DrainpipeAI commited on
Commit
bc3af89
·
verified ·
1 Parent(s): 55c4d11

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 sha256:8938f350fc5411e20bf51005587057df51495074cd22ad8e872ac22fd4451698
3
+ size 546608
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:db3fc4ad752ba92f2795c4657d8be057f533c53d0775057b6fcf9387b575b47c
3
+ size 230837
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": 9235,
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
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 49
8
+ ],
9
+ "mean": [
10
+ 25.315322144017323
11
+ ],
12
+ "std": [
13
+ 14.470632964704798
14
+ ],
15
+ "count": [
16
+ 9235
17
+ ],
18
+ "q01": [
19
+ 25.315322144017323
20
+ ],
21
+ "q10": [
22
+ 25.315322144017333
23
+ ],
24
+ "q50": [
25
+ 25.315322144017333
26
+ ],
27
+ "q90": [
28
+ 25.315322144017355
29
+ ],
30
+ "q99": [
31
+ 25.315322144017358
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "min": [
36
+ -64.83771514892578,
37
+ -98.81906127929688,
38
+ -68.4068374633789,
39
+ -27.194860458374023,
40
+ -6.764346599578857,
41
+ 0.8037508130073547
42
+ ],
43
+ "max": [
44
+ 14.99227237701416,
45
+ 76.71868133544922,
46
+ 99.45994567871094,
47
+ 74.81798553466797,
48
+ 13.45543384552002,
49
+ 55.39182662963867
50
+ ],
51
+ "mean": [
52
+ -33.36907849830749,
53
+ -35.92689469548645,
54
+ 40.55571000698649,
55
+ 25.968906743576802,
56
+ 1.9979863555136819,
57
+ 23.09865338005887
58
+ ],
59
+ "std": [
60
+ 17.602564920329755,
61
+ 48.36712098329822,
62
+ 48.78508494517772,
63
+ 23.756638861767097,
64
+ 3.347200526134961,
65
+ 13.724921947287664
66
+ ],
67
+ "count": [
68
+ 9235
69
+ ],
70
+ "q01": [
71
+ -50.07186533093056,
72
+ -97.38005423634252,
73
+ -26.910038001456154,
74
+ -11.695581528552108,
75
+ -1.965091387577009,
76
+ 4.619943896899034
77
+ ],
78
+ "q10": [
79
+ -48.61925822827641,
80
+ -95.98657549742765,
81
+ -20.30227106261884,
82
+ -9.167208624978006,
83
+ -0.9981525557711708,
84
+ 4.836117063494286
85
+ ],
86
+ "q50": [
87
+ -39.706578336534974,
88
+ -31.16326875907363,
89
+ 35.68416463384237,
90
+ 32.22178023273029,
91
+ 1.9895856763741626,
92
+ 19.958954551138262
93
+ ],
94
+ "q90": [
95
+ -6.045926780963212,
96
+ 26.74819886408389,
97
+ 98.96843252709971,
98
+ 49.811411141828735,
99
+ 5.019570767897563,
100
+ 39.6772143091723
101
+ ],
102
+ "q99": [
103
+ -3.670408212879586,
104
+ 34.685014619428124,
105
+ 99.1657384766025,
106
+ 56.51147334172754,
107
+ 6.571977465156163,
108
+ 40.37082574031166
109
+ ]
110
+ },
111
+ "task_index": {
112
+ "min": [
113
+ 0
114
+ ],
115
+ "max": [
116
+ 0
117
+ ],
118
+ "mean": [
119
+ 0.0
120
+ ],
121
+ "std": [
122
+ 0.0
123
+ ],
124
+ "count": [
125
+ 9235
126
+ ],
127
+ "q01": [
128
+ 3.9999999999994176e-16
129
+ ],
130
+ "q10": [
131
+ 3.999999999999417e-15
132
+ ],
133
+ "q50": [
134
+ 1.9999999999997084e-14
135
+ ],
136
+ "q90": [
137
+ 3.599999999999477e-14
138
+ ],
139
+ "q99": [
140
+ 3.9599999999994235e-14
141
+ ]
142
+ },
143
+ "observation.images.wrist.top": {
144
+ "min": [
145
+ [
146
+ [
147
+ 0.0
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ]
160
+ ],
161
+ "max": [
162
+ [
163
+ [
164
+ 1.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ]
177
+ ],
178
+ "mean": [
179
+ [
180
+ [
181
+ 0.5273361244553375
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.5230201944444445
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.47628370288671024
192
+ ]
193
+ ]
194
+ ],
195
+ "std": [
196
+ [
197
+ [
198
+ 0.01391319529986786
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.009904672212018658
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.010255296101685438
209
+ ]
210
+ ]
211
+ ],
212
+ "count": [
213
+ 5000
214
+ ],
215
+ "q01": [
216
+ [
217
+ [
218
+ -3.921568627450983e-13
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.013705078557168316
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.0238920329709432
229
+ ]
230
+ ]
231
+ ],
232
+ "q10": [
233
+ [
234
+ [
235
+ 0.06259333393246692
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.08589370301710984
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.08329353818659965
246
+ ]
247
+ ]
248
+ ],
249
+ "q50": [
250
+ [
251
+ [
252
+ 0.5687591740703308
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.5592137357458988
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.49426210155565803
263
+ ]
264
+ ]
265
+ ],
266
+ "q90": [
267
+ [
268
+ [
269
+ 0.8134129470686201
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.8109716005199975
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.7737273128517753
280
+ ]
281
+ ]
282
+ ],
283
+ "q99": [
284
+ [
285
+ [
286
+ 0.9972603299514516
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.9945712071157683
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.9342014554279318
297
+ ]
298
+ ]
299
+ ]
300
+ },
301
+ "observation.images.right": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.6634735843681913
