DrainpipeAI commited on
Commit
d3d87d3
·
verified ·
1 Parent(s): ee87d2e

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 sha256:6f0d41170260da79da63ce5f996b3a850c5c19b7f7be6cad9ddfa4a45de6d403
3
+ size 586719
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab2ecafa48233bf75bc8e13abc73bd99d134c08e93966ff4c93471e3f110622a
3
+ size 231562
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 50,
5
+ "total_frames": 10905,
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": "0:50"
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.right": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 720,
49
+ 1280,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 720,
59
+ "video.width": 1280,
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.top": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 720,
72
+ 1280,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 720,
82
+ "video.width": 1280,
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
+ -75.22254943847656,
5
+ -99.91212463378906,
6
+ -98.92857360839844,
7
+ -61.81342697143555,
8
+ -9.20634937286377,
9
+ 0.4993757903575897
10
+ ],
11
+ "max": [
12
+ 13.056380271911621,
13
+ 77.06502532958984,
14
+ 100.0,
15
+ 89.79947662353516,
16
+ 17.21611785888672,
17
+ 50.74906539916992
18
+ ],
19
+ "mean": [
20
+ -32.15996322981647,
21
+ -46.05988176985107,
22
+ 45.590257020764035,
23
+ 31.386769425218557,
24
+ 5.671547122014765,
25
+ 14.413898422716954
26
+ ],
27
+ "std": [
28
+ 19.820896839533876,
29
+ 47.088749030222374,
30
+ 51.57458452968255,
31
+ 25.851672356885178,
32
+ 4.692088402558187,
33
+ 13.29700240023376
34
+ ],
35
+ "count": [
36
+ 10905
37
+ ],
38
+ "q01": [
39
+ -54.44501159128657,
40
+ -98.62294538149828,
41
+ -32.23537234840567,
42
+ -15.227761941954373,
43
+ -1.4528831566529716,
44
+ 1.746649078801946
45
+ ],
46
+ "q10": [
47
+ -51.30507885959931,
48
+ -98.03483629755863,
49
+ -23.578656539808556,
50
+ -9.168953599307562,
51
+ -0.6534889303740029,
52
+ 1.879612121756835
53
+ ],
54
+ "q50": [
55
+ -38.00474199649828,
56
+ -43.3367853672745,
57
+ 46.600884462780776,
58
+ 35.593360195338924,
59
+ 6.109829181806,
60
+ 7.5498929277806015
61
+ ],
62
+ "q90": [
63
+ -4.298864796195226,
64
+ 19.464150853850885,
65
+ 98.8406183499152,
66
+ 54.95273253077601,
67
+ 10.615401935462593,
68
+ 34.1093310161099
69
+ ],
70
+ "q99": [
71
+ -2.2200280687192895,
72
+ 30.904066042771994,
73
+ 99.05545889556458,
74
+ 60.19954127695032,
75
+ 11.537011130898462,
76
+ 35.20130159652431
77
+ ]
78
+ },
79
+ "episode_index": {
80
+ "min": [
81
+ 0
82
+ ],
83
+ "max": [
84
+ 49
85
+ ],
86
+ "mean": [
87
+ 23.166345712975698
88
+ ],
89
+ "std": [
90
+ 14.76935079682936
91
+ ],
92
+ "count": [
93
+ 10905
94
+ ],
95
+ "q01": [
96
+ 23.166345712975698
97
+ ],
98
+ "q10": [
99
+ 23.166345712975705
100
+ ],
101
+ "q50": [
102
+ 23.16634571297571
103
+ ],
104
+ "q90": [
105
+ 23.16634571297573
106
+ ],
107
+ "q99": [
108
+ 23.16634571297573
109
+ ]
110
+ },
111
+ "observation.state": {
112
+ "min": [
113
+ -75.5023193359375,
114
+ -98.81906127929688,
115
+ -94.32942962646484,
116
+ -60.856529235839844,
117
+ -8.962148666381836,
118
+ 1.272605538368225
119
+ ],
120
+ "max": [
121
+ 13.137557983398438,
122
+ 78.6587905883789,
123
+ 99.72997283935547,
124
+ 89.20771026611328,
125
+ 17.0207576751709,
126
+ 51.038177490234375
127
+ ],
128
+ "mean": [
129
+ -32.179118654652534,
130
+ -45.135484340375626,
131
+ 46.74025057618196,
132
+ 31.785152172987644,
133
+ 5.687251544993496,
134
+ 17.676196193039164
135
+ ],
136
+ "std": [
137
+ 19.757572524298748,
138
+ 47.80338891334683,
139
+ 50.565928177497774,
140
+ 25.656855076100705,
141
+ 4.660670646044686,
142
