951
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.0037967225998813176
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 1160
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.009816957973742066
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.06977420730637775
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.06544053146649564
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.08842561460918978
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.1863381147955896
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.2427089553290207
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.5329616252381676
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.540341520588812
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.5318281359518805
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.5928194360723702
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.5822692459692197
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.5835150063259437
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.7202356559701488
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.7096437655803829
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.6817629134231566
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 5685
198
+ ],
199
+ "mean": [
200
+ 2842.5
201
+ ],
202
+ "std": [
203
+ 1641.4067899213771
204
+ ],
205
+ "count": [
206
+ 5686
207
+ ],
208
+ "q01": [
209
+ 2563.4007989559336
210
+ ],
211
+ "q10": [
212
+ 2614.589812001327
213
+ ],
214
+ "q50": [
215
+ 2842.349958213155
216
+ ],
217
+ "q90": [
218
+ 3070.1513283433796
219
+ ],
220
+ "q99": [
221
+ 3121.5992010440664
222
+ ]
223
+ },
224
+ "observation.images.innomaker": {
225
+ "min": [
226
+ [
227
+ [
228
+ 0.0
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 0.0
234
+ ]
235
+ ],
236
+ [
237
+ [
238
+ 0.0
239
+ ]
240
+ ]
241
+ ],
242
+ "max": [
243
+ [
244
+ [
245
+ 1.0
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 1.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 1.0
256
+ ]
257
+ ]
258
+ ],
259
+ "mean": [
260
+ [
261
+ [
262
+ 0.5363478826839643
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 0.5318666011663287
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.5505643540821501
273
+ ]
274
+ ]
275
+ ],
276
+ "std": [
277
+ [
278
+ [
279
+ 0.02304404442101435
280
+ ]
281
+ ],
282
+ [
283
+ [
284
+ 0.01883811379664066
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.018920251561363677
290
+ ]
291
+ ]
292
+ ],
293
+ "count": [
294
+ 1160
295
+ ],
296
+ "q01": [
297
+ [
298
+ [
299
+ 0.07815238961279784
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.07071431768124686
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.08715938964294918
310
+ ]
311
+ ]
312
+ ],
313
+ "q10": [
314
+ [
315
+ [
316
+ 0.16284242839749943
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.17381155575858817
322
+ ]
323
+ ],
324
+ [
325
+ [
326
+ 0.1833235980751035
327
+ ]
328
+ ]
329
+ ],
330
+ "q50": [
331
+ [
332
+ [
333
+ 0.5994280786504691
334
+ ]
335
+ ],
336
+ [
337
+ [
338
+ 0.5899007316828186
339
+ ]
340
+ ],
341
+ [
342
+ [
343
+ 0.6223335024325735
344
+ ]
345
+ ]
346
+ ],
347
+ "q90": [
348
+ [
349
+ [
350
+ 0.8355177235116416
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.824844865009303
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.8254935385409448
361
+ ]
362
+ ]
363
+ ],
364
+ "q99": [
365
+ [
366
+ [
367
+ 0.9835292397697444
368
+ ]
369
+ ],
370
+ [
371
+ [
372
+ 0.9867205404764442
373
+ ]
374
+ ],
375
+ [
376
+ [
377
+ 0.9544587548997936
378
+ ]
379
+ ]
380
+ ]
381
+ },
382
+ "observation.state": {
383
+ "min": [
384
+ -22.213855743408203,
385
+ -92.50526428222656,
386
+ 33.78561782836914,
387
+ -22.207735061645508,
388
+ -0.15174506604671478,
389
+ -98.82681274414062
390
+ ],
391
+ "max": [
392
+ 51.58132553100586,
393
+ 0.6315789222717285,
394
+ 100.0,
395
+ 56.01912307739258,
396
+ 55.18462371826172,
397
+ 84.04167938232422
398
+ ],
399
+ "mean": [
400
+ 21.09174555202542,
401
+ -38.200895314815384,
402
+ 61.43626542146718,
403
+ 14.53569880799848,
404
+ 43.46202727635478,
405
+ -14.975309307290935
406
+ ],
407
+ "std": [
408
+ 25.74866099218821,
409
+ 21.13133267151394,
410
+ 18.503512441322886,
411
+ 19.738886425727948,
412
+ 17.441968670834868,
413
+ 69.93874796943696
414
+ ],
415
+ "count": [
416
+ 5686
417
+ ],
418
+ "q01": [