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.5099593960784312
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.45634472233115475
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.01911761989991906
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.018218369251250543
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.018019911718441226
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 5000
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.1262029684018771
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.08611139184951502
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.0773508259584632
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.2026289981360444
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.13570079754159997
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.12485564101416814
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.7927700538771941
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.62307031253985
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.5529447721540156
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.9664268218371143
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.780598909841665
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.707905007099615
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.9999297256052608
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.8629930912619619
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.8027277707929111
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "timestamp": {
460
+ "min": [
461
+ 0.0
462
+ ],
463
+ "max": [
464
+ 10.8
465
+ ],
466
+ "mean": [
467
+ 3.214629128316189
468
+ ],
469
+ "std": [
470
+ 2.074642620153679
471
+ ],
472
+ "count": [
473
+ 9235
474
+ ],
475
+ "q01": [
476
+ 0.04618302380321982
477
+ ],
478
+ "q10": [
479
+ 0.6287761086363732
480
+ ],
481
+ "q50": [
482
+ 3.208224390543014
483
+ ],
484
+ "q90": [
485
+ 5.796184093493057
486
+ ],
487
+ "q99": [
488
+ 6.382385682206505
489
+ ]
490
+ },
491
+ "action": {
492
+ "min": [
493
+ -66.32047271728516,
494
+ -99.91212463378906,
495
+ -70.89286041259766,
496
+ -28.07323455810547,
497
+ -6.910866737365723,
498
+ 0.0
499
+ ],
500
+ "max": [
501
+ 15.13353157043457,
502
+ 76.01054382324219,
503
+ 100.0,
504
+ 75.15257263183594,
505
+ 13.601953506469727,
506
+ 55.742820739746094
507
+ ],
508
+ "mean": [
509
+ -33.28953635066537,
510
+ -36.981447572196956,
511
+ 39.14703925070275,
512
+ 25.52610418642929,
513
+ 1.9930470302019274,
514
+ 20.045684808463616
515
+ ],
516
+ "std": [
517
+ 17.650755730290907,
518
+ 47.62985625654914,
519
+ 49.66804202842979,
520
+ 23.888760046254255,
521
+ 3.3579620229113014,
522
+ 15.74645068650124
523
+ ],
524
+ "count": [
525
+ 9235
526
+ ],
527
+ "q01": [
528
+ -50.096637601112675,
529
+ -97.94950597987872,
530
+ -29.514863649114695,
531
+ -12.586128533673689,
532
+ -2.139282202592365,
533
+ 4.041841157019192
534
+ ],
535
+ "q10": [
536
+ -48.624236063461844,
537
+ -96.26033238722287,
538
+ -22.884155573744646,
539
+ -9.707372606206635,
540
+ -1.0099809355790947,
541
+ 4.33008505883907
542
+ ],
543
+ "q50": [
544
+ -39.67621296883555,
545
+ -32.681500519303974,
546
+ 34.3429762644486,
547
+ 31.862982417971125,
548
+ 1.971214784060259,
549
+ 13.666943961188634
550
+ ],
551
+ "q90": [
552
+ -5.866449700664684,
553
+ 24.632444852511856,
554
+ 98.99906737735652,
555
+ 49.65942253147519,
556
+ 5.064860937342458,
557
+ 39.81664404224087
558
+ ],
559
+ "q99": [
560
+ -3.426748867652154,
561
+ 33.935641903381715,
562
+ 99.25810820758731,
563
+ 56.85491026927931,
564
+ 6.7027414202768165,
565
+ 40.479478679889105
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 9234
574
+ ],
575
+ "mean": [
576
+ 4617.0
577
+ ],
578
+ "std": [
579
+ 2665.91485235369
580
+ ],
581
+ "count": [
582
+ 9235
583
+ ],
584
+ "q01": [
585
+ 4521.946616867472
586
+ ],
587
+ "q10": [
588
+ 4539.424409411939
589
+ ],
590
+ "q50": [
591
+ 4616.811757292906
592
+ ],
593
+ "q90": [
594
+ 4694.446648952976
595
+ ],
596
+ "q99": [
597
+ 4712.03269661385
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 324
606
+ ],
607
+ "mean": [
608
+ 96.43887384948566
609
+ ],
610
+ "std": [
611
+ 62.23927860461039
612
+ ],
613
+ "count": [
614
+ 9235
615
+ ],
616
+ "q01": [
617
+ 1.38549071695608
618
+ ],
619
+ "q10": [
620
+ 18.86328326142468
621
+ ],
622
+ "q50": [
623
+ 96.25063114239285
624
+ ],
625
+ "q90": [
626
+ 173.88552280246256
627
+ ],
628
+ "q99": [
629
+ 191.47157046333618
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4b420b656f0ae49e1b670a393bd6c418631466c957ba563f4df49271fd76ed0e
3
+ size 2286
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 sha256:726bd55105e2c34519589c8712a435cb7bc3a8187c373e912b77bcd861626980
3
+ size 185808321
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 sha256:51d7dfc4ee4975d7ce66ad8262ebaedfcb57b2f633e15f707bf15e79e4050bc3
3
+ size 161484736