+ 12.36922960045077
143
+ ],
144
+ "count": [
145
+ 10905
146
+ ],
147
+ "q01": [
148
+ -54.26679997736665,
149
+ -98.0676140095874,
150
+ -29.2256573678413,
151
+ -14.325053595381522,
152
+ -1.298484782813383,
153
+ 2.0653626427909604
154
+ ],
155
+ "q10": [
156
+ -51.299692014095,
157
+ -97.7948872112482,
158
+ -21.18487136213633,
159
+ -8.584888258524947,
160
+ -0.6317573048335865,
161
+ 2.1538309417374997
162
+ ],
163
+ "q50": [
164
+ -37.90425664170001,
165
+ -42.197588912828486,
166
+ 48.04453369657539,
167
+ 36.06836735327577,
168
+ 6.140023235750767,
169
+ 18.13486057122875
170
+ ],
171
+ "q90": [
172
+ -4.4054059369042795,
173
+ 21.65542033506916,
174
+ 98.49867557953793,
175
+ 55.0639729379293,
176
+ 10.583028055592738,
177
+ 33.83025950094282
178
+ ],
179
+ "q99": [
180
+ -2.3935570306963583,
181
+ 31.696573468460638,
182
+ 98.72914410107634,
183
+ 60.0307889373856,
184
+ 11.408976178249238,
185
+ 35.10308291543125
186
+ ]
187
+ },
188
+ "frame_index": {
189
+ "min": [
190
+ 0
191
+ ],
192
+ "max": [
193
+ 423
194
+ ],
195
+ "mean": [
196
+ 114.2949105914718
197
+ ],
198
+ "std": [
199
+ 74.2678101022295
200
+ ],
201
+ "count": [
202
+ 10905
203
+ ],
204
+ "q01": [
205
+ 1.8184716165911379
206
+ ],
207
+ "q10": [
208
+ 22.39383026126757
209
+ ],
210
+ "q50": [
211
+ 114.06888911508457
212
+ ],
213
+ "q90": [
214
+ 206.09201017889737
215
+ ],
216
+ "q99": [
217
+ 226.7713495663525
218
+ ]
219
+ },
220
+ "observation.images.wrist.top": {
221
+ "min": [
222
+ [
223
+ [
224
+ 0.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.0
230
+ ]
231
+ ],
232
+ [
233
+ [
234
+ 0.0
235
+ ]
236
+ ]
237
+ ],
238
+ "max": [
239
+ [
240
+ [
241
+ 1.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 1.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 1.0
252
+ ]
253
+ ]
254
+ ],
255
+ "mean": [
256
+ [
257
+ [
258
+ 0.525105955610022
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 0.5323951145969499
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 0.4860075376361655
269
+ ]
270
+ ]
271
+ ],
272
+ "std": [
273
+ [
274
+ [
275
+ 0.00958852831904189
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.006509431331662954
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.006208896074565569
286
+ ]
287
+ ]
288
+ ],
289
+ "count": [
290
+ 5000
291
+ ],
292
+ "q01": [
293
+ [
294
+ [
295
+ -3.921568627450983e-13
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.02389715411382737
301
+ ]
302
+ ],
303
+ [
304
+ [
305
+ 0.03250291788774227
306
+ ]
307
+ ]
308
+ ],
309
+ "q10": [
310
+ [
311
+ [
312
+ 0.06729081118254772
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.09443972574288265
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.09136798047585865
323
+ ]
324
+ ]
325
+ ],
326
+ "q50": [
327
+ [
328
+ [
329
+ 0.5766037157549128
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.5799106411045641
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.513276544781615
340
+ ]
341
+ ]
342
+ ],
343
+ "q90": [
344
+ [
345
+ [
346
+ 0.7989741325922127
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.8090851519088512
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.7736531835274396
357
+ ]
358
+ ]
359
+ ],
360
+ "q99": [
361
+ [
362
+ [
363
+ 0.9926927559542259
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9944933309482065
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9339635226805202
374
+ ]
375
+ ]
376
+ ]
377
+ },
378
+ "index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 10904
384
+ ],
385
+ "mean": [
386
+ 5452.0
387
+ ],
388
+ "std": [
389
+ 3148.0023295205283
390
+ ],
391
+ "count": [
392
+ 10905
393
+ ],
394
+ "q01": [
395
+ 5339.523561025119
396
+ ],
397