419
+ -9.841606195640221,
420
+ -92.3368486040061,
421
+ 34.4124133671671,
422
+ -4.349156192570457,
423
+ -0.041259778287239375,
424
+ -97.73098364910182
425
+ ],
426
+ "q10": [
427
+ -8.443211667634268,
428
+ -58.38099753985899,
429
+ 36.0162221275966,
430
+ -3.955176873352869,
431
+ 4.116493146160812,
432
+ -96.27668205262687
433
+ ],
434
+ "q50": [
435
+ 21.784959461473196,
436
+ -36.30811790988433,
437
+ 62.172023500742505,
438
+ 11.413152968111353,
439
+ 51.82399531051207,
440
+ -48.20048937700945
441
+ ],
442
+ "q90": [
443
+ 49.29417236939582,
444
+ -11.748172632359214,
445
+ 77.65589695217561,
446
+ 31.879828413464462,
447
+ 51.96500314175379,
448
+ 81.17029300702995
449
+ ],
450
+ "q99": [
451
+ 49.553201405084515,
452
+ -3.895895299234413,
453
+ 94.27407986298451,
454
+ 56.01585203794121,
455
+ 55.18134705749684,
456
+ 81.2195900551549
457
+ ]
458
+ },
459
+ "task_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 0
465
+ ],
466
+ "mean": [
467
+ 0.0
468
+ ],
469
+ "std": [
470
+ 0.0
471
+ ],
472
+ "count": [
473
+ 5686
474
+ ],
475
+ "q01": [
476
+ 3.9999999999994186e-16
477
+ ],
478
+ "q10": [
479
+ 3.999999999999417e-15
480
+ ],
481
+ "q50": [
482
+ 1.999999999999709e-14
483
+ ],
484
+ "q90": [
485
+ 3.599999999999476e-14
486
+ ],
487
+ "q99": [
488
+ 3.959999999999425e-14
489
+ ]
490
+ },
491
+ "frame_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 622
497
+ ],
498
+ "mean": [
499
+ 284.21807949349284
500
+ ],
501
+ "std": [
502
+ 164.8888441186306
503
+ ],
504
+ "count": [
505
+ 5686
506
+ ],
507
+ "q01": [
508
+ 5.11887844942695
509
+ ],
510
+ "q10": [
511
+ 56.307891494819565
512
+ ],
513
+ "q50": [
514
+ 284.0003250087935
515
+ ],
516
+ "q90": [
517
+ 511.86940783687226
518
+ ],
519
+ "q99": [
520
+ 563.3172805375585
521
+ ]
522
+ },
523
+ "action": {
524
+ "min": [
525
+ -22.632905960083008,
526
+ -93.01052856445312,
527
+ 30.0,
528
+ -25.20905113220215,
529
+ -0.050581689924001694,
530
+ -98.82681274414062
531
+ ],
532
+ "max": [
533
+ 51.67852020263672,
534
+ 0.35776257514953613,
535
+ 99.0,
536
+ 56.279876708984375,
537
+ 55.3869514465332,
538
+ 84.04167938232422
539
+ ],
540
+ "mean": [
541
+ 21.172011536106105,
542
+ -39.60142099593166,
543
+ 59.53706277477628,
544
+ 14.138056133902916,
545
+ 43.5261991999328,
546
+ -14.975309307290935
547
+ ],
548
+ "std": [
549
+ 25.81104837698432,
550
+ 21.248037170443546,
551
+ 18.621540436396494,
552
+ 19.85952283106084,
553
+ 17.357460580030004,
554
+ 69.93874796943696
555
+ ],
556
+ "count": [
557
+ 5686
558
+ ],
559
+ "q01": [
560
+ -10.03214798678584,
561
+ -92.3396056746901,
562
+ 31.003077265343283,
563
+ -5.0555927184838385,
564
+ 0.12371029977191568,
565
+ -97.73098364910182
566
+ ],
567
+ "q10": [
568
+ -8.561488912798945,
569
+ -59.73852609988305,
570
+ 35.19145279366563,
571
+ -4.390022504397373,
572
+ 4.450914751028368,
573
+ -96.27668205262687
574
+ ],
575
+ "q50": [
576
+ 21.916703529110826,
577
+ -37.99584108601562,
578
+ 60.35400159569471,
579
+ 10.971621126848504,
580
+ 51.77989540268165,
581
+ -48.20048937700945
582
+ ],
583
+ "q90": [
584
+ 49.228550755943516,
585
+ -12.080872178935882,
586
+ 77.0543218401219,
587
+ 31.724492977159564,
588
+ 51.956521684821105,
589
+ 81.17029300702995
590
+ ],
591
+ "q99": [
592
+ 49.7564066578907,
593
+ -4.166347602532377,
594
+ 92.78036863009503,
595
+ 56.02048978142988,
596
+ 55.18484584469737,
597
+ 81.2195900551549
598
+ ]
599
+ },
600
+ "episode_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 9
606
+ ],
607
+ "mean": [
608
+ 4.499999999999999
609
+ ],
610
+ "std": [
611
+ 2.8656608241726778
612
+ ],
613
+ "count": [
614
+ 5686
615
+ ],
616
+ "q01": [
617
+ 4.499999999999999
618
+ ],
619
+ "q10": [
620
+ 4.500000000000003
621
+ ],
622
+ "q50": [
623
+ 4.5000000000000195
624
+ ],
625
+ "q90": [
626
+ 4.500000000000036
627
+ ],
628
+ "q99": [
629
+ 4.50000000000004
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ef165717649f3fa2d5bbcefffcc1a26c91dc12033a9a0a67f508c6eeda4a0859
3
+ size 2351
videos/observation.images.innomaker/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:72283c1f066e8ba4814e89dcb630dcc79d2e6a39b38b1fd1b39cd66112619336
3
+ size 53167590
videos/observation.images.realsense/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4565185e3c1b4f4dc28b7438925644a1464f2195196536e8c921c342ed005d48
3
+ size 42986333