+ "q10": [
398
+ 5360.098919669796
399
+ ],
400
+ "q50": [
401
+ 5451.771827106831
402
+ ],
403
+ "q90": [
404
+ 5543.797099587425
405
+ ],
406
+ "q99": [
407
+ 5564.476438974882
408
+ ]
409
+ },
410
+ "task_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 0
416
+ ],
417
+ "mean": [
418
+ 0.0
419
+ ],
420
+ "std": [
421
+ 0.0
422
+ ],
423
+ "count": [
424
+ 10905
425
+ ],
426
+ "q01": [
427
+ 3.999999999999418e-16
428
+ ],
429
+ "q10": [
430
+ 3.9999999999994166e-15
431
+ ],
432
+ "q50": [
433
+ 1.9999999999997088e-14
434
+ ],
435
+ "q90": [
436
+ 3.599999999999476e-14
437
+ ],
438
+ "q99": [
439
+ 3.959999999999424e-14
440
+ ]
441
+ },
442
+ "observation.images.right": {
443
+ "min": [
444
+ [
445
+ [
446
+ 0.00392156862745098
447
+ ]
448
+ ],
449
+ [
450
+ [
451
+ 0.0
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.0
457
+ ]
458
+ ]
459
+ ],
460
+ "max": [
461
+ [
462
+ [
463
+ 1.0
464
+ ]
465
+ ],
466
+ [
467
+ [
468
+ 1.0
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 1.0
474
+ ]
475
+ ]
476
+ ],
477
+ "mean": [
478
+ [
479
+ [
480
+ 0.6659956544117648
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.5159351879084972
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.4693419219498911
491
+ ]
492
+ ]
493
+ ],
494
+ "std": [
495
+ [
496
+ [
497
+ 0.006385305478515102
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.0062247411906716016
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.010736363811026668
508
+ ]
509
+ ]
510
+ ],
511
+ "count": [
512
+ 5000
513
+ ],
514
+ "q01": [
515
+ [
516
+ [
517
+ 0.12991106558505575
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.09081801743164562
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.09261478945305253
528
+ ]
529
+ ]
530
+ ],
531
+ "q10": [
532
+ [
533
+ [
534
+ 0.2119502745710036
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.1479908989395113
540
+ ]
541
+ ],
542
+ [
543
+ [
544
+ 0.14595504354724995
545
+ ]
546
+ ]
547
+ ],
548
+ "q50": [
549
+ [
550
+ [
551
+ 0.7920759638948393
552
+ ]
553
+ ],
554
+ [
555
+ [
556
+ 0.6315669792731583
557
+ ]
558
+ ],
559
+ [
560
+ [
561
+ 0.5677475982852949
562
+ ]
563
+ ]
564
+ ],
565
+ "q90": [
566
+ [
567
+ [
568
+ 0.965539170109565
569
+ ]
570
+ ],
571
+ [
572
+ [
573
+ 0.7830355969312264
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.7201415682175367
579
+ ]
580
+ ]
581
+ ],
582
+ "q99": [
583
+ [
584
+ [
585
+ 0.9999239933250869
586
+ ]
587
+ ],
588
+ [
589
+ [
590
+ 0.8613339798240304
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.8054790506457189
596
+ ]
597
+ ]
598
+ ]
599
+ },
600
+ "timestamp": {
601
+ "min": [
602
+ 0.0
603
+ ],
604
+ "max": [
605
+ 14.1
606
+ ],
607
+ "mean": [
608
+ 3.8098303530490605
609
+ ],
610
+ "std": [
611
+ 2.475593670074316
612
+ ],
613
+ "count": [
614
+ 10905
615
+ ],
616
+ "q01": [
617
+ 0.06061572045786626
618
+ ],
619
+ "q10": [
620
+ 0.7464610086311717
621
+ ],
622
+ "q50": [
623
+ 3.802230674002539
624
+ ],
625
+ "q90": [
626
+ 6.869733672707575
627
+ ],
628
+ "q99": [
629
+ 7.559044985640251
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ed733ba1029a435638b28420fc9fdafbc7cec2202472fc9820c677c4b3f7db1b
3
+ size 2301
videos/observation.images.right/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4f25bb7f245f582d752bb982bcac5eaffeeb209534e5f8036c89c7c19d38b47
3
+ size 208987706
videos/observation.images.right/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a22916b04961201538df0089a7ce982cd8c3c7cebe9a926e47ed95bf2a2c90e3
3
+ size 11559997
videos/observation.images.wrist.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ef46fb74c83223aa55dae5e11c81495810b7ee064ffbacc023611a76d48f4eea
3
+ size 197106045